{
    "0": {
        "acceleration": [
            -0.0028560685459524393,
            0.00438483664765954,
            -0.6394830346107483
        ],
        "angular_velocity": [
            -0.006474395282566547,
            -0.026632070541381836,
            -0.00011953057401115075
        ],
        "forward_vector": [
            -0.0010551244486123323,
            0.9999610185623169,
            0.008765346370637417
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010562153765931726,
            0.00011983792501268908
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8522644042969
        ],
        "rotation": [
            -0.006866471376270056,
            0.502223789691925,
            90.06045532226562
        ],
        "velocity": [
            -0.00025592264137230814,
            -0.0014746020315214992,
            0.17348912358283997
        ],
        "speed": 0.0014966454322030691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 206.90892028808594,
        "front_vehicle_info": {
            "id": 82344,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.47509765625,
                164.88661193847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0010875005973502994,
        "expert_target_speed": 1.3699684492786142,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "5": {
        "acceleration": [
            -0.005399789661169052,
            0.0032641408033668995,
            -0.33003443479537964
        ],
        "angular_velocity": [
            -0.011047354899346828,
            -0.028333527967333794,
            -0.0001552617468405515
        ],
        "forward_vector": [
            -0.0010551250306889415,
            0.9999616146087646,
            0.008703240193426609
        ],
        "right_vector": [
            -0.999999463558197,
            -0.001055545057170093,
            4.367390647530556e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.87835693359375
        ],
        "rotation": [
            -0.0025024251081049442,
            0.4986652433872223,
            90.06045532226562
        ],
        "velocity": [
            -0.0001655530941206962,
            -0.00045602305908687413,
            0.055721428245306015
        ],
        "speed": 0.0004851441614529508,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000116348266602,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.1201171875,
                2488.19140625,
                365.01214599609375
            ],
            "velocity": [
                0.00014853972243145108,
                0.002774912631139159,
                -0.43582069873809814
            ],
            "speed_kmh": 1.5689864089084071,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1014628410339355,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.194091796875,
                        "z": 365.2201843261719
                    },
                    "rotation": {
                        "roll": -0.000762936077080667,
                        "pitch": -0.1514594405889511,
                        "yaw": -89.93937683105469
                    }
                },
                "velocity": {
                    "x": -0.0010350894881412387,
                    "y": 0.004208715166896582,
                    "z": -2.1014583110809326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4561890959739685,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.5797119140625
                    },
                    "rotation": {
                        "roll": -0.0005798324709758162,
                        "pitch": 0.6744128465652466,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 9.880249854177237e-05,
                    "y": 0.00539770070463419,
                    "z": -0.4561571478843689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4576400816440582,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7475280761719
                    },
                    "rotation": {
                        "roll": 0.0005224043852649629,
                        "pitch": 0.5967330932617188,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 3.8404112274292856e-05,
                    "y": 0.004741026554256678,
                    "z": -0.45761552453041077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4358295500278473,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.19140625,
                        "z": 365.01214599609375
                    },
                    "rotation": {
                        "roll": 0.0005335932364687324,
                        "pitch": 0.37477245926856995,
                        "yaw": 90.06037902832031
                    }
                },
                "velocity": {
                    "x": 0.00014853972243145108,
                    "y": 0.002774912631139159,
                    "z": -0.43582069873809814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.46690434217453003,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0875244140625
                    },
                    "rotation": {
                        "roll": 0.00010185385326622054,
                        "pitch": 0.2927896976470947,
                        "yaw": 90.06033325195312
                    }
                },
                "velocity": {
                    "x": -5.2957420848542824e-05,
                    "y": 0.0024519753642380238,
                    "z": -0.4668979048728943
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007613367633894086,
        "expert_target_speed": 1.0539115062533382,
        "target_point": [
            42.33962315316024,
            -0.0015590105989188308
        ],
        "target_point_next": [
            51.28197836364802,
            8.910799996274035
        ]
    },
    "10": {
        "acceleration": [
            -0.003134880680590868,
            0.0009567097295075655,
            -0.09005939960479736
        ],
        "angular_velocity": [
            -0.009048262611031532,
            -0.005389139987528324,
            3.4874949051300064e-05
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.999961793422699,
            0.008680115453898907
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010553175816312432,
            1.7576383470441215e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8858947753906
        ],
        "rotation": [
            -0.0010070905555039644,
            0.49734020233154297,
            90.06045532226562
        ],
        "velocity": [
            -0.00021911704970989376,
            -0.00011090412590419874,
            0.0144372982904315
        ],
        "speed": 0.0002455850292997161,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999866485595703,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.1201171875,
                2488.19140625,
                364.9878845214844
            ],
            "velocity": [
                -1.556561437610071e-05,
                -0.0002009743475355208,
                0.027867676690220833
            ],
            "speed_kmh": 0.1003262605734543,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14024585485458374,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.1943359375,
                        "z": 365.1376037597656
                    },
                    "rotation": {
                        "roll": -0.0009460396249778569,
                        "pitch": -0.18746136128902435,
                        "yaw": -89.93865203857422
                    }
                },
                "velocity": {
                    "x": 0.00011833880125777796,
                    "y": -0.000352722272509709,
                    "z": 0.14024536311626434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0943894162774086,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.57257080078125
                    },
                    "rotation": {
                        "roll": -0.0010375936981290579,
                        "pitch": 0.674945592880249,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 0.00019917692407034338,
                    "y": -0.0011483648559078574,
                    "z": 0.09438221901655197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09455757588148117,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7402648925781
                    },
                    "rotation": {
                        "roll": 0.0005635745474137366,
                        "pitch": 0.5969858169555664,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -3.4413729736115783e-05,
                    "y": -0.001004891819320619,
                    "z": 0.09455222636461258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02786840684711933,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.19140625,
                        "z": 364.9878845214844
                    },
                    "rotation": {
                        "roll": -0.00036621009348891675,
                        "pitch": 0.37691712379455566,
                        "yaw": 90.06034851074219
                    }
                },
                "velocity": {
                    "x": -1.556561437610071e-05,
                    "y": -0.0002009743475355208,
                    "z": 0.027867676690220833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09806802123785019,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0802307128906
                    },
                    "rotation": {
                        "roll": -0.00021360629762057215,
                        "pitch": 0.2942377030849457,
                        "yaw": 90.06033325195312
                    }
                },
                "velocity": {
                    "x": 0.0001462051586713642,
                    "y": -0.0005178111023269594,
                    "z": 0.0980665385723114
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006669551366940141,
        "expert_target_speed": 1.0126223638549179,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "15": {
        "acceleration": [
            0.0010652740020304918,
            -0.0001709476055111736,
            -0.024922359734773636
        ],
        "angular_velocity": [
            0.007011827547103167,
            -0.012352974154055119,
            4.967573204339715e-06
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.9999618530273438,
            0.008672247640788555
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010552896419540048,
            1.4380550965142902e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.88763427734375
        ],
        "rotation": [
            -0.0008239758899435401,
            0.4968894124031067,
            90.06045532226562
        ],
        "velocity": [
            -3.5259072319604456e-05,
            -7.247074972838163e-05,
            0.0038528135046362877
        ],
        "speed": 8.05928765278472e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.072171211242676,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.119384765625,
                2488.263671875,
                364.9952697753906
            ],
            "velocity": [
                -0.010264736600220203,
                1.0122476816177368,
                0.031555548310279846
            ],
            "speed_kmh": 3.646049158140499,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9001190066337585,
                "transform": {
                    "location": {
                        "x": 2187.843017578125,
                        "y": 2514.12841796875,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -0.0037841785233467817,
                        "pitch": -0.11135939508676529,
                        "yaw": -89.92027282714844
                    }
                },
                "velocity": {
                    "x": 0.011387676000595093,
                    "y": -0.8988747000694275,
                    "z": 0.04592188820242882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02094537951052189,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.5865173339844
                    },
                    "rotation": {
                        "roll": 0.0004788133082911372,
                        "pitch": 0.6738527417182922,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 9.584895451553166e-05,
                    "y": -0.00028952062712050974,
                    "z": 0.020943159237504005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020938217639923096,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7542419433594
                    },
                    "rotation": {
                        "roll": 0.00024053709057625383,
                        "pitch": 0.5970814228057861,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -1.2661015716730617e-05,
                    "y": -0.0002460619725752622,
                    "z": 0.020936768501996994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.012791395187378,
                "transform": {
                    "location": {
                        "x": 2185.119384765625,
                        "y": 2488.263671875,
                        "z": 364.9952697753906
                    },
                    "rotation": {
                        "roll": -0.006408680230379105,
                        "pitch": 0.6090547442436218,
                        "yaw": 90.07755279541016
                    }
                },
                "velocity": {
                    "x": -0.010264736600220203,
                    "y": 1.0122476816177368,
                    "z": 0.031555548310279846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020866291597485542,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0947265625
                    },
                    "rotation": {
                        "roll": -0.0007934595341794193,
                        "pitch": 0.29298093914985657,
                        "yaw": 90.06031799316406
                    }
                },
                "velocity": {
                    "x": 8.869510202202946e-05,
                    "y": -0.0001220689300680533,
                    "z": 0.020865745842456818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0009325669379904866,
        "expert_target_speed": 1.0077716363639098,
        "target_point": [
            42.33962315316024,
            -0.0015590105989188308
        ],
        "target_point_next": [
            51.28197836364802,
            8.910799996274035
        ]
    },
    "20": {
        "acceleration": [
            -0.00040852304664440453,
            0.0009145140065811574,
            0.00160508556291461
        ],
        "angular_velocity": [
            -0.006055527366697788,
            0.011099040508270264,
            0.0002156495611416176
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008680233731865883
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010555166518315673,
            -6.877817213535309e-07
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8879699707031
        ],
        "rotation": [
            3.9408474549418315e-05,
            0.49734702706336975,
            90.06047821044922
        ],
        "velocity": [
            3.8427482650149614e-05,
            -1.1846423149108887e-05,
            0.0017284516943618655
        ],
        "speed": 4.021205247503903e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.433042526245117,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.11572265625,
                2488.62451171875,
                365.0006103515625
            ],
            "velocity": [
                -0.021521588787436485,
                1.8066014051437378,
                0.019680337980389595
            ],
            "speed_kmh": 6.504612390061651,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8808257579803467,
                "transform": {
                    "location": {
                        "x": 2187.84716796875,
                        "y": 2513.760498046875,
                        "z": 365.16455078125
                    },
                    "rotation": {
                        "roll": -0.0055847191251814365,
                        "pitch": -0.08032301813364029,
                        "yaw": -89.81725311279297
                    }
                },
                "velocity": {
                    "x": 0.02552606724202633,
                    "y": -1.8806517124176025,
                    "z": 0.0017662333557382226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.141596555709839,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2443.41455078125,
                        "z": 364.5920104980469
                    },
                    "rotation": {
                        "roll": 0.00759418960660696,
                        "pitch": 0.48622748255729675,
                        "yaw": 90.20259094238281
                    }
                },
                "velocity": {
                    "x": -0.029630174860358238,
                    "y": 2.1412549018859863,
                    "z": 0.024212883785367012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1864492893218994,
                "transform": {
                    "location": {
                        "x": 2185.147705078125,
                        "y": 2458.425048828125,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": 0.00689872819930315,
                        "pitch": 0.40355488657951355,
                        "yaw": 90.05001068115234
                    }
                },
                "velocity": {
                    "x": -0.030626943334937096,
                    "y": 2.1861348152160645,
                    "z": 0.0208960622549057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8068368434906006,
                "transform": {
                    "location": {
                        "x": 2185.11572265625,
                        "y": 2488.62451171875,
                        "z": 365.0006103515625
                    },
                    "rotation": {
                        "roll": -0.010711678303778172,
                        "pitch": 0.743438720703125,
                        "yaw": 90.20294952392578
                    }
                },
                "velocity": {
                    "x": -0.021521588787436485,
                    "y": 1.8066014051437378,
                    "z": 0.019680337980389595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1282737255096436,
                "transform": {
                    "location": {
                        "x": 2185.1025390625,
                        "y": 2503.417236328125,
                        "z": 365.0987548828125
                    },
                    "rotation": {
                        "roll": 0.004781587980687618,
                        "pitch": 0.10864781588315964,
                        "yaw": 90.19770050048828
                    }
                },
                "velocity": {
                    "x": -0.02970287762582302,
                    "y": 2.1280405521392822,
                    "z": 0.010491571389138699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0003847213229164481,
        "expert_target_speed": 1.020649721822919,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "25": {
        "acceleration": [
            0.0003399718552827835,
            0.0005360961076803505,
            -0.03467303514480591
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            -0.0010554828913882375,
            0.9999618530273438,
            0.008671769872307777
        ],
        "right_vector": [
            -0.999999463558197,
            -0.001055362168699503,
            -1.850072294473648e-05
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8880920410156
        ],
        "rotation": [
            0.0010600532405078411,
            0.4968620836734772,
            90.06047821044922
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.030725479125977,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.109130859375,
                2489.22216796875,
                365.0052185058594
            ],
            "velocity": [
                -0.03712688758969307,
                2.975769281387329,
                0.02089577540755272
            ],
            "speed_kmh": 10.713867247832377,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.041682004928589,
                "transform": {
                    "location": {
                        "x": 2187.85400390625,
                        "y": 2513.150390625,
                        "z": 365.1632995605469
                    },
                    "rotation": {
                        "roll": -0.006378173362463713,
                        "pitch": -0.06546053290367126,
                        "yaw": -89.64965057373047
                    }
                },
                "velocity": {
                    "x": 0.04138260334730148,
                    "y": -3.0413873195648193,
                    "z": -0.008902101777493954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.338594675064087,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2444.115966796875,
                        "z": 364.59967041015625
                    },
                    "rotation": {
                        "roll": 0.006919270381331444,
                        "pitch": 0.5239301323890686,
                        "yaw": 90.37838745117188
                    }
                },
                "velocity": {
                    "x": -0.04721818491816521,
                    "y": 3.338042736053467,
                    "z": 0.03814704716205597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.316478967666626,
                "transform": {
                    "location": {
                        "x": 2185.1396484375,
                        "y": 2459.12548828125,
                        "z": 364.7660827636719
                    },
                    "rotation": {
                        "roll": 0.006079142913222313,
                        "pitch": 0.44263720512390137,
                        "yaw": 90.2557373046875
                    }
                },
                "velocity": {
                    "x": -0.0458478145301342,
                    "y": 3.316005229949951,
                    "z": 0.032259080559015274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.97607421875,
                "transform": {
                    "location": {
                        "x": 2185.109130859375,
                        "y": 2489.22216796875,
                        "z": 365.0052185058594
                    },
                    "rotation": {
                        "roll": -0.01101683545857668,
                        "pitch": 0.8295537233352661,
                        "yaw": 90.35562133789062
                    }
                },
                "velocity": {
                    "x": -0.03712688758969307,
                    "y": 2.975769281387329,
                    "z": 0.02089577540755272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3529419898986816,
                "transform": {
                    "location": {
                        "x": 2185.093994140625,
                        "y": 2504.119873046875,
                        "z": 365.1018371582031
                    },
                    "rotation": {
                        "roll": 0.005202153231948614,
                        "pitch": 0.1476823389530182,
                        "yaw": 90.37267303466797
                    }
                },
                "velocity": {
                    "x": -0.04723222553730011,
                    "y": 3.352574110031128,
                    "z": 0.015378284268081188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0007330059306696057,
        "expert_target_speed": 1.0401237182970637,
        "target_point": [
            42.33962342698684,
            0.0010573498023553202
        ],
        "target_point_next": [
            51.28147927852591,
            8.913917368237737
        ]
    },
    "30": {
        "acceleration": [
            -0.0195411816239357,
            4.28476095199585,
            0.029021454975008965
        ],
        "angular_velocity": [
            1.2076998949050903,
            0.029825793579220772,
            -0.20786195993423462
        ],
        "forward_vector": [
            -0.0005134355160407722,
            0.9999169111251831,
            0.01288080308586359
        ],
        "right_vector": [
            -0.9999998807907104,
            -0.0005131234647706151,
            -2.7532223612070084e-05
        ],
        "location": [
            2185.135498046875,
            2473.295166015625,
            364.88824462890625
        ],
        "rotation": [
            0.001577611081302166,
            0.738036036491394,
            90.0294189453125
        ],
        "velocity": [
            -0.0018450379138812423,
            0.9662309885025024,
            0.007896194234490395
        ],
        "speed": 0.9662327500697886,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.860109329223633,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.09765625,
                2490.15478515625,
                365.01104736328125
            ],
            "velocity": [
                -0.0579632930457592,
                4.383476734161377,
                0.02800719253718853
            ],
            "speed_kmh": 15.78221787422185,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.41689920425415,
                "transform": {
                    "location": {
                        "x": 2187.865234375,
                        "y": 2512.20849609375,
                        "z": 365.1602783203125
                    },
                    "rotation": {
                        "roll": -0.005676268134266138,
                        "pitch": -0.03936920687556267,
                        "yaw": -89.46977996826172
                    }
                },
                "velocity": {
                    "x": 0.061624594032764435,
                    "y": -4.41644811630249,
                    "z": -0.013650788925588131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.454338073730469,
                "transform": {
                    "location": {
                        "x": 2185.14501953125,
                        "y": 2445.09521484375,
                        "z": 364.6109619140625
                    },
                    "rotation": {
                        "roll": 0.008267974480986595,
                        "pitch": 0.5474737882614136,
                        "yaw": 90.5433578491211
                    }
                },
                "velocity": {
                    "x": -0.06321568787097931,
                    "y": 4.4535956382751465,
                    "z": 0.051148850470781326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.435030460357666,
                "transform": {
                    "location": {
                        "x": 2185.128173828125,
                        "y": 2460.099365234375,
                        "z": 364.7757263183594
                    },
                    "rotation": {
                        "roll": 0.005889063701033592,
                        "pitch": 0.456331729888916,
                        "yaw": 90.46233367919922
                    }
                },
                "velocity": {
                    "x": -0.0617600753903389,
                    "y": 4.434378147125244,
                    "z": 0.044383008033037186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.383949279785156,
                "transform": {
                    "location": {
                        "x": 2185.09765625,
                        "y": 2490.15478515625,
                        "z": 365.01104736328125
                    },
                    "rotation": {
                        "roll": -0.010986324399709702,
                        "pitch": 0.9510422945022583,
                        "yaw": 90.53406524658203
                    }
                },
                "velocity": {
                    "x": -0.0579632930457592,
                    "y": 4.383476734161377,
                    "z": 0.02800719253718853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.477733135223389,
                "transform": {
                    "location": {
                        "x": 2185.08154296875,
                        "y": 2505.104248046875,
                        "z": 365.1065979003906
                    },
                    "rotation": {
                        "roll": 0.004760183859616518,
                        "pitch": 0.17569294571876526,
                        "yaw": 90.53936767578125
                    }
                },
                "velocity": {
                    "x": -0.0630863755941391,
                    "y": 4.477232933044434,
                    "z": 0.02229364402592182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0019318597624078393,
        "expert_target_speed": 2.017704147045993,
        "target_point": [
            42.23634714970852,
            0.01916445221487752
        ],
        "target_point_next": [
            51.174300660433595,
            8.9359377933986
        ]
    },
    "35": {
        "acceleration": [
            -0.0019010482355952263,
            2.438673973083496,
            0.013859551399946213
        ],
        "angular_velocity": [
            -0.1334020048379898,
            -0.010069120675325394,
            0.7614179253578186
        ],
        "forward_vector": [
            -0.0015033623203635216,
            0.9999001622200012,
            0.014051331207156181
        ],
        "right_vector": [
            -0.9999988675117493,
            -0.0015037052799016237,
            1.3846437468600925e-05
        ],
        "location": [
            2185.135986328125,
            2473.63037109375,
            364.8908386230469
        ],
        "rotation": [
            -0.0007934207678772509,
            0.8051084876060486,
            90.08614349365234
        ],
        "velocity": [
            -0.0034293769858777523,
            1.6247663497924805,
            0.014182910323143005
        ],
        "speed": 1.624769968963143,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.77886962890625,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.0810546875,
                2491.40869140625,
                365.0194091796875
            ],
            "velocity": [
                -0.07519792020320892,
                5.441275596618652,
                0.03513065353035927
            ],
            "speed_kmh": 19.590870893060863,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.249972343444824,
                "transform": {
                    "location": {
                        "x": 2187.882080078125,
                        "y": 2510.953857421875,
                        "z": 365.1568603515625
                    },
                    "rotation": {
                        "roll": -0.0035705575719475746,
                        "pitch": -0.07177845388650894,
                        "yaw": -89.33560180664062
                    }
                },
                "velocity": {
                    "x": 0.07427023351192474,
                    "y": -5.249420642852783,
                    "z": -0.016545237973332405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.279066562652588,
                "transform": {
                    "location": {
                        "x": 2185.128662109375,
                        "y": 2446.3369140625,
                        "z": 364.62542724609375
                    },
                    "rotation": {
                        "roll": 0.008212645538151264,
                        "pitch": 0.5733875036239624,
                        "yaw": 90.66907501220703
                    }
                },
                "velocity": {
                    "x": -0.07581959664821625,
                    "y": 5.278148174285889,
                    "z": 0.06281425058841705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.167506217956543,
                "transform": {
                    "location": {
                        "x": 2185.112060546875,
                        "y": 2461.337646484375,
                        "z": 364.7883605957031
                    },
                    "rotation": {
                        "roll": 0.006612061522901058,
                        "pitch": 0.47271737456321716,
                        "yaw": 90.62062072753906
                    }
                },
                "velocity": {
                    "x": -0.07243235409259796,
                    "y": 5.166746139526367,
                    "z": 0.051068637520074844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.441908836364746,
                "transform": {
                    "location": {
                        "x": 2185.0810546875,
                        "y": 2491.40869140625,
                        "z": 365.0194091796875
                    },
                    "rotation": {
                        "roll": -0.007263224571943283,
                        "pitch": 0.9118165373802185,
                        "yaw": 90.6461181640625
                    }
                },
                "velocity": {
                    "x": -0.07519792020320892,
                    "y": 5.441275596618652,
                    "z": 0.03513065353035927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.485360622406006,
                "transform": {
                    "location": {
                        "x": 2185.06591796875,
                        "y": 2506.279052734375,
                        "z": 365.1106872558594
                    },
                    "rotation": {
                        "roll": 0.002336103469133377,
                        "pitch": 0.2290572077035904,
                        "yaw": 90.66046142578125
                    }
                },
                "velocity": {
                    "x": -0.063844695687294,
                    "y": 4.484872817993164,
                    "z": 0.017327431589365005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006485756603069603,
        "expert_target_speed": 2.6902015935543258,
        "target_point": [
            41.90114319667202,
            -0.018148724450200326
        ],
        "target_point_next": [
            50.84718004687355,
            8.890514724842497
        ]
    },
    "40": {
        "acceleration": [
            -0.012295795604586601,
            3.8651466369628906,
            0.02476312220096588
        ],
        "angular_velocity": [
            0.2778208255767822,
            0.028091559186577797,
            0.08503216505050659
        ],
        "forward_vector": [
            -0.001545311650261283,
            0.9998948574066162,
            0.014417863450944424
        ],
        "right_vector": [
            -0.9999988079071045,
            -0.0015456719556823373,
            1.3846437468600925e-05
        ],
        "location": [
            2185.134033203125,
            2474.139892578125,
            364.89501953125
        ],
        "rotation": [
            -0.0007934249006211758,
            0.8261113166809082,
            90.08854675292969
        ],
        "velocity": [
            -0.005725773982703686,
            2.447993516921997,
            0.019727230072021484
        ],
        "speed": 2.448000213108616,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.688339233398438,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.068115234375,
                2492.82763671875,
                365.0289306640625
            ],
            "velocity": [
                -0.048433177173137665,
                6.1564483642578125,
                0.038063857704401016
            ],
            "speed_kmh": 22.164323543665056,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.638014793395996,
                "transform": {
                    "location": {
                        "x": 2187.895263671875,
                        "y": 2509.590087890625,
                        "z": 365.1528015136719
                    },
                    "rotation": {
                        "roll": 0.0035192302893847227,
                        "pitch": -0.12805238366127014,
                        "yaw": -89.47750854492188
                    }
                },
                "velocity": {
                    "x": 0.04288950935006142,
                    "y": -5.637823581695557,
                    "z": -0.01777707040309906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.724742412567139,
                "transform": {
                    "location": {
                        "x": 2185.11572265625,
                        "y": 2447.70458984375,
                        "z": 364.6408996582031
                    },
                    "rotation": {
                        "roll": 0.0013481026981025934,
                        "pitch": 0.6011317372322083,
                        "yaw": 90.59014892578125
                    }
                },
                "velocity": {
                    "x": -0.044250767678022385,
                    "y": 5.724209308624268,
                    "z": 0.06443078815937042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2527358531951904,
                "transform": {
                    "location": {
                        "x": 2185.09814453125,
                        "y": 2462.459228515625,
                        "z": 364.79718017578125
                    },
                    "rotation": {
                        "roll": -0.02014157548546791,
                        "pitch": 0.7075461149215698,
                        "yaw": 89.48377227783203
                    }
                },
                "velocity": {
                    "x": 0.025426752865314484,
                    "y": 3.252488136291504,
                    "z": 0.03106728568673134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.156756401062012,
                "transform": {
                    "location": {
                        "x": 2185.068115234375,
                        "y": 2492.82763671875,
                        "z": 365.0289306640625
                    },
                    "rotation": {
                        "roll": 0.023894254118204117,
                        "pitch": 0.7241434454917908,
                        "yaw": 90.47950744628906
                    }
                },
                "velocity": {
                    "x": -0.048433177173137665,
                    "y": 6.1564483642578125,
                    "z": 0.038063857704401016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.318887233734131,
                "transform": {
                    "location": {
                        "x": 2185.056884765625,
                        "y": 2507.34814453125,
                        "z": 365.1146545410156
                    },
                    "rotation": {
                        "roll": 0.0003058134752791375,
                        "pitch": 0.2291186898946762,
                        "yaw": 90.57665252685547
                    }
                },
                "velocity": {
                    "x": -0.03444848209619522,
                    "y": 4.318715572357178,
                    "z": 0.01719047501683235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0012322927359491587,
        "expert_target_speed": 3.5161500441796325,
        "target_point": [
            41.39161934961873,
            -0.019334903604925416
        ],
        "target_point_next": [
            50.33765619982026,
            8.889328545687771
        ]
    },
    "45": {
        "acceleration": [
            -0.01959005370736122,
            5.418200492858887,
            0.06533853709697723
        ],
        "angular_velocity": [
            0.5112457275390625,
            0.02652890980243683,
            0.11182933300733566
        ],
        "forward_vector": [
            -0.0019542158115655184,
            0.9998635649681091,
            0.0164016280323267
        ],
        "right_vector": [
            -0.9999980926513672,
            -0.0019552037119865417,
            4.4202428398421034e-05
        ],
        "location": [
            2185.132080078125,
            2474.90380859375,
            364.90081787109375
        ],
        "rotation": [
            -0.0025329533964395523,
            0.9397861957550049,
            90.11198425292969
        ],
        "velocity": [
            -0.009808431379497051,
            3.659022808074951,
            0.030181169509887695
        ],
        "speed": 3.6590359543654154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.588531494140625,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.05517578125,
                2494.49169921875,
                365.0392150878906
            ],
            "velocity": [
                -0.04966403916478157,
                6.6365861892700195,
                0.04022569581866264
            ],
            "speed_kmh": 23.89281810268847,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.914349555969238,
                "transform": {
                    "location": {
                        "x": 2187.907958984375,
                        "y": 2507.9208984375,
                        "z": 365.1462097167969
                    },
                    "rotation": {
                        "roll": 0.0011496954830363393,
                        "pitch": 0.022464491426944733,
                        "yaw": -89.54364776611328
                    }
                },
                "velocity": {
                    "x": 0.05844341218471527,
                    "y": -7.914090633392334,
                    "z": -0.02616140805184841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039444446563721,
                "transform": {
                    "location": {
                        "x": 2185.10400390625,
                        "y": 2449.24658203125,
                        "z": 364.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0022627534344792366,
                        "pitch": 0.5203306078910828,
                        "yaw": 90.51351928710938
                    }
                },
                "velocity": {
                    "x": -0.05110560357570648,
                    "y": 7.0388054847717285,
                    "z": 0.0798955112695694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009798946557566524,
                "transform": {
                    "location": {
                        "x": 2185.089111328125,
                        "y": 2462.8818359375,
                        "z": 364.79998779296875
                    },
                    "rotation": {
                        "roll": -0.016693124547600746,
                        "pitch": 0.8771533370018005,
                        "yaw": 87.99469757080078
                    }
                },
                "velocity": {
                    "x": 0.0007437921012751758,
                    "y": 0.0006262623937800527,
                    "z": -0.00012150032125646248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.636894226074219,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2494.49169921875,
                        "z": 365.0392150878906
                    },
                    "rotation": {
                        "roll": 0.01255121547728777,
                        "pitch": 0.6875746250152588,
                        "yaw": 90.44642639160156
                    }
                },
                "velocity": {
                    "x": -0.04966403916478157,
                    "y": 6.6365861892700195,
                    "z": 0.04022569581866264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9731926918029785,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2508.392822265625,
                        "z": 365.1187438964844
                    },
                    "rotation": {
                        "roll": 0.0013244982110336423,
                        "pitch": 0.20584823191165924,
                        "yaw": 90.53330993652344
                    }
                },
                "velocity": {
                    "x": -0.031973958015441895,
                    "y": 3.973041534423828,
                    "z": 0.013387956656515598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0036374202463775873,
        "expert_target_speed": 4.699892636954264,
        "target_point": [
            40.62768932091493,
            -0.03708935783918345
        ],
        "target_point_next": [
            49.57744237637453,
            8.867840738698298
        ]
    },
    "50": {
        "acceleration": [
            -0.02630213275551796,
            4.539775848388672,
            0.025129318237304688
        ],
        "angular_velocity": [
            -0.029251350089907646,
            -0.015559520572423935,
            0.14239710569381714
        ],
        "forward_vector": [
            -0.002512840088456869,
            0.9998491406440735,
            0.017187343910336494
        ],
        "right_vector": [
            -0.9999968409538269,
            -0.002513888757675886,
            3.9408914744853973e-05
        ],
        "location": [
            2185.12890625,
            2475.97412109375,
            364.90936279296875
        ],
        "rotation": [
            -0.002258297987282276,
            0.9848107695579529,
            90.14399719238281
        ],
        "velocity": [
            -0.015668675303459167,
            4.830153465270996,
            0.03876878693699837
        ],
        "speed": 4.830178879239896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.079044342041016,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.04345703125,
                2496.052490234375,
                365.0501403808594
            ],
            "velocity": [
                -0.04537547379732132,
                6.050785541534424,
                0.0364825539290905
            ],
            "speed_kmh": 21.783836363617677,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.297037124633789,
                "transform": {
                    "location": {
                        "x": 2187.924072265625,
                        "y": 2505.84814453125,
                        "z": 365.1387023925781
                    },
                    "rotation": {
                        "roll": 0.0019046640954911709,
                        "pitch": -0.1716904491186142,
                        "yaw": -89.57772827148438
                    }
                },
                "velocity": {
                    "x": 0.05961199104785919,
                    "y": -8.29673957824707,
                    "z": -0.03723703324794769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.450075626373291,
                "transform": {
                    "location": {
                        "x": 2185.0908203125,
                        "y": 2450.971435546875,
                        "z": 364.677490234375
                    },
                    "rotation": {
                        "roll": 0.0021883100271224976,
                        "pitch": 0.6520985960960388,
                        "yaw": 90.44707489013672
                    }
                },
                "velocity": {
                    "x": -0.046735942363739014,
                    "y": 6.449487209320068,
                    "z": 0.07352504879236221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.234363317489624,
                "transform": {
                    "location": {
                        "x": 2185.089111328125,
                        "y": 2463.07373046875,
                        "z": 364.8045654296875
                    },
                    "rotation": {
                        "roll": -0.010070787742733955,
                        "pitch": 0.555840790271759,
                        "yaw": 88.18143463134766
                    }
                },
                "velocity": {
                    "x": -0.008462032303214073,
                    "y": 1.2342804670333862,
                    "z": 0.011523780412971973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.051065921783447,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2496.052490234375,
                        "z": 365.0501403808594
                    },
                    "rotation": {
                        "roll": 0.007064029574394226,
                        "pitch": 0.29373225569725037,
                        "yaw": 90.43033599853516
                    }
                },
                "velocity": {
                    "x": -0.04537547379732132,
                    "y": 6.050785541534424,
                    "z": 0.0364825539290905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7922966480255127,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2509.38330078125,
                        "z": 365.1218566894531
                    },
                    "rotation": {
                        "roll": 0.0013985229888930917,
                        "pitch": 0.19834184646606445,
                        "yaw": 90.50057220458984
                    }
                },
                "velocity": {
                    "x": -0.030310502275824547,
                    "y": 3.7921550273895264,
                    "z": 0.012483109720051289
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.006250818260014057,
        "expert_target_speed": 5.792504570218808,
        "target_point": [
            39.557344649592444,
            -0.06065183083545556
        ],
        "target_point_next": [
            48.51214924380075,
            8.839198418324536
        ]
    },
    "55": {
        "acceleration": [
            -0.007144957780838013,
            -0.21015167236328125,
            -0.013604164123535156
        ],
        "angular_velocity": [
            -1.3441540002822876,
            -0.0013275541132315993,
            0.1514919102191925
        ],
        "forward_vector": [
            -0.00314126443117857,
            0.9999006390571594,
            0.013742966577410698
        ],
        "right_vector": [
            -0.9999950528144836,
            -0.0031422197353094816,
            4.79309783258941e-05
        ],
        "location": [
            2185.124755859375,
            2477.267822265625,
            364.9207763671875
        ],
        "rotation": [
            -0.0027465021703392267,
            0.7874388098716736,
            90.18000030517578
        ],
        "velocity": [
            -0.019880447536706924,
            5.229220867156982,
            0.041056327521800995
        ],
        "speed": 5.229258657754872,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.29583740234375,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.0341796875,
                2497.56298828125,
                365.0587463378906
            ],
            "velocity": [
                -0.02734982594847679,
                5.840672969818115,
                0.032821204513311386
            ],
            "speed_kmh": 21.026985194343144,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.788152694702148,
                "transform": {
                    "location": {
                        "x": 2187.9345703125,
                        "y": 2503.849853515625,
                        "z": 365.1302795410156
                    },
                    "rotation": {
                        "roll": 0.0029773160349577665,
                        "pitch": -0.3233616352081299,
                        "yaw": -89.70977020263672
                    }
                },
                "velocity": {
                    "x": 0.030884748324751854,
                    "y": -7.7879862785339355,
                    "z": -0.040476392954587936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.256144046783447,
                "transform": {
                    "location": {
                        "x": 2185.08203125,
                        "y": 2452.3984375,
                        "z": 364.6921081542969
                    },
                    "rotation": {
                        "roll": 0.000717348710168153,
                        "pitch": 0.8128471374511719,
                        "yaw": 90.36060333251953
                    }
                },
                "velocity": {
                    "x": -0.018021110445261,
                    "y": 4.255897045135498,
                    "z": 0.04216363653540611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.13246488571167,
                "transform": {
                    "location": {
                        "x": 2185.089599609375,
                        "y": 2463.5009765625,
                        "z": 364.8092041015625
                    },
                    "rotation": {
                        "roll": -0.00491334218531847,
                        "pitch": 0.4751284122467041,
                        "yaw": 88.60839080810547
                    }
                },
                "velocity": {
                    "x": -0.015933291986584663,
                    "y": 2.132319211959839,
                    "z": 0.019167078658938408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.840828895568848,
                "transform": {
                    "location": {
                        "x": 2185.0341796875,
                        "y": 2497.56298828125,
                        "z": 365.0587463378906
                    },
                    "rotation": {
                        "roll": 0.016217682510614395,
                        "pitch": 0.25438356399536133,
                        "yaw": 90.3386459350586
                    }
                },
                "velocity": {
                    "x": -0.02734982594847679,
                    "y": 5.840672969818115,
                    "z": 0.032821204513311386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5173726081848145,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2510.166259765625,
                        "z": 365.12359619140625
                    },
                    "rotation": {
                        "roll": 0.0021208133548498154,
                        "pitch": 0.2865332365036011,
                        "yaw": 90.49837493896484
                    }
                },
                "velocity": {
                    "x": -0.02189048007130623,
                    "y": 2.517261028289795,
                    "z": 0.009049586951732635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01022599171847105,
        "expert_target_speed": 6.153661347160042,
        "target_point": [
            38.26358853320264,
            -0.08667773811253905
        ],
        "target_point_next": [
            47.22422851928295,
            8.807297234743299
        ]
    },
    "60": {
        "acceleration": [
            -0.04046134650707245,
            5.160188674926758,
            0.032552555203437805
        ],
        "angular_velocity": [
            1.0301998853683472,
            -0.04164939746260643,
            -0.013402724638581276
        ],
        "forward_vector": [
            -0.00379431270994246,
            0.9998894333839417,
            0.014376859180629253
        ],
        "right_vector": [
            -0.9999927878379822,
            -0.0037955548614263535,
            5.9115231124451384e-05
        ],
        "location": [
            2185.118896484375,
            2478.660400390625,
            364.9314880371094
        ],
        "rotation": [
            -0.003387403441593051,
            0.8237617611885071,
            90.21742248535156
        ],
        "velocity": [
            -0.027516571804881096,
            6.212218284606934,
            0.047373827546834946
        ],
        "speed": 6.212279225640828,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.636186599731445,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02734375,
                2498.2958984375,
                365.0680847167969
            ],
            "velocity": [
                -0.0033208709210157394,
                0.021540146321058273,
                -0.00152585469186306
            ],
            "speed_kmh": 0.0786527353874319,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778564453125,
                        "y": 2574.8583984375,
                        "z": 365.0722961425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.64599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 1.0381288717553616e-07,
                    "y": -2.2821627920777132e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45473355054855347,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.7622985839844
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.21685166656970978,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -0.0017203798051923513,
                    "y": -1.3787525858788285e-05,
                    "z": -0.4547303020954132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.138262748718262,
                "transform": {
                    "location": {
                        "x": 2187.94287109375,
                        "y": 2501.867431640625,
                        "z": 365.1194763183594
                    },
                    "rotation": {
                        "roll": 0.0010814637644216418,
                        "pitch": -0.27774280309677124,
                        "yaw": -89.77819061279297
                    }
                },
                "velocity": {
                    "x": 0.028636418282985687,
                    "y": -8.138104438781738,
                    "z": -0.041937172412872314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001354687730781734,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.80908203125,
                        "z": 364.69439697265625
                    },
                    "rotation": {
                        "roll": 0.0030769940931349993,
                        "pitch": 1.0610971450805664,
                        "yaw": 90.36148834228516
                    }
                },
                "velocity": {
                    "x": -0.00010653564822860062,
                    "y": -0.0013318335404619575,
                    "z": -0.00022371532395482063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.036841869354248,
                "transform": {
                    "location": {
                        "x": 2185.088623046875,
                        "y": 2464.148681640625,
                        "z": 364.8154296875
                    },
                    "rotation": {
                        "roll": -0.002807644894346595,
                        "pitch": 0.4597468376159668,
                        "yaw": 89.09915924072266
                    }
                },
                "velocity": {
                    "x": -0.023293474689126015,
                    "y": 3.0366227626800537,
                    "z": 0.028082503005862236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.021847981959581375,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2498.2958984375,
                        "z": 365.0680847167969
                    },
                    "rotation": {
                        "roll": 0.014587847515940666,
                        "pitch": -1.2209372520446777,
                        "yaw": 90.0314712524414
                    }
                },
                "velocity": {
                    "x": -0.0033208709210157394,
                    "y": 0.021540146321058273,
                    "z": -0.00152585469186306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015524440677836537,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.568115234375,
                        "z": 365.1239318847656
                    },
                    "rotation": {
                        "roll": 0.0028759692795574665,
                        "pitch": 0.4076734781265259,
                        "yaw": 90.41574096679688
                    }
                },
                "velocity": {
                    "x": -0.0003573036810848862,
                    "y": 0.0015068876091390848,
                    "z": -0.00010819704766618088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.019234703853726387,
        "expert_target_speed": 6.840249740859203,
        "target_point": [
            36.87093527736145,
            -0.11162757667964493
        ],
        "target_point_next": [
            45.8372351527925,
            8.776641451751733
        ]
    },
    "65": {
        "acceleration": [
            -0.038772597908973694,
            2.988462448120117,
            0.01797221601009369
        ],
        "angular_velocity": [
            -0.26286181807518005,
            -0.010682451538741589,
            0.2319585531949997
        ],
        "forward_vector": [
            -0.004638398997485638,
            0.9998732209205627,
            0.015230423770844936
        ],
        "right_vector": [
            -0.9999892115592957,
            -0.00464054336771369,
            0.00010544852557359263
        ],
        "location": [
            2185.11083984375,
            2480.34033203125,
            364.9439697265625
        ],
        "rotation": [
            -0.00604245625436306,
            0.8726727366447449,
            90.26579284667969
        ],
        "velocity": [
            -0.03703656792640686,
            7.135941505432129,
            0.0526253879070282
        ],
        "speed": 7.136037617355497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.104358673095703,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02734375,
                2498.444091796875,
                365.0653076171875
            ],
            "velocity": [
                -0.0039560310542583466,
                1.119508147239685,
                0.00650055892765522
            ],
            "speed_kmh": 4.03032243541705,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.781005859375,
                        "y": 2572.774658203125,
                        "z": 365.0780334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1549706608057022,
                "transform": {
                    "location": {
                        "x": 2236.938720703125,
                        "y": 2524.330322265625,
                        "z": 366.528076171875
                    },
                    "rotation": {
                        "roll": 0.0006020070286467671,
                        "pitch": -1.7768189907073975,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -0.004596517886966467,
                    "y": 4.001454362878576e-05,
                    "z": 0.15490247309207916
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2342846393585205,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7418518066406
                    },
                    "rotation": {
                        "roll": 0.0005195068661123514,
                        "pitch": -0.218142569065094,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0008949287002906203,
                    "y": -6.818881956860423e-07,
                    "z": 0.23428292572498322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09512406587600708,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.7551574707031
                    },
                    "rotation": {
                        "roll": 0.00026079226518049836,
                        "pitch": 0.21682433784008026,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.00036689118132926524,
                    "y": 0.00010269281483488157,
                    "z": 0.0951232984662056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046826362609863,
                "transform": {
                    "location": {
                        "x": 2187.94970703125,
                        "y": 2499.8310546875,
                        "z": 365.109130859375
                    },
                    "rotation": {
                        "roll": 0.0024474409874528646,
                        "pitch": -0.2937937378883362,
                        "yaw": -89.83129119873047
                    }
                },
                "velocity": {
                    "x": 0.018378518521785736,
                    "y": -8.04670238494873,
                    "z": -0.04068106412887573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.093591570854187,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.962158203125,
                        "z": 364.69952392578125
                    },
                    "rotation": {
                        "roll": 0.00241237785667181,
                        "pitch": 0.6331380009651184,
                        "yaw": 90.38053131103516
                    }
                },
                "velocity": {
                    "x": -0.004007585346698761,
                    "y": 1.0935237407684326,
                    "z": 0.011492443270981312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.1053643226623535,
                "transform": {
                    "location": {
                        "x": 2185.085693359375,
                        "y": 2465.04345703125,
                        "z": 364.8240966796875
                    },
                    "rotation": {
                        "roll": 0.0005403474206104875,
                        "pitch": 0.4335530698299408,
                        "yaw": 89.57040405273438
                    }
                },
                "velocity": {
                    "x": -0.03201392665505409,
                    "y": 4.105057716369629,
                    "z": 0.03864990919828415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1195340156555176,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2498.444091796875,
                        "z": 365.0653076171875
                    },
                    "rotation": {
                        "roll": 0.011480170302093029,
                        "pitch": -0.27279090881347656,
                        "yaw": 90.06156921386719
                    }
                },
                "velocity": {
                    "x": -0.0039560310542583466,
                    "y": 1.119508147239685,
                    "z": 0.00650055892765522
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000821346533484757,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.5673828125,
                        "z": 365.12518310546875
                    },
                    "rotation": {
                        "roll": 0.0035061491653323174,
                        "pitch": 0.2539122700691223,
                        "yaw": 90.41570281982422
                    }
                },
                "velocity": {
                    "x": -3.116451989626512e-05,
                    "y": -0.0007459060871042311,
                    "z": -0.0003424369206186384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02695542201399803,
        "expert_target_speed": 7.5097156462433325,
        "target_point": [
            35.19087798381345,
            -0.14278796426414986
        ],
        "target_point_next": [
            44.16461497702892,
            8.737972372245535
        ]
    },
    "70": {
        "acceleration": [
            -0.04966765642166138,
            3.030729293823242,
            0.002516135573387146
        ],
        "angular_velocity": [
            -0.2831135094165802,
            0.0249125175178051,
            0.22420068085193634
        ],
        "forward_vector": [
            -0.005595400929450989,
            0.99988853931427,
            0.013842497020959854
        ],
        "right_vector": [
            -0.9999843239784241,
            -0.005597639828920364,
            0.0001230263151228428
        ],
        "location": [
            2185.1005859375,
            2482.224609375,
            364.95831298828125
        ],
        "rotation": [
            -0.007049563806504011,
            0.7931420207023621,
            90.32062530517578
        ],
        "velocity": [
            -0.04812850430607796,
            7.894448757171631,
            0.05730704963207245
        ],
        "speed": 7.8945954635139755,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.637474060058594,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.026123046875,
                2498.861572265625,
                365.065185546875
            ],
            "velocity": [
                -0.007493794430047274,
                2.1324803829193115,
                0.010833787731826305
            ],
            "speed_kmh": 7.677075849850428,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2570.690673828125,
                        "z": 365.08502197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2843360900878906,
                "transform": {
                    "location": {
                        "x": 2236.814697265625,
                        "y": 2524.328857421875,
                        "z": 366.5520324707031
                    },
                    "rotation": {
                        "roll": -0.012908935546875,
                        "pitch": -1.5585602521896362,
                        "yaw": 179.97589111328125
                    }
                },
                "velocity": {
                    "x": -1.2841227054595947,
                    "y": -0.015531952492892742,
                    "z": 0.017515335232019424
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0961620882153511,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.79034423828125
                    },
                    "rotation": {
                        "roll": 0.0012680224608629942,
                        "pitch": -0.21774642169475555,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0003744341083802283,
                    "y": -3.537121301633306e-05,
                    "z": 0.09616135060787201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020791927352547646,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.7691345214844
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.21693362295627594,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 9.238369239028543e-05,
                    "y": -1.4177832781570032e-05,
                    "z": 0.020791716873645782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3903602361679077,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8858947753906
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.21788984537124634,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.0014745339285582304,
                    "y": -6.309220043476671e-05,
                    "z": -0.39035746455192566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965548038482666,
                "transform": {
                    "location": {
                        "x": 2187.953857421875,
                        "y": 2497.839111328125,
                        "z": 365.09857177734375
                    },
                    "rotation": {
                        "roll": 0.001173370168544352,
                        "pitch": -0.32153114676475525,
                        "yaw": -89.86663818359375
                    }
                },
                "velocity": {
                    "x": 0.01713661104440689,
                    "y": -7.965396404266357,
                    "z": -0.0460859052836895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9338364601135254,
                "transform": {
                    "location": {
                        "x": 2185.078125,
                        "y": 2453.342041015625,
                        "z": 364.7043151855469
                    },
                    "rotation": {
                        "roll": 0.0034499350003898144,
                        "pitch": 0.5448373556137085,
                        "yaw": 90.35735321044922
                    }
                },
                "velocity": {
                    "x": -0.0072572240605950356,
                    "y": 1.9337170124053955,
                    "z": 0.020232925191521645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.182197570800781,
                "transform": {
                    "location": {
                        "x": 2185.079833984375,
                        "y": 2466.21142578125,
                        "z": 364.8353576660156
                    },
                    "rotation": {
                        "roll": 0.0030091770458966494,
                        "pitch": 0.414462685585022,
                        "yaw": 89.96488189697266
                    }
                },
                "velocity": {
                    "x": -0.04266383498907089,
                    "y": 5.181761264801025,
                    "z": 0.05199246108531952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.132521152496338,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2498.861572265625,
                        "z": 365.065185546875
                    },
                    "rotation": {
                        "roll": 0.004240786656737328,
                        "pitch": 0.40553563833236694,
                        "yaw": 90.15756225585938
                    }
                },
                "velocity": {
                    "x": -0.007493794430047274,
                    "y": 2.1324803829193115,
                    "z": 0.010833787731826305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002793164749164134,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.1256408691406
                    },
                    "rotation": {
                        "roll": 0.003094940446317196,
                        "pitch": 0.1942642331123352,
                        "yaw": 90.41574096679688
                    }
                },
                "velocity": {
                    "x": 2.601335472718347e-05,
                    "y": -9.979028254747391e-05,
                    "z": -0.00025958215701393783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.820014476776123,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.033513110131025314,
        "expert_target_speed": 7.982982001888662,
        "target_point": [
            33.3064196982777,
            -0.17626778340534385
        ],
        "target_point_next": [
            42.288666383592094,
            8.695885521293917
        ]
    },
    "75": {
        "acceleration": [
            -0.03476954996585846,
            0.2830314636230469,
            0.000662580132484436
        ],
        "angular_velocity": [
            -0.7086315751075745,
            0.01710798591375351,
            0.22730550169944763
        ],
        "forward_vector": [
            -0.006594671867787838,
            0.9999086856842041,
            0.011792266741394997
        ],
        "right_vector": [
            -0.999978244304657,
            -0.006596801336854696,
            0.00014167044719215482
        ],
        "location": [
            2185.08740234375,
            2484.257080078125,
            364.9732666015625
        ],
        "rotation": [
            -0.008117683231830597,
            0.6756627559661865,
            90.37787628173828
        ],
        "velocity": [
            -0.058192599564790726,
            8.257526397705078,
            0.05760280415415764
        ],
        "speed": 8.257731443165266,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.1051664352417,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02490234375,
                2499.36181640625,
                365.0685729980469
            ],
            "velocity": [
                4.63616379420273e-05,
                0.7441103458404541,
                0.003356990637257695
            ],
            "speed_kmh": 2.678824510687016,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.785400390625,
                        "y": 2568.60693359375,
                        "z": 365.0954895019531
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7661757469177246,
                "transform": {
                    "location": {
                        "x": 2236.298095703125,
                        "y": 2524.324951171875,
                        "z": 366.5428161621094
                    },
                    "rotation": {
                        "roll": -0.008209229446947575,
                        "pitch": -1.4778684377670288,
                        "yaw": -179.9054718017578
                    }
                },
                "velocity": {
                    "x": -2.7651045322418213,
                    "y": -0.014946955256164074,
                    "z": -0.07550635188817978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1258538961410522,
                "transform": {
                    "location": {
                        "x": 2136.093505859375,
                        "y": 2527.303466796875,
                        "z": 364.7977294921875
                    },
                    "rotation": {
                        "roll": -0.0019226076547056437,
                        "pitch": -0.18701057136058807,
                        "yaw": -0.0838012769818306
                    }
                },
                "velocity": {
                    "x": 1.1257809400558472,
                    "y": 0.012429513968527317,
                    "z": -0.0031255243811756372
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1874213218688965,
                "transform": {
                    "location": {
                        "x": 2145.733154296875,
                        "y": 2524.5283203125,
                        "z": 364.7730407714844
                    },
                    "rotation": {
                        "roll": 0.005550301168113947,
                        "pitch": 0.027348075062036514,
                        "yaw": 179.96099853515625
                    }
                },
                "velocity": {
                    "x": -2.187302827835083,
                    "y": -0.021776560693979263,
                    "z": 0.006665191613137722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.07040765136480331,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8331604003906
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.21750736236572266,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.00027180800680071115,
                    "y": -0.00011397270282031968,
                    "z": -0.07040703296661377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0730619430542,
                "transform": {
                    "location": {
                        "x": 2187.957763671875,
                        "y": 2495.831787109375,
                        "z": 365.0870666503906
                    },
                    "rotation": {
                        "roll": 0.0015502539463341236,
                        "pitch": -0.34374290704727173,
                        "yaw": -89.87409210205078
                    }
                },
                "velocity": {
                    "x": 0.01791953481733799,
                    "y": -8.072905540466309,
                    "z": -0.04691305011510849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0112595558166504,
                "transform": {
                    "location": {
                        "x": 2185.075927734375,
                        "y": 2453.877685546875,
                        "z": 364.7097473144531
                    },
                    "rotation": {
                        "roll": 0.0034836381673812866,
                        "pitch": 0.5957359075546265,
                        "yaw": 90.3240737915039
                    }
                },
                "velocity": {
                    "x": -0.00747751584276557,
                    "y": 2.011129140853882,
                    "z": 0.02165163867175579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.541443824768066,
                "transform": {
                    "location": {
                        "x": 2185.0751953125,
                        "y": 2467.542236328125,
                        "z": 364.8472900390625
                    },
                    "rotation": {
                        "roll": -0.0003662010421976447,
                        "pitch": 0.46805235743522644,
                        "yaw": 90.13929748535156
                    }
                },
                "velocity": {
                    "x": -0.026411307975649834,
                    "y": 5.541154861450195,
                    "z": 0.050022561103105545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7441179156303406,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2499.36181640625,
                        "z": 365.0685729980469
                    },
                    "rotation": {
                        "roll": -0.001525880303233862,
                        "pitch": 0.17042003571987152,
                        "yaw": 90.33480072021484
                    }
                },
                "velocity": {
                    "x": 4.63616379420273e-05,
                    "y": 0.7441103458404541,
                    "z": 0.003356990637257695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00048569912905804813,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.125732421875
                    },
                    "rotation": {
                        "roll": 0.0028652125038206577,
                        "pitch": 0.18525521457195282,
                        "yaw": 90.41573333740234
                    }
                },
                "velocity": {
                    "x": 2.5733450456755236e-05,
                    "y": -1.841723860707134e-05,
                    "z": -0.0004846671363338828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.04474068805575371,
        "expert_target_speed": 7.939583518550156,
        "target_point": [
            31.273709491551163,
            -0.20995952420751482
        ],
        "target_point_next": [
            40.2649859057264,
            8.65304268846419
        ]
    },
    "80": {
        "acceleration": [
            -0.0331549346446991,
            -0.13790130615234375,
            -0.0035184621810913086
        ],
        "angular_velocity": [
            -0.6515051126480103,
            -0.03889091685414314,
            0.2336219698190689
        ],
        "forward_vector": [
            -0.007615020498633385,
            0.9999346137046814,
            0.008533969521522522
        ],
        "right_vector": [
            -0.9999710321426392,
            -0.007616420742124319,
            0.00013155581837054342
        ],
        "location": [
            2185.07177734375,
            2486.322021484375,
            364.9879455566406
        ],
        "rotation": [
            -0.007537867873907089,
            0.4889663755893707,
            90.43633270263672
        ],
        "velocity": [
            -0.0665101483464241,
            8.24042797088623,
            0.05634825676679611
        ],
        "speed": 8.24069637489437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.177580833435059,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02490234375,
                2499.499267578125,
                365.0693359375
            ],
            "velocity": [
                -0.003747266950085759,
                1.0391457080841064,
                0.005422982852905989
            ],
            "speed_kmh": 3.7409998133966527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.787109375,
                        "y": 2566.52294921875,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.354268550872803,
                "transform": {
                    "location": {
                        "x": 2235.3955078125,
                        "y": 2524.319580078125,
                        "z": 366.51617431640625
                    },
                    "rotation": {
                        "roll": -0.014251704327762127,
                        "pitch": -1.4442434310913086,
                        "yaw": -179.78305053710938
                    }
                },
                "velocity": {
                    "x": -4.352205276489258,
                    "y": -0.027423955500125885,
                    "z": -0.1312035471200943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7660319805145264,
                "transform": {
                    "location": {
                        "x": 2136.461181640625,
                        "y": 2527.3056640625,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": -0.19137506186962128,
                        "yaw": 0.11736049503087997
                    }
                },
                "velocity": {
                    "x": 1.765873670578003,
                    "y": 0.021571606397628784,
                    "z": -0.009689216502010822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.332897186279297,
                "transform": {
                    "location": {
                        "x": 2145.030029296875,
                        "y": 2524.522705078125,
                        "z": 364.7749938964844
                    },
                    "rotation": {
                        "roll": 0.0037545065861195326,
                        "pitch": 0.07496131956577301,
                        "yaw": -179.8536834716797
                    }
                },
                "velocity": {
                    "x": -3.332702875137329,
                    "y": -0.03413456305861473,
                    "z": 0.011353711597621441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00398197490721941,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8291320800781
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 0.21714536845684052,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 3.628145714174025e-05,
                    "y": 7.893795554991812e-05,
                    "z": 0.003981027286499739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031974792480469,
                "transform": {
                    "location": {
                        "x": 2187.9619140625,
                        "y": 2493.81640625,
                        "z": 365.0747985839844
                    },
                    "rotation": {
                        "roll": 0.0015868621412664652,
                        "pitch": -0.3556274473667145,
                        "yaw": -89.89764404296875
                    }
                },
                "velocity": {
                    "x": 0.01197839342057705,
                    "y": -8.031815528869629,
                    "z": -0.0491885207593441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5955846905708313,
                "transform": {
                    "location": {
                        "x": 2185.07470703125,
                        "y": 2454.075439453125,
                        "z": 364.7106628417969
                    },
                    "rotation": {
                        "roll": 0.003113066079095006,
                        "pitch": 0.7417448163032532,
                        "yaw": 90.28182220458984
                    }
                },
                "velocity": {
                    "x": -0.0006351806223392487,
                    "y": 0.5955443382263184,
                    "z": 0.006901903077960014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.418234825134277,
                "transform": {
                    "location": {
                        "x": 2185.068359375,
                        "y": 2469.00146484375,
                        "z": 364.8605651855469
                    },
                    "rotation": {
                        "roll": 0.0010534297907724977,
                        "pitch": 0.4550135135650635,
                        "yaw": 90.22982025146484
                    }
                },
                "velocity": {
                    "x": -0.03136064484715462,
                    "y": 6.417908191680908,
                    "z": 0.056642111390829086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0391666889190674,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2499.499267578125,
                        "z": 365.0693359375
                    },
                    "rotation": {
                        "roll": -0.00027465587481856346,
                        "pitch": 0.1462821513414383,
                        "yaw": 90.3212890625
                    }
                },
                "velocity": {
                    "x": -0.003747266950085759,
                    "y": 1.0391457080841064,
                    "z": 0.005422982852905989
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034230720484629273,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.1257629394531
                    },
                    "rotation": {
                        "roll": 0.0027371118776500225,
                        "pitch": 0.1814098209142685,
                        "yaw": 90.41574096679688
                    }
                },
                "velocity": {
                    "x": 5.821460490551544e-06,
                    "y": -7.733889106020797e-06,
                    "z": -0.00034217030042782426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.057282645255327225,
        "expert_target_speed": 7.5579497266152265,
        "target_point": [
            29.208477807325373,
            -0.24184504912390747
        ],
        "target_point_next": [
            38.20881684556088,
            8.611953964561762
        ]
    },
    "85": {
        "acceleration": [
            -0.009969174861907959,
            -2.278108596801758,
            -0.03536581993103027
        ],
        "angular_velocity": [
            -0.7090626955032349,
            -0.015129231847822666,
            0.22159162163734436
        ],
        "forward_vector": [
            -0.008622553199529648,
            0.9999455213546753,
            0.005884612910449505
        ],
        "right_vector": [
            -0.9999628067016602,
            -0.008623595349490643,
            0.000151797677972354
        ],
        "location": [
            2185.0546875,
            2488.35107421875,
            365.0020751953125
        ],
        "rotation": [
            -0.008697516284883022,
            0.3371654450893402,
            90.49404907226562
        ],
        "velocity": [
            -0.07203172147274017,
            7.947312831878662,
            0.051771268248558044
        ],
        "speed": 7.947639260600695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.521971702575684,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.023193359375,
                2499.872802734375,
                365.0699157714844
            ],
            "velocity": [
                -0.007166668772697449,
                1.9145809412002563,
                0.009220876730978489
            ],
            "speed_kmh": 6.892619610631834,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78955078125,
                        "y": 2564.440673828125,
                        "z": 365.1151428222656
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4318342208862305,
                "transform": {
                    "location": {
                        "x": 2234.132080078125,
                        "y": 2524.31103515625,
                        "z": 366.4779968261719
                    },
                    "rotation": {
                        "roll": -0.0174560509622097,
                        "pitch": -1.5094853639602661,
                        "yaw": -179.67283630371094
                    }
                },
                "velocity": {
                    "x": -5.42916202545166,
                    "y": -0.037914812564849854,
                    "z": -0.16608238220214844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.302572727203369,
                "transform": {
                    "location": {
                        "x": 2136.972900390625,
                        "y": 2527.310791015625,
                        "z": 364.7935485839844
                    },
                    "rotation": {
                        "roll": -0.0030212400015443563,
                        "pitch": -0.1990043818950653,
                        "yaw": 0.2566225528717041
                    }
                },
                "velocity": {
                    "x": 2.302372932434082,
                    "y": 0.028915340080857277,
                    "z": -0.00918094627559185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.460232734680176,
                "transform": {
                    "location": {
                        "x": 2144.05029296875,
                        "y": 2524.51416015625,
                        "z": 364.7784423828125
                    },
                    "rotation": {
                        "roll": 0.002917785197496414,
                        "pitch": 0.09978906065225601,
                        "yaw": -179.68865966796875
                    }
                },
                "velocity": {
                    "x": -4.459969520568848,
                    "y": -0.04564383253455162,
                    "z": 0.01623319648206234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.002096650656312704,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.830078125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.21707706153392792,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 2.0421892259037122e-05,
                    "y": -1.0670364645193331e-05,
                    "z": 0.0020965239964425564
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997611045837402,
                "transform": {
                    "location": {
                        "x": 2187.96533203125,
                        "y": 2491.81689453125,
                        "z": 365.0623779296875
                    },
                    "rotation": {
                        "roll": 0.001719640800729394,
                        "pitch": -0.3602924644947052,
                        "yaw": -89.91153717041016
                    }
                },
                "velocity": {
                    "x": 0.012435042299330235,
                    "y": -7.99744176864624,
                    "z": -0.0504896342754364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4915671348571777,
                "transform": {
                    "location": {
                        "x": 2185.07373046875,
                        "y": 2454.335693359375,
                        "z": 364.7150573730469
                    },
                    "rotation": {
                        "roll": 0.002373815281316638,
                        "pitch": 0.5545908212661743,
                        "yaw": 90.25605773925781
                    }
                },
                "velocity": {
                    "x": -0.005623465869575739,
                    "y": 1.491479516029358,
                    "z": 0.01515601109713316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.953329563140869,
                "transform": {
                    "location": {
                        "x": 2185.06005859375,
                        "y": 2470.8310546875,
                        "z": 364.87725830078125
                    },
                    "rotation": {
                        "roll": 0.0038677745033055544,
                        "pitch": 0.352717787027359,
                        "yaw": 90.26393127441406
                    }
                },
                "velocity": {
                    "x": -0.04039056599140167,
                    "y": 7.952925682067871,
                    "z": 0.06920932978391647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.914616584777832,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2499.872802734375,
                        "z": 365.0699157714844
                    },
                    "rotation": {
                        "roll": 0.0006949452799744904,
                        "pitch": 0.50449138879776,
                        "yaw": 90.28507995605469
                    }
                },
                "velocity": {
                    "x": -0.007166668772697449,
                    "y": 1.9145809412002563,
                    "z": 0.009220876730978489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2233113011461683e-05,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.1257629394531
                    },
                    "rotation": {
                        "roll": 0.0027371118776500225,
                        "pitch": 0.1814098209142685,
                        "yaw": 90.41574096679688
                    }
                },
                "velocity": {
                    "x": -2.0749808982145623e-07,
                    "y": -7.566697604488581e-06,
                    "z": -9.6099465736188e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07066178321838379,
        "expert_target_speed": 6.952226723586202,
        "target_point": [
            27.17909522922449,
            -0.27080054084958227
        ],
        "target_point_next": [
            36.18833142518835,
            8.573944958217192
        ]
    },
    "90": {
        "acceleration": [
            0.0008003413677215576,
            -2.9916858673095703,
            -0.03350794315338135
        ],
        "angular_velocity": [
            -0.6315801739692688,
            -0.04056011140346527,
            0.19679749011993408
        ],
        "forward_vector": [
            -0.009558798745274544,
            0.9999526739120483,
            0.0018128145020455122
        ],
        "right_vector": [
            -0.999954342842102,
            -0.00955906044691801,
            0.00013582082465291023
        ],
        "location": [
            2185.037109375,
            2490.222900390625,
            365.0149230957031
        ],
        "rotation": [
            -0.007781973108649254,
            0.10386668145656586,
            90.54769134521484
        ],
        "velocity": [
            -0.07045485079288483,
            7.018527030944824,
            0.04489311948418617
        ],
        "speed": 7.018880649370199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.180597305297852,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02099609375,
                2500.4033203125,
                365.0728759765625
            ],
            "velocity": [
                -0.007396970875561237,
                1.81783926486969,
                0.008717775344848633
            ],
            "speed_kmh": 6.5443507842737505,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.791748046875,
                        "y": 2562.423583984375,
                        "z": 365.1234436035156
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.642411708831787,
                "transform": {
                    "location": {
                        "x": 2232.74658203125,
                        "y": 2524.301025390625,
                        "z": 366.435546875
                    },
                    "rotation": {
                        "roll": -0.019256584346294403,
                        "pitch": -1.670951008796692,
                        "yaw": -179.6112060546875
                    }
                },
                "velocity": {
                    "x": -5.6396164894104,
                    "y": -0.04214531183242798,
                    "z": -0.17250312864780426
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8751156330108643,
                "transform": {
                    "location": {
                        "x": 2137.623046875,
                        "y": 2527.31787109375,
                        "z": 364.791015625
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.19894291460514069,
                        "yaw": 0.4097943603992462
                    }
                },
                "velocity": {
                    "x": 2.874847412109375,
                    "y": 0.03784739971160889,
                    "z": -0.010459785349667072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2853288650512695,
                "transform": {
                    "location": {
                        "x": 2142.80615234375,
                        "y": 2524.50244140625,
                        "z": 364.783203125
                    },
                    "rotation": {
                        "roll": 0.00384153937920928,
                        "pitch": 0.1279977411031723,
                        "yaw": -179.56570434570312
                    }
                },
                "velocity": {
                    "x": -5.285008907318115,
                    "y": -0.054322633892297745,
                    "z": 0.020793084055185318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015550223179161549,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8303527832031
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.21705657243728638,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7762295101420023e-05,
                    "y": -1.2860417882620823e-05,
                    "z": 0.0015548676019534469
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.072227478027344,
                "transform": {
                    "location": {
                        "x": 2187.967529296875,
                        "y": 2489.8056640625,
                        "z": 365.0496826171875
                    },
                    "rotation": {
                        "roll": 0.0012726427521556616,
                        "pitch": -0.36956101655960083,
                        "yaw": -89.92265319824219
                    }
                },
                "velocity": {
                    "x": 0.010782822966575623,
                    "y": -8.072049140930176,
                    "z": -0.05263647064566612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.327976703643799,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2454.8173828125,
                        "z": 364.7204284667969
                    },
                    "rotation": {
                        "roll": 0.0021047722548246384,
                        "pitch": 0.5207404494285583,
                        "yaw": 90.248046875
                    }
                },
                "velocity": {
                    "x": -0.00834034476429224,
                    "y": 2.3278253078460693,
                    "z": 0.025211447849869728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.786752700805664,
                "transform": {
                    "location": {
                        "x": 2185.05224609375,
                        "y": 2472.847412109375,
                        "z": 364.8937072753906
                    },
                    "rotation": {
                        "roll": 0.00018812991038430482,
                        "pitch": 0.46583253145217896,
                        "yaw": 90.21984100341797
                    }
                },
                "velocity": {
                    "x": -0.024256573989987373,
                    "y": 7.786436557769775,
                    "z": 0.06582509726285934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8178752660751343,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2500.4033203125,
                        "z": 365.0728759765625
                    },
                    "rotation": {
                        "roll": 0.000963886734098196,
                        "pitch": 0.44997283816337585,
                        "yaw": 90.29283142089844
                    }
                },
                "velocity": {
                    "x": -0.007396970875561237,
                    "y": 1.81783926486969,
                    "z": 0.008717775344848633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005962558789178729,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.1257629394531
                    },
                    "rotation": {
                        "roll": 0.002483353018760681,
                        "pitch": 0.18126638233661652,
                        "yaw": 90.41571044921875
                    }
                },
                "velocity": {
                    "x": -1.972011523321271e-05,
                    "y": -1.5138536582526285e-05,
                    "z": -0.0005957373650744557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09813272953033447,
        "expert_target_speed": 5.755072098282271,
        "target_point": [
            25.30692257561624,
            -0.29580146172648353
        ],
        "target_point_next": [
            34.324391647718635,
            8.540550235190302
        ]
    },
    "95": {
        "acceleration": [
            0.18505066633224487,
            -20.81753158569336,
            -0.08190590888261795
        ],
        "angular_velocity": [
            -5.410182952880859,
            -0.10135382413864136,
            0.1739351898431778
        ],
        "forward_vector": [
            -0.01091277226805687,
            0.9998685717582703,
            -0.011992404237389565
        ],
        "right_vector": [
            -0.9999404549598694,
            -0.010912854224443436,
            5.8584846556186676e-05
        ],
        "location": [
            2185.023193359375,
            2491.6015625,
            365.02630615234375
        ],
        "rotation": [
            -0.003356905886903405,
            -0.6871306300163269,
            90.62531280517578
        ],
        "velocity": [
            -0.036855049431324005,
            3.2716362476348877,
            0.018055029213428497
        ],
        "speed": 3.271843827493463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.853163719177246,
        "front_vehicle_info": {
            "id": 82350,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.45458984375,
                365.07537841796875
            ],
            "velocity": [
                4.693805749411695e-05,
                -0.003910519182682037,
                0.00010954645404126495
            ],
            "speed_kmh": 0.014084405416951844,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 82360,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.777099609375,
                        "y": 2576.10888671875,
                        "z": 365.06732177734375
                    },
                    "rotation": {
                        "roll": -1.3340490490065804e-08,
                        "pitch": 0.36938345432281494,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82359,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.341315746307373,
                "transform": {
                    "location": {
                        "x": 2187.7939453125,
                        "y": 2560.5361328125,
                        "z": 365.131591796875
                    },
                    "rotation": {
                        "roll": -0.00930785946547985,
                        "pitch": -0.008059622719883919,
                        "yaw": -89.92522430419922
                    }
                },
                "velocity": {
                    "x": 0.01668386161327362,
                    "y": -6.341274261474609,
                    "z": 0.015827741473913193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82358,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.151347160339355,
                "transform": {
                    "location": {
                        "x": 2230.984619140625,
                        "y": 2524.288330078125,
                        "z": 366.3815002441406
                    },
                    "rotation": {
                        "roll": -0.006713867653161287,
                        "pitch": -1.3778061866760254,
                        "yaw": -179.60543823242188
                    }
                },
                "velocity": {
                    "x": -8.147329330444336,
                    "y": -0.04183037579059601,
                    "z": -0.25247055292129517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82357,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5086581707000732,
                "transform": {
                    "location": {
                        "x": 2138.420654296875,
                        "y": 2527.32421875,
                        "z": 364.7880859375
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.19711241126060486,
                        "yaw": 0.4356279671192169
                    }
                },
                "velocity": {
                    "x": 3.5085651874542236,
                    "y": 0.021752115339040756,
                    "z": -0.013392534106969833
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.881701469421387,
                "transform": {
                    "location": {
                        "x": 2141.487060546875,
                        "y": 2524.492919921875,
                        "z": 364.7874450683594
                    },
                    "rotation": {
                        "roll": -0.005523680243641138,
                        "pitch": 0.21859335899353027,
                        "yaw": -179.74642944335938
                    }
                },
                "velocity": {
                    "x": -4.881659507751465,
                    "y": -0.00760517455637455,
                    "z": 0.018811330199241638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014910063473507762,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.83038330078125
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.0424387912498787e-05,
                    "y": 2.3348398826783523e-05,
                    "z": 0.001490683644078672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997540473937988,
                "transform": {
                    "location": {
                        "x": 2187.96923828125,
                        "y": 2487.7978515625,
                        "z": 365.03668212890625
                    },
                    "rotation": {
                        "roll": 0.00043031107634305954,
                        "pitch": -0.37432166934013367,
                        "yaw": -89.92705535888672
                    }
                },
                "velocity": {
                    "x": 0.01017910335212946,
                    "y": -7.997365951538086,
                    "z": -0.05186648666858673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2723302841186523,
                "transform": {
                    "location": {
                        "x": 2185.069091796875,
                        "y": 2455.51904296875,
                        "z": 364.72808837890625
                    },
                    "rotation": {
                        "roll": 0.0031324331648647785,
                        "pitch": 0.5112396478652954,
                        "yaw": 90.24063873291016
                    }
                },
                "velocity": {
                    "x": -0.012499038130044937,
                    "y": 3.2721266746520996,
                    "z": 0.03430474177002907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.932855129241943,
                "transform": {
                    "location": {
                        "x": 2185.046630859375,
                        "y": 2474.636474609375,
                        "z": 364.9074401855469
                    },
                    "rotation": {
                        "roll": 0.0006450379150919616,
                        "pitch": 0.6272230744361877,
                        "yaw": 90.18548583984375
                    }
                },
                "velocity": {
                    "x": -0.01686151511967182,
                    "y": 5.932640075683594,
                    "z": 0.047623079270124435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82350,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00391233479604125,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.45458984375,
                        "z": 365.07537841796875
                    },
                    "rotation": {
                        "roll": -0.002777095651254058,
                        "pitch": -0.1560015082359314,
                        "yaw": 90.4158706665039
                    }
                },
                "velocity": {
                    "x": 4.693805749411695e-05,
                    "y": -0.003910519182682037,
                    "z": 0.00010954645404126495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82349,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004784000338986516,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.56689453125,
                        "z": 365.125732421875
                    },
                    "rotation": {
                        "roll": 0.002484467113390565,
                        "pitch": 0.18145762383937836,
                        "yaw": 90.41571044921875
                    }
                },
                "velocity": {
                    "x": -2.354308162466623e-05,
                    "y": -5.610100743069779e-06,
                    "z": -0.00047778745647519827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11652333289384842,
        "expert_target_speed": 2.4767930951523036,
        "target_point": [
            23.927767851258047,
            -0.32887758612335416
        ],
        "target_point_next": [
            32.95716974739478,
            8.495280230686689
        ]
    },
    "100": {
        "acceleration": [
            0.006883102469146252,
            -0.12062661349773407,
            0.018614988774061203
        ],
        "angular_velocity": [
            3.763951063156128,
            -0.0015196911990642548,
            -0.004882225301116705
        ],
        "forward_vector": [
            -0.010581610724329948,
            0.9997105598449707,
            -0.02160559594631195
        ],
        "right_vector": [
            -0.9999439716339111,
            -0.010583574883639812,
            2.3430211513186805e-05
        ],
        "location": [
            2185.020263671875,
            2491.83740234375,
            365.02972412109375
        ],
        "rotation": [
            -0.0013427656376734376,
            -1.2380058765411377,
            90.60643768310547
        ],
        "velocity": [
            -0.00020219820726197213,
            -0.011058220639824867,
            -0.0007411838159896433
        ],
        "speed": 0.011060069070040595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.52460861206055,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2135.974853515625,
                2527.302490234375,
                365.08740234375
            ],
            "velocity": [
                0.0,
                0.0,
                -1.470000147819519
            ],
            "speed_kmh": 5.2920005321502686,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.08740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.8469543457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 2.5316239771200344e-08,
                    "y": -5.565376631766483e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.777587890625,
                        "y": 2575.692138671875,
                        "z": 365.0699768066406
                    },
                    "rotation": {
                        "roll": -1.3340490490065804e-08,
                        "pitch": 0.36938345432281494,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14563867449760437,
                "transform": {
                    "location": {
                        "x": 2140.8818359375,
                        "y": 2524.492431640625,
                        "z": 364.7863464355469
                    },
                    "rotation": {
                        "roll": 0.0006177928298711777,
                        "pitch": 0.6087815761566162,
                        "yaw": -179.91839599609375
                    }
                },
                "velocity": {
                    "x": -0.14562702178955078,
                    "y": -0.0016548441490158439,
                    "z": 0.0008088111644610763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014865354751236737,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.3051629139226861e-05,
                    "y": 3.583962552511366e-06,
                    "z": 0.00014803609519731253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052779197692871,
                "transform": {
                    "location": {
                        "x": 2187.97119140625,
                        "y": 2485.792236328125,
                        "z": 365.0231628417969
                    },
                    "rotation": {
                        "roll": 0.00114484375808388,
                        "pitch": -0.39192989468574524,
                        "yaw": -89.9275894165039
                    }
                },
                "velocity": {
                    "x": 0.010212510824203491,
                    "y": -8.052577018737793,
                    "z": -0.05616427958011627
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.375370979309082,
                "transform": {
                    "location": {
                        "x": 2185.065185546875,
                        "y": 2456.478759765625,
                        "z": 364.7383117675781
                    },
                    "rotation": {
                        "roll": 0.0006341107073239982,
                        "pitch": 0.4956326484680176,
                        "yaw": 90.2232894897461
                    }
                },
                "velocity": {
                    "x": -0.008609541691839695,
                    "y": 4.375120639801025,
                    "z": 0.046000536531209946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.820648431777954,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2475.744140625,
                        "z": 364.9143371582031
                    },
                    "rotation": {
                        "roll": 0.0016094514867290854,
                        "pitch": 0.8287751078605652,
                        "yaw": 90.18557739257812
                    }
                },
                "velocity": {
                    "x": -0.00587053457275033,
                    "y": 1.820593237876892,
                    "z": 0.012902145273983479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.02798127755522728,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8891296386719
                    },
                    "rotation": {
                        "roll": 0.0006620482890866697,
                        "pitch": -1.0418701171875,
                        "yaw": 179.8739776611328
                    }
                },
                "velocity": {
                    "x": -1.030609018926043e-05,
                    "y": -8.215037087211385e-05,
                    "z": 0.02798115462064743
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11141536384820938,
        "expert_target_speed": 1.1876991060156354,
        "target_point": [
            23.692016510323736,
            -0.321484842430059
        ],
        "target_point_next": [
            32.718531450606676,
            8.505626112507365
        ]
    },
    "105": {
        "acceleration": [
            0.0013633060734719038,
            0.028122570365667343,
            -0.002487639430910349
        ],
        "angular_velocity": [
            2.80358624458313,
            0.01598712056875229,
            0.0009087282815016806
        ],
        "forward_vector": [
            -0.010575233027338982,
            0.9999302625656128,
            -0.005254959687590599
        ],
        "right_vector": [
            -0.9999440908432007,
            -0.01057558786123991,
            -3.976956577389501e-05
        ],
        "location": [
            2185.02001953125,
            2491.843505859375,
            365.0262451171875
        ],
        "rotation": [
            0.002278659725561738,
            -0.3010883927345276,
            90.6059341430664
        ],
        "velocity": [
            4.556163912639022e-05,
            -0.008758870884776115,
            0.0017747668316587806
        ],
        "speed": 0.008758989384577344,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.52192687988281,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.7298889160156
            ],
            "velocity": [
                -0.0004908227128908038,
                -2.4188671886804514e-05,
                -0.1310945749282837
            ],
            "speed_kmh": 0.47194378554739463,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1310954988002777,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7298889160156
                    },
                    "rotation": {
                        "roll": 0.0009253093157894909,
                        "pitch": -0.21838845312595367,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": -0.0004908227128908038,
                    "y": -2.4188671886804514e-05,
                    "z": -0.1310945749282837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13456948101520538,
                "transform": {
                    "location": {
                        "x": 2236.93994140625,
                        "y": 2524.330322265625,
                        "z": 366.488037109375
                    },
                    "rotation": {
                        "roll": 0.002407959196716547,
                        "pitch": -1.7567996978759766,
                        "yaw": 179.8739776611328
                    }
                },
                "velocity": {
                    "x": 0.0040307980962097645,
                    "y": 2.4567967557231896e-05,
                    "z": -0.1345091015100479
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.780029296875,
                        "y": 2573.608154296875,
                        "z": 365.07568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.14486563205719,
                "transform": {
                    "location": {
                        "x": 2140.749267578125,
                        "y": 2524.4921875,
                        "z": 364.7899475097656
                    },
                    "rotation": {
                        "roll": 0.002184672513976693,
                        "pitch": 0.24212336540222168,
                        "yaw": -179.89859008789062
                    }
                },
                "velocity": {
                    "x": -1.1448508501052856,
                    "y": -0.005078034941107035,
                    "z": 0.002830571960657835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007215284276753664,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.5195570995274466e-05,
                    "y": 3.12282236336614e-06,
                    "z": 0.0007213616045191884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01727294921875,
                "transform": {
                    "location": {
                        "x": 2187.973388671875,
                        "y": 2483.782958984375,
                        "z": 365.0091857910156
                    },
                    "rotation": {
                        "roll": -0.00021362239203881472,
                        "pitch": -0.41409385204315186,
                        "yaw": -89.92571258544922
                    }
                },
                "velocity": {
                    "x": 0.011749033816158772,
                    "y": -8.01706314086914,
                    "z": -0.05680827051401138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.282920837402344,
                "transform": {
                    "location": {
                        "x": 2185.062255859375,
                        "y": 2457.7060546875,
                        "z": 364.75146484375
                    },
                    "rotation": {
                        "roll": 0.000728804268874228,
                        "pitch": 0.5063150525093079,
                        "yaw": 90.18248748779297
                    }
                },
                "velocity": {
                    "x": -0.012248980812728405,
                    "y": 5.2826080322265625,
                    "z": 0.05616103857755661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018855028320103884,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2475.801513671875,
                        "z": 364.9159240722656
                    },
                    "rotation": {
                        "roll": 0.0006889115902595222,
                        "pitch": 0.6884215474128723,
                        "yaw": 90.18183135986328
                    }
                },
                "velocity": {
                    "x": 0.00014007027493789792,
                    "y": -0.0017875621560961008,
                    "z": 0.0005832005990669131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.011066384613513947,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.8941955566406
                    },
                    "rotation": {
                        "roll": 0.00035829778062179685,
                        "pitch": -0.9973100423812866,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -8.831277227727696e-05,
                    "y": 7.919225026853383e-05,
                    "z": 0.011065748520195484
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1142403855919838,
        "expert_target_speed": 1.1855454113996935,
        "target_point": [
            23.685914432874718,
            -0.3213933292691102
        ],
        "target_point_next": [
            32.712328354298506,
            8.505820925355865
        ]
    },
    "110": {
        "acceleration": [
            0.001768520101904869,
            0.016201365739107132,
            0.004055930767208338
        ],
        "angular_velocity": [
            1.0292636156082153,
            0.014080554246902466,
            0.000252474972512573
        ],
        "forward_vector": [
            -0.010577253997325897,
            0.9999409317970276,
            0.0024808617308735847
        ],
        "right_vector": [
            -0.9999440312385559,
            -0.010577120818197727,
            -6.679631769657135e-05
        ],
        "location": [
            2185.02001953125,
            2491.846435546875,
            365.0246276855469
        ],
        "rotation": [
            0.0038271585945039988,
            0.14214305579662323,
            90.60604858398438
        ],
        "velocity": [
            5.500077168107964e-05,
            -0.0033238797914236784,
            0.001733082695864141
        ],
        "speed": 0.0033243348135710143,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.51999282836914,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.7768249511719
            ],
            "velocity": [
                0.00071680051041767,
                -5.532854629564099e-05,
                0.1862844079732895
            ],
            "speed_kmh": 0.6706288629604279,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18628579378128052,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7768249511719
                    },
                    "rotation": {
                        "roll": 0.000746586243622005,
                        "pitch": -0.21782837808132172,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.00071680051041767,
                    "y": -5.532854629564099e-05,
                    "z": 0.1862844079732895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18661095201969147,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5348205566406
                    },
                    "rotation": {
                        "roll": 0.0009645666577853262,
                        "pitch": -1.756471872329712,
                        "yaw": 179.8738555908203
                    }
                },
                "velocity": {
                    "x": -0.005753515753895044,
                    "y": 0.0002415967610431835,
                    "z": 0.18652208149433136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.781982421875,
                        "y": 2571.524169921875,
                        "z": 365.08160400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -4.675394620068385e-12,
                    "y": 4.435851241879618e-09,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9818364381790161,
                "transform": {
                    "location": {
                        "x": 2140.360595703125,
                        "y": 2524.490966796875,
                        "z": 364.7922668457031
                    },
                    "rotation": {
                        "roll": 0.001446487382054329,
                        "pitch": 0.13692478835582733,
                        "yaw": -179.8644561767578
                    }
                },
                "velocity": {
                    "x": -1.981808066368103,
                    "y": -0.008173197507858276,
                    "z": 0.006743669509887695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007062307558953762,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.493520994699793e-05,
                    "y": 5.599879386863904e-06,
                    "z": 0.000706050603184849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044525146484375,
                "transform": {
                    "location": {
                        "x": 2187.975341796875,
                        "y": 2481.77587890625,
                        "z": 364.9947509765625
                    },
                    "rotation": {
                        "roll": 0.00017362738435622305,
                        "pitch": -0.413629412651062,
                        "yaw": -89.92388916015625
                    }
                },
                "velocity": {
                    "x": 0.010684773325920105,
                    "y": -8.044305801391602,
                    "z": -0.058369942009449005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.718258857727051,
                "transform": {
                    "location": {
                        "x": 2185.05810546875,
                        "y": 2459.05615234375,
                        "z": 364.76495361328125
                    },
                    "rotation": {
                        "roll": 0.0013146266574040055,
                        "pitch": 0.5261635780334473,
                        "yaw": 90.11384582519531
                    }
                },
                "velocity": {
                    "x": -0.011487226001918316,
                    "y": 5.7179718017578125,
                    "z": 0.05614146962761879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14666514098644257,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2475.8251953125,
                        "z": 364.9178161621094
                    },
                    "rotation": {
                        "roll": 0.0021534550469368696,
                        "pitch": 0.487368106842041,
                        "yaw": 90.17918395996094
                    }
                },
                "velocity": {
                    "x": -0.0004894542507827282,
                    "y": 0.14666348695755005,
                    "z": 0.0004944133688695729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11392100900411606,
        "expert_target_speed": 1.1803683075916742,
        "target_point": [
            23.682981229748773,
            -0.321633396372905
        ],
        "target_point_next": [
            32.70949617003171,
            8.50547755856452
        ]
    },
    "115": {
        "acceleration": [
            0.0023562146816402674,
            2.278259038925171,
            0.017423056066036224
        ],
        "angular_velocity": [
            0.9732361435890198,
            -0.03363482281565666,
            1.0012338161468506
        ],
        "forward_vector": [
            -0.010880247689783573,
            0.9999251365661621,
            0.005600541830062866
        ],
        "right_vector": [
            -0.999940812587738,
            -0.0108800008893013,
            -7.457565516233444e-05
        ],
        "location": [
            2185.02001953125,
            2491.858642578125,
            365.024169921875
        ],
        "rotation": [
            0.004272937308996916,
            0.32088908553123474,
            90.6234130859375
        ],
        "velocity": [
            -0.0005629539373330772,
            0.17136609554290771,
            0.002226028358563781
        ],
        "speed": 0.1713670202190507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.49079513549805,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2136.00146484375,
                2527.302490234375,
                364.79742431640625
            ],
            "velocity": [
                0.606546938419342,
                0.006479940842837095,
                0.017396049574017525
            ],
            "speed_kmh": 2.184591416446703,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6068309545516968,
                "transform": {
                    "location": {
                        "x": 2136.00146484375,
                        "y": 2527.302490234375,
                        "z": 364.79742431640625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.20526082813739777,
                        "yaw": -0.115936279296875
                    }
                },
                "velocity": {
                    "x": 0.606546938419342,
                    "y": 0.006479940842837095,
                    "z": 0.017396049574017525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6280707120895386,
                "transform": {
                    "location": {
                        "x": 2236.909912109375,
                        "y": 2524.329833984375,
                        "z": 366.5548095703125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -1.7402911186218262,
                        "yaw": 179.88763427734375
                    }
                },
                "velocity": {
                    "x": -0.6280078887939453,
                    "y": -0.008868762291967869,
                    "z": 0.000509881938342005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.784423828125,
                        "y": 2569.4404296875,
                        "z": 365.09130859375
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10506037622690201,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192626953125,
                        "z": 364.5218811035156
                    },
                    "rotation": {
                        "roll": 2.409408989478834e-05,
                        "pitch": 0.6737844347953796,
                        "yaw": 90.06037139892578
                    }
                },
                "velocity": {
                    "x": 2.0761965060955845e-05,
                    "y": 0.001215964206494391,
                    "z": -0.10505333542823792
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0550013780593872,
                "transform": {
                    "location": {
                        "x": 2139.87841796875,
                        "y": 2524.4892578125,
                        "z": 364.79315185546875
                    },
                    "rotation": {
                        "roll": 0.0011074976064264774,
                        "pitch": 0.24886475503444672,
                        "yaw": -179.83706665039062
                    }
                },
                "velocity": {
                    "x": -1.0549901723861694,
                    "y": -0.003865394741296768,
                    "z": 0.0029470156878232956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011470639146864414,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7058961020666175e-05,
                    "y": 2.6657346097636037e-05,
                    "z": 0.0011466272408142686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017099380493164,
                "transform": {
                    "location": {
                        "x": 2187.9775390625,
                        "y": 2479.768310546875,
                        "z": 364.97967529296875
                    },
                    "rotation": {
                        "roll": -0.00045774297905154526,
                        "pitch": -0.44168099761009216,
                        "yaw": -89.92007446289062
                    }
                },
                "velocity": {
                    "x": 0.011167464777827263,
                    "y": -8.016860961914062,
                    "z": -0.06090943142771721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.889431953430176,
                "transform": {
                    "location": {
                        "x": 2185.0546875,
                        "y": 2460.578857421875,
                        "z": 364.7808532714844
                    },
                    "rotation": {
                        "roll": 6.336793740047142e-05,
                        "pitch": 0.447404682636261,
                        "yaw": 90.10462188720703
                    }
                },
                "velocity": {
                    "x": -0.01260502077639103,
                    "y": 6.889069080352783,
                    "z": 0.06958247721195221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005309878033585846,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2475.84912109375,
                        "z": 364.91815185546875
                    },
                    "rotation": {
                        "roll": 0.001242494909092784,
                        "pitch": 0.4647260308265686,
                        "yaw": 90.17134094238281
                    }
                },
                "velocity": {
                    "x": -0.00010641276458045468,
                    "y": 0.00022770120995119214,
                    "z": -0.00046773551730439067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11817803233861923,
        "expert_target_speed": 1.347371353561297,
        "target_point": [
            23.670677388105855,
            -0.32860381814159767
        ],
        "target_point_next": [
            32.699839442786235,
            8.495799412006454
        ]
    },
    "120": {
        "acceleration": [
            -0.03394061699509621,
            4.214849472045898,
            0.02004089765250683
        ],
        "angular_velocity": [
            0.9939286708831787,
            0.0012975024292245507,
            1.0313241481781006
        ],
        "forward_vector": [
            -0.011302486062049866,
            0.9998810291290283,
            0.010492607951164246
        ],
        "right_vector": [
            -0.9999361038208008,
            -0.011302491649985313,
            -5.8719419030239806e-05
        ],
        "location": [
            2185.018310546875,
            2492.019775390625,
            365.024169921875
        ],
        "rotation": [
            0.003364560194313526,
            0.6011931896209717,
            90.64763641357422
        ],
        "velocity": [
            -0.013385296799242496,
            1.1156549453735352,
            0.006578807719051838
        ],
        "speed": 1.1157352388926458,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.1572265625,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2136.296142578125,
                2527.30419921875,
                364.7966003417969
            ],
            "velocity": [
                1.5302648544311523,
                0.018509484827518463,
                -0.009788589552044868
            ],
            "speed_kmh": 5.509469147856867,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5304081439971924,
                "transform": {
                    "location": {
                        "x": 2136.296142578125,
                        "y": 2527.30419921875,
                        "z": 364.7966003417969
                    },
                    "rotation": {
                        "roll": -0.0024719235952943563,
                        "pitch": -0.18582211434841156,
                        "yaw": 0.051369015127420425
                    }
                },
                "velocity": {
                    "x": 1.5302648544311523,
                    "y": 0.018509484827518463,
                    "z": -0.009788589552044868
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.632967233657837,
                "transform": {
                    "location": {
                        "x": 2236.602783203125,
                        "y": 2524.327392578125,
                        "z": 366.5456848144531
                    },
                    "rotation": {
                        "roll": -0.005645751021802425,
                        "pitch": -1.7195478677749634,
                        "yaw": -179.9508819580078
                    }
                },
                "velocity": {
                    "x": -1.6320339441299438,
                    "y": -0.013123027049005032,
                    "z": -0.05361999571323395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786376953125,
                        "y": 2567.356689453125,
                        "z": 365.10174560546875
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1773170530796051,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.568115234375
                    },
                    "rotation": {
                        "roll": -0.0005493080243468285,
                        "pitch": 0.6745836138725281,
                        "yaw": 90.06037902832031
                    }
                },
                "velocity": {
                    "x": -8.53282690513879e-05,
                    "y": -0.00212162546813488,
                    "z": 0.17730434238910675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000819925800897181,
                "transform": {
                    "location": {
                        "x": 2139.86181640625,
                        "y": 2524.4892578125,
                        "z": 364.7926330566406
                    },
                    "rotation": {
                        "roll": 0.00031837739516049623,
                        "pitch": 0.3177950382232666,
                        "yaw": -179.83226013183594
                    }
                },
                "velocity": {
                    "x": 0.0008167574414983392,
                    "y": -3.705299604916945e-05,
                    "z": -6.174656300572678e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006199716008268297,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.213275916408747e-06,
                    "y": 1.8467637801222736e-06,
                    "z": 0.0006199003546498716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048897743225098,
                "transform": {
                    "location": {
                        "x": 2187.979736328125,
                        "y": 2477.760009765625,
                        "z": 364.9642639160156
                    },
                    "rotation": {
                        "roll": 0.002075748285278678,
                        "pitch": -0.45215165615081787,
                        "yaw": -89.92748260498047
                    }
                },
                "velocity": {
                    "x": 0.010192629881203175,
                    "y": -8.048638343811035,
                    "z": -0.06375732272863388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.673065662384033,
                "transform": {
                    "location": {
                        "x": 2185.050537109375,
                        "y": 2462.455810546875,
                        "z": 364.7992858886719
                    },
                    "rotation": {
                        "roll": -0.00021363738051149994,
                        "pitch": 0.47092103958129883,
                        "yaw": 90.10235595703125
                    }
                },
                "velocity": {
                    "x": -0.012106235139071941,
                    "y": 7.672680377960205,
                    "z": 0.07595138251781464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13949021697044373,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2475.884033203125,
                        "z": 364.9184265136719
                    },
                    "rotation": {
                        "roll": 0.0009716534405015409,
                        "pitch": 0.4676903486251831,
                        "yaw": 90.1600341796875
                    }
                },
                "velocity": {
                    "x": -0.0004986076964996755,
                    "y": 0.1394883245229721,
                    "z": 0.0005294513539411128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12339738011360168,
        "expert_target_speed": 2.2865406912243915,
        "target_point": [
            23.509395741681622,
            -0.3384133138312275
        ],
        "target_point_next": [
            32.542255662292796,
            8.482204659561777
        ]
    },
    "125": {
        "acceleration": [
            -0.06452012807130814,
            5.282740592956543,
            0.04558218643069267
        ],
        "angular_velocity": [
            0.6466494798660278,
            0.0108711626380682,
            0.42621076107025146
        ],
        "forward_vector": [
            -0.011229922994971275,
            0.9998524188995361,
            0.013002267107367516
        ],
        "right_vector": [
            -0.9999369382858276,
            -0.011230253614485264,
            -4.758126669912599e-05
        ],
        "location": [
            2185.013427734375,
            2492.42724609375,
            365.0260925292969
        ],
        "rotation": [
            0.002726436359807849,
            0.7449960112571716,
            90.64349365234375
        ],
        "velocity": [
            -0.025721780955791473,
            2.150219440460205,
            0.013369111344218254
        ],
        "speed": 2.1503732820486157,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.54753494262695,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2136.752197265625,
                2527.30859375,
                364.79443359375
            ],
            "velocity": [
                2.079794406890869,
                0.025644576177001,
                -0.009985217824578285
            ],
            "speed_kmh": 7.487915298960526,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0799765586853027,
                "transform": {
                    "location": {
                        "x": 2136.752197265625,
                        "y": 2527.30859375,
                        "z": 364.79443359375
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.1975085735321045,
                        "yaw": 0.1954260617494583
                    }
                },
                "velocity": {
                    "x": 2.079794406890869,
                    "y": 0.025644576177001,
                    "z": -0.009985217824578285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2038474082946777,
                "transform": {
                    "location": {
                        "x": 2236.1181640625,
                        "y": 2524.324462890625,
                        "z": 366.53045654296875
                    },
                    "rotation": {
                        "roll": -0.007446287199854851,
                        "pitch": -1.7312958240509033,
                        "yaw": -179.88372802734375
                    }
                },
                "velocity": {
                    "x": -2.202760934829712,
                    "y": -0.015478632412850857,
                    "z": -0.0674411877989769
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78857421875,
                        "y": 2565.2724609375,
                        "z": 365.1117248535156
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1462234258651733,
                "transform": {
                    "location": {
                        "x": 2185.166748046875,
                        "y": 2443.242431640625,
                        "z": 364.5890197753906
                    },
                    "rotation": {
                        "roll": 0.003087117336690426,
                        "pitch": 0.5934819579124451,
                        "yaw": 90.06938934326172
                    }
                },
                "velocity": {
                    "x": -0.014923488721251488,
                    "y": 1.145682692527771,
                    "z": 0.031884144991636276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003349558974150568,
                "transform": {
                    "location": {
                        "x": 2139.8623046875,
                        "y": 2524.4892578125,
                        "z": 364.7933044433594
                    },
                    "rotation": {
                        "roll": 0.00041596643859520555,
                        "pitch": 0.23435743153095245,
                        "yaw": -179.83224487304688
                    }
                },
                "velocity": {
                    "x": 6.849087367299944e-05,
                    "y": 1.738162973197177e-05,
                    "z": 0.00032741768518462777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010457506141392514,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.149173840531148e-05,
                    "y": 8.482439284307475e-07,
                    "z": 0.0001039382623275742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013150215148926,
                "transform": {
                    "location": {
                        "x": 2187.9814453125,
                        "y": 2475.752685546875,
                        "z": 364.94818115234375
                    },
                    "rotation": {
                        "roll": 0.0002734831941779703,
                        "pitch": -0.4606620967388153,
                        "yaw": -89.92789459228516
                    }
                },
                "velocity": {
                    "x": 0.010138515383005142,
                    "y": -8.01286792755127,
                    "z": -0.0664762482047081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.395986557006836,
                "transform": {
                    "location": {
                        "x": 2185.047119140625,
                        "y": 2464.222412109375,
                        "z": 364.8150329589844
                    },
                    "rotation": {
                        "roll": 0.001079103210940957,
                        "pitch": 0.6373454332351685,
                        "yaw": 90.10022735595703
                    }
                },
                "velocity": {
                    "x": -0.009952913038432598,
                    "y": 6.395698547363281,
                    "z": 0.05988162010908127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9108628034591675,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2476.006103515625,
                        "z": 364.9200439453125
                    },
                    "rotation": {
                        "roll": 0.0011598389828577638,
                        "pitch": 0.39564552903175354,
                        "yaw": 90.14762878417969
                    }
                },
                "velocity": {
                    "x": -0.002839550608769059,
                    "y": 0.9108330607414246,
                    "z": 0.006796388421207666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1284359097480774,
        "expert_target_speed": 3.3088775773726837,
        "target_point": [
            23.101917311937918,
            -0.3372266063179934
        ],
        "target_point_next": [
            32.134217816596056,
            8.483964207369223
        ]
    },
    "130": {
        "acceleration": [
            -0.09175896644592285,
            6.976537704467773,
            0.05675468593835831
        ],
        "angular_velocity": [
            0.8638310432434082,
            0.012714482843875885,
            0.11612618714570999
        ],
        "forward_vector": [
            -0.011683250777423382,
            0.9997897148132324,
            0.016853012144565582
        ],
        "right_vector": [
            -0.9999317526817322,
            -0.011684676632285118,
            -1.3896263226342853e-05
        ],
        "location": [
            2185.00390625,
            2493.174072265625,
            365.0299072265625
        ],
        "rotation": [
            0.0007963103707879782,
            0.9656521081924438,
            90.66950988769531
        ],
        "velocity": [
            -0.04757313057780266,
            3.823729991912842,
            0.02380596101284027
        ],
        "speed": 3.824025922219507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.62505340576172,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2137.34619140625,
                2527.314697265625,
                364.79205322265625
            ],
            "velocity": [
                2.6502320766448975,
                0.03444155678153038,
                -0.010076217353343964
            ],
            "speed_kmh": 9.541710058025819,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.650475025177002,
                "transform": {
                    "location": {
                        "x": 2137.34619140625,
                        "y": 2527.314697265625,
                        "z": 364.79205322265625
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.19894291460514069,
                        "yaw": 0.3496171534061432
                    }
                },
                "velocity": {
                    "x": 2.6502320766448975,
                    "y": 0.03444155678153038,
                    "z": -0.010076217353343964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.813234329223633,
                "transform": {
                    "location": {
                        "x": 2235.488525390625,
                        "y": 2524.32080078125,
                        "z": 366.5111389160156
                    },
                    "rotation": {
                        "roll": -0.009674072265625,
                        "pitch": -1.7340073585510254,
                        "yaw": -179.7947998046875
                    }
                },
                "velocity": {
                    "x": -2.8118515014648438,
                    "y": -0.02064773254096508,
                    "z": -0.085744209587574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.790771484375,
                        "y": 2563.218994140625,
                        "z": 365.12017822265625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9070417881011963,
                "transform": {
                    "location": {
                        "x": 2185.16015625,
                        "y": 2443.807373046875,
                        "z": 364.5968017578125
                    },
                    "rotation": {
                        "roll": 0.0069643850438296795,
                        "pitch": 0.49554386734962463,
                        "yaw": 90.24839782714844
                    }
                },
                "velocity": {
                    "x": -0.040733013302087784,
                    "y": 2.9065964221954346,
                    "z": 0.030481090769171715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009798366809263825,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.79339599609375
                    },
                    "rotation": {
                        "roll": 0.0008757779723964632,
                        "pitch": 0.22426241636276245,
                        "yaw": -179.83224487304688
                    }
                },
                "velocity": {
                    "x": 4.759844159707427e-05,
                    "y": -1.8138805899070576e-05,
                    "z": 0.0009785117581486702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008952385978773236,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.058696948864963e-06,
                    "y": -2.1221116185188293e-05,
                    "z": 0.0008949507609941065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051107406616211,
                "transform": {
                    "location": {
                        "x": 2187.9833984375,
                        "y": 2473.744384765625,
                        "z": 364.93170166015625
                    },
                    "rotation": {
                        "roll": 0.0017620930448174477,
                        "pitch": -0.4899909198284149,
                        "yaw": -89.92809295654297
                    }
                },
                "velocity": {
                    "x": 0.010136700235307217,
                    "y": -8.05080509185791,
                    "z": -0.06907027959823608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.038089752197266,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2465.578369140625,
                        "z": 364.8265075683594
                    },
                    "rotation": {
                        "roll": 0.00015265174442902207,
                        "pitch": 0.7486569881439209,
                        "yaw": 90.09103393554688
                    }
                },
                "velocity": {
                    "x": -0.004996842704713345,
                    "y": 4.037924766540527,
                    "z": 0.036145780235528946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.423662543296814,
                "transform": {
                    "location": {
                        "x": 2185.04150390625,
                        "y": 2476.327392578125,
                        "z": 364.922607421875
                    },
                    "rotation": {
                        "roll": 0.00038256627158261836,
                        "pitch": 0.39274951815605164,
                        "yaw": 90.11802673339844
                    }
                },
                "velocity": {
                    "x": -0.003259008750319481,
                    "y": 1.4236185550689697,
                    "z": 0.010697650723159313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13495144248008728,
        "expert_target_speed": 4.929514229305131,
        "target_point": [
            22.354875982678504,
            -0.34846699723818103
        ],
        "target_point_next": [
            31.391165211963663,
            8.468637785094419
        ]
    },
    "135": {
        "acceleration": [
            -0.09695634245872498,
            6.433725357055664,
            0.005907118320465088
        ],
        "angular_velocity": [
            0.15024906396865845,
            -0.04715246334671974,
            0.3023305833339691
        ],
        "forward_vector": [
            -0.012314529158174992,
            0.9997498989105225,
            0.01866530068218708
        ],
        "right_vector": [
            -0.9999241232872009,
            -0.012317132204771042,
            2.449657768011093e-05
        ],
        "location": [
            2184.9892578125,
            2494.344970703125,
            365.0368957519531
        ],
        "rotation": [
            -0.001403795089572668,
            1.0695050954818726,
            90.7057113647461
        ],
        "velocity": [
            -0.07082194834947586,
            5.459651470184326,
            0.03619643300771713
        ],
        "speed": 5.4601107978001595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.33930587768555,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2138.082275390625,
                2527.32177734375,
                364.78924560546875
            ],
            "velocity": [
                3.2316417694091797,
                0.022563911974430084,
                -0.010590152814984322
            ],
            "speed_kmh": 11.634256413796468,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2317378520965576,
                "transform": {
                    "location": {
                        "x": 2138.082275390625,
                        "y": 2527.32177734375,
                        "z": 364.78924560546875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.19821207225322723,
                        "yaw": 0.44937530159950256
                    }
                },
                "velocity": {
                    "x": 3.2316417694091797,
                    "y": 0.022563911974430084,
                    "z": -0.010590152814984322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.469510793685913,
                "transform": {
                    "location": {
                        "x": 2234.70361328125,
                        "y": 2524.31591796875,
                        "z": 366.4871520996094
                    },
                    "rotation": {
                        "roll": -0.011993404477834702,
                        "pitch": -1.7318694591522217,
                        "yaw": -179.71083068847656
                    }
                },
                "velocity": {
                    "x": -3.4678096771240234,
                    "y": -0.025982601568102837,
                    "z": -0.10547665506601334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.318953037261963,
                "transform": {
                    "location": {
                        "x": 2187.799072265625,
                        "y": 2561.525634765625,
                        "z": 365.1258239746094
                    },
                    "rotation": {
                        "roll": -0.021209716796875,
                        "pitch": 0.012287509627640247,
                        "yaw": -89.6754150390625
                    }
                },
                "velocity": {
                    "x": 0.06677286326885223,
                    "y": -6.318569660186768,
                    "z": 0.019508905708789825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.997739553451538,
                "transform": {
                    "location": {
                        "x": 2185.14990234375,
                        "y": 2444.672607421875,
                        "z": 364.6060485839844
                    },
                    "rotation": {
                        "roll": 0.007287341170012951,
                        "pitch": 0.5454452037811279,
                        "yaw": 90.43965911865234
                    }
                },
                "velocity": {
                    "x": -0.05616781488060951,
                    "y": 3.997084617614746,
                    "z": 0.04562758281826973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007812993135303259,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0007152675534598529,
                        "pitch": 0.21976132690906525,
                        "yaw": -179.83224487304688
                    }
                },
                "velocity": {
                    "x": 5.792528099846095e-06,
                    "y": -1.2880545000371058e-05,
                    "z": 0.0007811716641299427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004453992296475917,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.9438824892858975e-05,
                    "y": 3.213640593457967e-05,
                    "z": 0.0004438128671608865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0133056640625,
                "transform": {
                    "location": {
                        "x": 2187.9853515625,
                        "y": 2471.737060546875,
                        "z": 364.91455078125
                    },
                    "rotation": {
                        "roll": -0.001434312667697668,
                        "pitch": -0.49242928624153137,
                        "yaw": -89.9265365600586
                    }
                },
                "velocity": {
                    "x": 0.011673562228679657,
                    "y": -8.0129976272583,
                    "z": -0.0692766085267067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4490561485290527,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2466.357421875,
                        "z": 364.83416748046875
                    },
                    "rotation": {
                        "roll": -0.0010986216366291046,
                        "pitch": 0.6991586089134216,
                        "yaw": 90.09364318847656
                    }
                },
                "velocity": {
                    "x": -0.0027766802813857794,
                    "y": 2.448934555053711,
                    "z": 0.024242477491497993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.684563398361206,
                "transform": {
                    "location": {
                        "x": 2185.039306640625,
                        "y": 2476.6875,
                        "z": 364.92523193359375
                    },
                    "rotation": {
                        "roll": -0.0007019274635240436,
                        "pitch": 0.42022737860679626,
                        "yaw": 89.94798278808594
                    }
                },
                "velocity": {
                    "x": -0.004801878705620766,
                    "y": 1.6845017671585083,
                    "z": 0.01359140407294035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1512136608362198,
        "expert_target_speed": 6.435018390955889,
        "target_point": [
            21.18366347639223,
            -0.36268675021017266
        ],
        "target_point_next": [
            30.225469109804372,
            8.448760955219617
        ]
    },
    "140": {
        "acceleration": [
            -0.1415008306503296,
            9.927358627319336,
            0.06180472671985626
        ],
        "angular_velocity": [
            1.0436750650405884,
            0.02146834507584572,
            0.20410747826099396
        ],
        "forward_vector": [
            -0.012867053970694542,
            0.9998271465301514,
            0.013419819995760918
        ],
        "right_vector": [
            -0.999917209148407,
            -0.012868298217654228,
            6.390735052264063e-06
        ],
        "location": [
            2184.971435546875,
            2495.73046875,
            365.0465087890625
        ],
        "rotation": [
            -0.000366195134120062,
            0.7689221501350403,
            90.73731231689453
        ],
        "velocity": [
            -0.08099032938480377,
            5.996187210083008,
            0.036388128995895386
        ],
        "speed": 5.996734152171238,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.79605484008789,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2138.9853515625,
                2527.328125,
                364.7857971191406
            ],
            "velocity": [
                3.995457649230957,
                0.023303313180804253,
                -0.014255895279347897
            ],
            "speed_kmh": 14.38398373882307,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.995551109313965,
                "transform": {
                    "location": {
                        "x": 2138.9853515625,
                        "y": 2527.328125,
                        "z": 364.7857971191406
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.19388173520565033,
                        "yaw": 0.407822847366333
                    }
                },
                "velocity": {
                    "x": 3.995457649230957,
                    "y": 0.023303313180804253,
                    "z": -0.014255895279347897
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.338818073272705,
                "transform": {
                    "location": {
                        "x": 2233.727783203125,
                        "y": 2524.30908203125,
                        "z": 366.4572448730469
                    },
                    "rotation": {
                        "roll": -0.015075680799782276,
                        "pitch": -1.7260433435440063,
                        "yaw": -179.6412811279297
                    }
                },
                "velocity": {
                    "x": -4.336645126342773,
                    "y": -0.033518098294734955,
                    "z": -0.13313375413417816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.066413402557373,
                "transform": {
                    "location": {
                        "x": 2187.81689453125,
                        "y": 2559.977783203125,
                        "z": 365.13128662109375
                    },
                    "rotation": {
                        "roll": -0.0017395149916410446,
                        "pitch": 0.13278570771217346,
                        "yaw": -89.39871215820312
                    }
                },
                "velocity": {
                    "x": 0.06304991245269775,
                    "y": -6.066046237945557,
                    "z": 0.021801652386784554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0805134773254395,
                "transform": {
                    "location": {
                        "x": 2185.135009765625,
                        "y": 2445.81494140625,
                        "z": 364.61932373046875
                    },
                    "rotation": {
                        "roll": 0.008503713645040989,
                        "pitch": 0.5521456599235535,
                        "yaw": 90.59912109375
                    }
                },
                "velocity": {
                    "x": -0.07173584401607513,
                    "y": 5.079603672027588,
                    "z": 0.06401509791612625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001289991196244955,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0005350823048502207,
                        "pitch": 0.21836113929748535,
                        "yaw": -179.83224487304688
                    }
                },
                "velocity": {
                    "x": 2.7270018108538352e-05,
                    "y": -2.9456039555952884e-05,
                    "z": 0.0012893665116280317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001295131049118936,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.90180490387138e-06,
                    "y": -1.5449279089807533e-05,
                    "z": 0.0012950083473697305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051310539245605,
                "transform": {
                    "location": {
                        "x": 2187.987548828125,
                        "y": 2469.728759765625,
                        "z": 364.8969421386719
                    },
                    "rotation": {
                        "roll": -0.0005798419006168842,
                        "pitch": -0.5098872780799866,
                        "yaw": -89.9244384765625
                    }
                },
                "velocity": {
                    "x": 0.010585214011371136,
                    "y": -8.050976753234863,
                    "z": -0.07255382090806961
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7182154655456543,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2466.84375,
                        "z": 364.83941650390625
                    },
                    "rotation": {
                        "roll": 0.00012938080180902034,
                        "pitch": 0.613815426826477,
                        "yaw": 90.07746887207031
                    }
                },
                "velocity": {
                    "x": -0.0017256585415452719,
                    "y": 1.7181376218795776,
                    "z": 0.016269607469439507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4951632022857666,
                "transform": {
                    "location": {
                        "x": 2185.036865234375,
                        "y": 2477.2099609375,
                        "z": 364.9298400878906
                    },
                    "rotation": {
                        "roll": -0.0012817545793950558,
                        "pitch": 0.371692031621933,
                        "yaw": 89.88616943359375
                    }
                },
                "velocity": {
                    "x": -0.0051313359290361404,
                    "y": 2.4950857162475586,
                    "z": 0.018967999145388603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.308837890625,
                        "z": 365.071044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17323936522006989,
        "expert_target_speed": 6.898489215939002,
        "target_point": [
            19.79784668476471,
            -0.3744118613739837
        ],
        "target_point_next": [
            28.844531119390883,
            8.43202672174348
        ]
    },
    "145": {
        "acceleration": [
            -0.0855371356010437,
            3.973388671875,
            0.0066808611154556274
        ],
        "angular_velocity": [
            -0.3252754807472229,
            -0.0509883314371109,
            0.057722192257642746
        ],
        "forward_vector": [
            -0.013705079443752766,
            0.9997997283935547,
            0.01458318904042244
        ],
        "right_vector": [
            -0.999906063079834,
            -0.013707469217479229,
            6.390875205397606e-05
        ],
        "location": [
            2184.94873046875,
            2497.39111328125,
            365.0557861328125
        ],
        "rotation": [
            -0.0036620909813791513,
            0.835584819316864,
            90.78535461425781
        ],
        "velocity": [
            -0.10184669494628906,
            7.151457786560059,
            0.03818705305457115
        ],
        "speed": 7.152182969011767,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.92363739013672,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.10400390625,
                2527.3349609375,
                364.7814636230469
            ],
            "velocity": [
                4.941700458526611,
                0.028313329443335533,
                -0.018677515909075737
            ],
            "speed_kmh": 17.79054070993087,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.941816806793213,
                "transform": {
                    "location": {
                        "x": 2140.10400390625,
                        "y": 2527.3349609375,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.18752966821193695,
                        "yaw": 0.3665976822376251
                    }
                },
                "velocity": {
                    "x": 4.941700458526611,
                    "y": 0.028313329443335533,
                    "z": -0.018677515909075737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.304091453552246,
                "transform": {
                    "location": {
                        "x": 2232.5126953125,
                        "y": 2524.300048828125,
                        "z": 366.42034912109375
                    },
                    "rotation": {
                        "roll": -0.01641845703125,
                        "pitch": -1.7208865880966187,
                        "yaw": -179.59075927734375
                    }
                },
                "velocity": {
                    "x": -5.301481246948242,
                    "y": -0.041976187378168106,
                    "z": -0.16100741922855377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.57373571395874,
                "transform": {
                    "location": {
                        "x": 2187.83203125,
                        "y": 2558.465576171875,
                        "z": 365.1361999511719
                    },
                    "rotation": {
                        "roll": 0.0023728464730083942,
                        "pitch": 0.09112154692411423,
                        "yaw": -89.42101287841797
                    }
                },
                "velocity": {
                    "x": 0.05622803047299385,
                    "y": -5.573427677154541,
                    "z": 0.016462907195091248
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.548254489898682,
                "transform": {
                    "location": {
                        "x": 2185.120849609375,
                        "y": 2447.135009765625,
                        "z": 364.6343994140625
                    },
                    "rotation": {
                        "roll": -0.00027469059568829834,
                        "pitch": 0.6113770008087158,
                        "yaw": 90.60787963867188
                    }
                },
                "velocity": {
                    "x": -0.043413303792476654,
                    "y": 5.547725200653076,
                    "z": 0.06315106898546219
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015635973250027746,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0005350823048502207,
                        "pitch": 0.21836113929748535,
                        "yaw": -179.83224487304688
                    }
                },
                "velocity": {
                    "x": 9.647421393310651e-06,
                    "y": 7.95828782429453e-06,
                    "z": 0.00015585878281854093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006931424723006785,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.3604424566437956e-05,
                    "y": 6.493446107924683e-06,
                    "z": 0.0006929785013198853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013496398925781,
                "transform": {
                    "location": {
                        "x": 2187.9892578125,
                        "y": 2467.72119140625,
                        "z": 364.8789367675781
                    },
                    "rotation": {
                        "roll": 0.00015566036745440215,
                        "pitch": -0.5340251326560974,
                        "yaw": -89.9280014038086
                    }
                },
                "velocity": {
                    "x": 0.010146209970116615,
                    "y": -8.01315689086914,
                    "z": -0.0730028823018074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.267500400543213,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2467.334228515625,
                        "z": 364.8449401855469
                    },
                    "rotation": {
                        "roll": 0.00013495459279511124,
                        "pitch": 0.49339917302131653,
                        "yaw": 90.08724212646484
                    }
                },
                "velocity": {
                    "x": -0.0034487524535506964,
                    "y": 2.2674155235290527,
                    "z": 0.01929185912013054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.410553455352783,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2477.948486328125,
                        "z": 364.9356994628906
                    },
                    "rotation": {
                        "roll": -0.0003662093076854944,
                        "pitch": 0.35758087038993835,
                        "yaw": 89.94673919677734
                    }
                },
                "velocity": {
                    "x": -0.006103186868131161,
                    "y": 3.4104456901550293,
                    "z": 0.026406068354845047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779541015625,
                        "y": 2573.72265625,
                        "z": 365.0754089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16854414343833923,
        "expert_target_speed": 7.797568225702559,
        "target_point": [
            18.13672752484836,
            -0.3908853741120186
        ],
        "target_point_next": [
            27.190759571700962,
            8.407998843360868
        ]
    },
    "150": {
        "acceleration": [
            -0.054934918880462646,
            1.949605941772461,
            -0.025350600481033325
        ],
        "angular_velocity": [
            -0.5872388482093811,
            -0.017617687582969666,
            0.2126283496618271
        ],
        "forward_vector": [
            -0.014611625112593174,
            0.9998214244842529,
            0.011986207216978073
        ],
        "right_vector": [
            -0.9998932480812073,
            -0.014613651670515537,
            8.148652705131099e-05
        ],
        "location": [
            2184.92138671875,
            2499.26953125,
            365.0665588378906
        ],
        "rotation": [
            -0.004669169429689646,
            0.6867755055427551,
            90.83727264404297
        ],
        "velocity": [
            -0.11785861104726791,
            7.808574676513672,
            0.040443819016218185
        ],
        "speed": 7.809464074498877,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.78117752075195,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2141.41162109375,
                2527.3427734375,
                364.7769775390625
            ],
            "velocity": [
                5.3209943771362305,
                0.030198216438293457,
                -0.02170267142355442
            ],
            "speed_kmh": 19.156047575964337,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.321124076843262,
                "transform": {
                    "location": {
                        "x": 2141.41162109375,
                        "y": 2527.3427734375,
                        "z": 364.7769775390625
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.20190037786960602,
                        "yaw": 0.3400990664958954
                    }
                },
                "velocity": {
                    "x": 5.3209943771362305,
                    "y": 0.030198216438293457,
                    "z": -0.02170267142355442
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.646415710449219,
                "transform": {
                    "location": {
                        "x": 2231.166259765625,
                        "y": 2524.29052734375,
                        "z": 366.37921142578125
                    },
                    "rotation": {
                        "roll": -0.01632690243422985,
                        "pitch": -1.7397993803024292,
                        "yaw": -179.5572967529297
                    }
                },
                "velocity": {
                    "x": -5.643601417541504,
                    "y": -0.03015560284256935,
                    "z": -0.17568308115005493
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.293697357177734,
                "transform": {
                    "location": {
                        "x": 2187.845458984375,
                        "y": 2557.13623046875,
                        "z": 365.1402893066406
                    },
                    "rotation": {
                        "roll": 0.002326331567019224,
                        "pitch": 0.12130415439605713,
                        "yaw": -89.42849731445312
                    }
                },
                "velocity": {
                    "x": 0.05286203697323799,
                    "y": -5.293411731719971,
                    "z": 0.015137414447963238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.038936614990234,
                "transform": {
                    "location": {
                        "x": 2185.108642578125,
                        "y": 2448.572998046875,
                        "z": 364.6506042480469
                    },
                    "rotation": {
                        "roll": 0.0019508503610268235,
                        "pitch": 0.6116365790367126,
                        "yaw": 90.51576232910156
                    }
                },
                "velocity": {
                    "x": -0.04739532247185707,
                    "y": 6.038370132446289,
                    "z": 0.0677730143070221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000280275649856776,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0011623570462688804,
                        "pitch": 0.2183133214712143,
                        "yaw": -179.8321990966797
                    }
                },
                "velocity": {
                    "x": 2.361424321861705e-06,
                    "y": 5.7499415561323985e-05,
                    "z": 0.0002743039804045111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001107870921259746,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0345987902837805e-05,
                    "y": -6.922054929248134e-09,
                    "z": 0.00011030294990632683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050603866577148,
                "transform": {
                    "location": {
                        "x": 2187.99169921875,
                        "y": 2465.713134765625,
                        "z": 364.8603515625
                    },
                    "rotation": {
                        "roll": -0.00036623122286982834,
                        "pitch": -0.5307876467704773,
                        "yaw": -89.92281341552734
                    }
                },
                "velocity": {
                    "x": 0.010868016630411148,
                    "y": -8.050251960754395,
                    "z": -0.07445292919874191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.70525324344635,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2467.849365234375,
                        "z": 364.84906005859375
                    },
                    "rotation": {
                        "roll": 0.0005319796619005501,
                        "pitch": 0.5592080354690552,
                        "yaw": 90.07329559326172
                    }
                },
                "velocity": {
                    "x": -0.001755675533786416,
                    "y": 1.7051708698272705,
                    "z": 0.016665764153003693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.389919757843018,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2478.93994140625,
                        "z": 364.9435729980469
                    },
                    "rotation": {
                        "roll": 0.0004295360413379967,
                        "pitch": 0.34670722484588623,
                        "yaw": 90.00054168701172
                    }
                },
                "velocity": {
                    "x": -0.0071609350852668285,
                    "y": 4.3897881507873535,
                    "z": 0.033244095742702484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78076171875,
                        "y": 2572.38427734375,
                        "z": 365.07916259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.186056450009346,
        "expert_target_speed": 8.235964005802478,
        "target_point": [
            16.257745958467492,
            -0.40733762352768177
        ],
        "target_point_next": [
            25.31981096620611,
            8.383273138725798
        ]
    },
    "155": {
        "acceleration": [
            -0.06063908338546753,
            1.6017532348632812,
            0.005592554807662964
        ],
        "angular_velocity": [
            -0.40669408440589905,
            -0.048310089856386185,
            0.23567374050617218
        ],
        "forward_vector": [
            -0.015603498555719852,
            0.9998291730880737,
            0.009904340840876102
        ],
        "right_vector": [
            -0.9998782277107239,
            -0.015605197288095951,
            9.427079203305766e-05
        ],
        "location": [
            2184.889892578125,
            2501.2822265625,
            365.07733154296875
        ],
        "rotation": [
            -0.005401583854109049,
            0.5674862265586853,
            90.89409637451172
        ],
        "velocity": [
            -0.1325877606868744,
            8.247590065002441,
            0.041302166879177094
        ],
        "speed": 8.248655732579154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.471336364746094,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2142.845458984375,
                2527.35107421875,
                364.7712707519531
            ],
            "velocity": [
                6.231556415557861,
                0.035636283457279205,
                -0.02305411361157894
            ],
            "speed_kmh": 22.434123439324498,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.231700897216797,
                "transform": {
                    "location": {
                        "x": 2142.845458984375,
                        "y": 2527.35107421875,
                        "z": 364.7712707519531
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.19400468468666077,
                        "yaw": 0.3252400755882263
                    }
                },
                "velocity": {
                    "x": 6.231556415557861,
                    "y": 0.035636283457279205,
                    "z": -0.02305411361157894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.862831115722656,
                "transform": {
                    "location": {
                        "x": 2229.603271484375,
                        "y": 2524.282958984375,
                        "z": 366.3304138183594
                    },
                    "rotation": {
                        "roll": -0.012756346724927425,
                        "pitch": -1.7535006999969482,
                        "yaw": -179.67811584472656
                    }
                },
                "velocity": {
                    "x": -6.859426498413086,
                    "y": -0.023726530373096466,
                    "z": -0.2148311883211136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.184143543243408,
                "transform": {
                    "location": {
                        "x": 2187.859130859375,
                        "y": 2555.7490234375,
                        "z": 365.144287109375
                    },
                    "rotation": {
                        "roll": 0.007483770605176687,
                        "pitch": 0.22662566602230072,
                        "yaw": -89.453857421875
                    }
                },
                "velocity": {
                    "x": 0.0473223477602005,
                    "y": -6.183940410614014,
                    "z": 0.016581391915678978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.799449443817139,
                "transform": {
                    "location": {
                        "x": 2185.0947265625,
                        "y": 2450.36279296875,
                        "z": 364.671875
                    },
                    "rotation": {
                        "roll": 0.0021070854272693396,
                        "pitch": 0.4954140782356262,
                        "yaw": 90.43797302246094
                    }
                },
                "velocity": {
                    "x": -0.055231690406799316,
                    "y": 7.798754692077637,
                    "z": 0.08822030574083328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010595164494588971,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0011623570462688804,
                        "pitch": 0.2183133214712143,
                        "yaw": -179.8321990966797
                    }
                },
                "velocity": {
                    "x": 8.975155651569366e-06,
                    "y": -1.6576992493355647e-05,
                    "z": 0.0010593486949801445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004368448571767658,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.1757072317996062e-05,
                    "y": -1.5719240764155984e-05,
                    "z": 0.0004360194434411824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015225410461426,
                "transform": {
                    "location": {
                        "x": 2187.99365234375,
                        "y": 2463.705078125,
                        "z": 364.8411560058594
                    },
                    "rotation": {
                        "roll": 0.0005742700886912644,
                        "pitch": -0.5587982535362244,
                        "yaw": -89.92568969726562
                    }
                },
                "velocity": {
                    "x": 0.010395539924502373,
                    "y": -8.01485538482666,
                    "z": -0.07634971290826797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9125218391418457,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2468.275634765625,
                        "z": 364.8533630371094
                    },
                    "rotation": {
                        "roll": 0.0003217792836949229,
                        "pitch": 0.5223591923713684,
                        "yaw": 90.08797454833984
                    }
                },
                "velocity": {
                    "x": -0.0027137340512126684,
                    "y": 1.9124387502670288,
                    "z": 0.017618989571928978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.001002788543701,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2480.117431640625,
                        "z": 364.9522705078125
                    },
                    "rotation": {
                        "roll": -9.155576844932511e-05,
                        "pitch": 0.36807888746261597,
                        "yaw": 90.0423812866211
                    }
                },
                "velocity": {
                    "x": -0.008284500800073147,
                    "y": 5.000860214233398,
                    "z": 0.0368497371673584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782470703125,
                        "y": 2571.023681640625,
                        "z": 365.083740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2103559821844101,
        "expert_target_speed": 8.443801197773324,
        "target_point": [
            14.244392960751368,
            -0.42351601621682766
        ],
        "target_point_next": [
            23.315157568819536,
            8.35811761329342
        ]
    },
    "160": {
        "acceleration": [
            -0.019321143627166748,
            -0.7599067687988281,
            -0.014368966221809387
        ],
        "angular_velocity": [
            -0.7136072516441345,
            0.03657086566090584,
            0.2354094535112381
        ],
        "forward_vector": [
            -0.016628501936793327,
            0.9998334050178528,
            0.0075279949232935905
        ],
        "right_vector": [
            -0.9998617172241211,
            -0.016629843041300774,
            0.00011557759717106819
        ],
        "location": [
            2184.85595703125,
            2503.36083984375,
            365.0883483886719
        ],
        "rotation": [
            -0.006622296292334795,
            0.43132641911506653,
            90.95281219482422
        ],
        "velocity": [
            -0.14187048375606537,
            8.309331893920898,
            0.040941763669252396
        ],
        "speed": 8.310542927961581,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.905738830566406,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2144.554931640625,
                2527.358154296875,
                364.7646789550781
            ],
            "velocity": [
                7.355475425720215,
                0.0166286900639534,
                -0.02697773464024067
            ],
            "speed_kmh": 26.47995730220049,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.355543613433838,
                "transform": {
                    "location": {
                        "x": 2144.554931640625,
                        "y": 2527.358154296875,
                        "z": 364.7646789550781
                    },
                    "rotation": {
                        "roll": 8.681652980158105e-05,
                        "pitch": -0.18071997165679932,
                        "yaw": 0.18301695585250854
                    }
                },
                "velocity": {
                    "x": 7.355475425720215,
                    "y": 0.0166286900639534,
                    "z": -0.02697773464024067
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6539177894592285,
                "transform": {
                    "location": {
                        "x": 2227.75830078125,
                        "y": 2524.276123046875,
                        "z": 366.2734680175781
                    },
                    "rotation": {
                        "roll": -0.009674073196947575,
                        "pitch": -1.7589648962020874,
                        "yaw": -179.79827880859375
                    }
                },
                "velocity": {
                    "x": -7.650249481201172,
                    "y": -0.020729152485728264,
                    "z": -0.23602747917175293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8924760818481445,
                "transform": {
                    "location": {
                        "x": 2187.870361328125,
                        "y": 2554.0126953125,
                        "z": 365.14886474609375
                    },
                    "rotation": {
                        "roll": 0.007110420148819685,
                        "pitch": 0.22228848934173584,
                        "yaw": -89.52989959716797
                    }
                },
                "velocity": {
                    "x": 0.039645154029130936,
                    "y": -6.892343521118164,
                    "z": 0.016073664650321007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008744239807129,
                "transform": {
                    "location": {
                        "x": 2185.081298828125,
                        "y": 2452.38623046875,
                        "z": 364.69384765625
                    },
                    "rotation": {
                        "roll": -0.00274660624563694,
                        "pitch": 0.5986797213554382,
                        "yaw": 90.39871978759766
                    }
                },
                "velocity": {
                    "x": -0.03674810007214546,
                    "y": 8.00816535949707,
                    "z": 0.08902692794799805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038618737016804516,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0005355589673854411,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.83218383789062
                    }
                },
                "velocity": {
                    "x": 1.9114650058327243e-05,
                    "y": -1.9041372070205398e-05,
                    "z": 0.0003852437366731465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019881772459484637,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.1137092264543753e-06,
                    "y": 7.694915439060424e-06,
                    "z": 0.0001986443530768156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050466537475586,
                "transform": {
                    "location": {
                        "x": 2187.995849609375,
                        "y": 2461.697021484375,
                        "z": 364.82159423828125
                    },
                    "rotation": {
                        "roll": 7.017301686573774e-05,
                        "pitch": -0.572021484375,
                        "yaw": -89.92388153076172
                    }
                },
                "velocity": {
                    "x": 0.012181052006781101,
                    "y": -8.05005168914795,
                    "z": -0.08081921190023422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.963634967803955,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2468.802001953125,
                        "z": 364.8581237792969
                    },
                    "rotation": {
                        "roll": 1.0832683074113447e-05,
                        "pitch": 0.5110688805580139,
                        "yaw": 90.07648468017578
                    }
                },
                "velocity": {
                    "x": -0.002798563102260232,
                    "y": 1.963561773300171,
                    "z": 0.016724461689591408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.280864715576172,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2481.3955078125,
                        "z": 364.9617919921875
                    },
                    "rotation": {
                        "roll": -0.0002136349503416568,
                        "pitch": 0.3843347132205963,
                        "yaw": 90.07807159423828
                    }
                },
                "velocity": {
                    "x": -0.008734782226383686,
                    "y": 5.2807230949401855,
                    "z": 0.03769012540578842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.188924789428711,
                "transform": {
                    "location": {
                        "x": 2187.792236328125,
                        "y": 2569.69482421875,
                        "z": 365.0875244140625
                    },
                    "rotation": {
                        "roll": -0.031188959255814552,
                        "pitch": 0.24877597391605377,
                        "yaw": -89.66490173339844
                    }
                },
                "velocity": {
                    "x": 0.05134470760822296,
                    "y": -5.188636779785156,
                    "z": 0.01871446520090103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2866068184375763,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22710354626178741,
        "expert_target_speed": 8.308305987605799,
        "target_point": [
            12.165062982272353,
            -0.4374290241964981
        ],
        "target_point_next": [
            21.244788104913003,
            8.334939611195862
        ]
    },
    "165": {
        "acceleration": [
            -0.0047332048416137695,
            -1.5517139434814453,
            -0.07365338504314423
        ],
        "angular_velocity": [
            -0.7805513143539429,
            -0.028083374723792076,
            0.23484377562999725
        ],
        "forward_vector": [
            -0.01763848029077053,
            0.9998350739479065,
            0.004320369102060795
        ],
        "right_vector": [
            -0.9998444318771362,
            -0.017639223486185074,
            0.00013368972577154636
        ],
        "location": [
            2184.82080078125,
            2505.397216796875,
            365.0992736816406
        ],
        "rotation": [
            -0.007659928407520056,
            0.2475396990776062,
            91.01067352294922
        ],
        "velocity": [
            -0.14391398429870605,
            7.956872463226318,
            0.03699387609958649
        ],
        "speed": 7.958173825126339,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.17289733886719,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2146.497802734375,
                2527.362548828125,
                364.75732421875
            ],
            "velocity": [
                8.495083808898926,
                0.009677154943346977,
                -0.033051375299692154
            ],
            "speed_kmh": 30.582553017921175,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.495153427124023,
                "transform": {
                    "location": {
                        "x": 2146.497802734375,
                        "y": 2527.362548828125,
                        "z": 364.75732421875
                    },
                    "rotation": {
                        "roll": 0.00011526587331900373,
                        "pitch": -0.17986619472503662,
                        "yaw": 0.06342039257287979
                    }
                },
                "velocity": {
                    "x": 8.495083808898926,
                    "y": 0.009677154943346977,
                    "z": -0.033051375299692154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.813484191894531,
                "transform": {
                    "location": {
                        "x": 2225.652099609375,
                        "y": 2524.27099609375,
                        "z": 366.2080078125
                    },
                    "rotation": {
                        "roll": -0.005249022971838713,
                        "pitch": -1.709411859512329,
                        "yaw": -179.9009552001953
                    }
                },
                "velocity": {
                    "x": -8.809317588806152,
                    "y": -0.010355859994888306,
                    "z": -0.2707903981208801
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.75771951675415,
                "transform": {
                    "location": {
                        "x": 2187.878662109375,
                        "y": 2552.43359375,
                        "z": 365.1521301269531
                    },
                    "rotation": {
                        "roll": 0.0015180781483650208,
                        "pitch": 0.031924303621053696,
                        "yaw": -89.51671600341797
                    }
                },
                "velocity": {
                    "x": 0.03417081758379936,
                    "y": -5.757603168487549,
                    "z": 0.013185805641114712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.659473896026611,
                "transform": {
                    "location": {
                        "x": 2185.07275390625,
                        "y": 2454.25146484375,
                        "z": 364.7130432128906
                    },
                    "rotation": {
                        "roll": 8.533063373761252e-05,
                        "pitch": 0.714519739151001,
                        "yaw": 90.2508773803711
                    }
                },
                "velocity": {
                    "x": -0.023064665496349335,
                    "y": 6.659046649932861,
                    "z": 0.07181064784526825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006178231560625136,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0005157506675459445,
                        "pitch": 0.21791717410087585,
                        "yaw": -179.83218383789062
                    }
                },
                "velocity": {
                    "x": 9.053758731170092e-06,
                    "y": 2.2914606233825907e-05,
                    "z": 0.0006173316505737603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009367873426526785,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.621671071916353e-05,
                    "y": 2.428680454613641e-05,
                    "z": 0.0009363320423290133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01570987701416,
                "transform": {
                    "location": {
                        "x": 2187.997802734375,
                        "y": 2459.68896484375,
                        "z": 364.8014831542969
                    },
                    "rotation": {
                        "roll": 0.0003853649250231683,
                        "pitch": -0.5769938826560974,
                        "yaw": -89.92150115966797
                    }
                },
                "velocity": {
                    "x": 0.010982801206409931,
                    "y": -8.015275955200195,
                    "z": -0.08263865113258362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.920691967010498,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2469.255615234375,
                        "z": 364.8619384765625
                    },
                    "rotation": {
                        "roll": 0.0004422997881192714,
                        "pitch": 0.5226460695266724,
                        "yaw": 90.09175872802734
                    }
                },
                "velocity": {
                    "x": -0.003707844763994217,
                    "y": 1.920610785484314,
                    "z": 0.017262639477849007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.718123435974121,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2482.759521484375,
                        "z": 364.9718933105469
                    },
                    "rotation": {
                        "roll": 3.750004543690011e-05,
                        "pitch": 0.35178205370903015,
                        "yaw": 90.09142303466797
                    }
                },
                "velocity": {
                    "x": -0.007917927578091621,
                    "y": 5.717970371246338,
                    "z": 0.04110633581876755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.405927658081055,
                "transform": {
                    "location": {
                        "x": 2187.8056640625,
                        "y": 2568.369140625,
                        "z": 365.09283447265625
                    },
                    "rotation": {
                        "roll": -0.016754167154431343,
                        "pitch": 0.27611038088798523,
                        "yaw": -89.47735595703125
                    }
                },
                "velocity": {
                    "x": 0.060977887362241745,
                    "y": -5.405533790588379,
                    "z": 0.023253459483385086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2773827612400055,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27654439210891724,
        "expert_target_speed": 7.781295878515432,
        "target_point": [
            10.127935170531908,
            -0.44894199389533207
        ],
        "target_point_next": [
            19.21650687949448,
            8.314260849185075
        ]
    },
    "170": {
        "acceleration": [
            0.03921419382095337,
            -3.367891311645508,
            -0.0014633312821388245
        ],
        "angular_velocity": [
            -0.9584417343139648,
            -0.015963220968842506,
            0.20506542921066284
        ],
        "forward_vector": [
            -0.018590612336993217,
            0.9998270869255066,
            0.0004994868650101125
        ],
        "right_vector": [
            -0.9998272061347961,
            -0.01859068125486374,
            0.0001331580278929323
        ],
        "location": [
            2184.785888671875,
            2507.306884765625,
            365.1078796386719
        ],
        "rotation": [
            -0.007629393599927425,
            0.02861849032342434,
            91.06522369384766
        ],
        "velocity": [
            -0.13952814042568207,
            7.317914962768555,
            0.0293432604521513
        ],
        "speed": 7.319245009171544,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.33980178833008,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2148.639892578125,
                2527.36474609375,
                364.74945068359375
            ],
            "velocity": [
                8.351985931396484,
                0.001524595427326858,
                -0.03291160613298416
            ],
            "speed_kmh": 30.06738329609092,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.35205078125,
                "transform": {
                    "location": {
                        "x": 2148.639892578125,
                        "y": 2527.36474609375,
                        "z": 364.74945068359375
                    },
                    "rotation": {
                        "roll": 0.0013766546035185456,
                        "pitch": -0.21181781589984894,
                        "yaw": 0.006613589823246002
                    }
                },
                "velocity": {
                    "x": 8.351985931396484,
                    "y": 0.001524595427326858,
                    "z": -0.03291160613298416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.136305809020996,
                "transform": {
                    "location": {
                        "x": 2223.537353515625,
                        "y": 2524.26904296875,
                        "z": 366.1438903808594
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -1.7646749019622803,
                        "yaw": 179.9952392578125
                    }
                },
                "velocity": {
                    "x": -8.132526397705078,
                    "y": 3.79883058485575e-05,
                    "z": -0.24797360599040985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.054887294769287,
                "transform": {
                    "location": {
                        "x": 2187.885986328125,
                        "y": 2551.158935546875,
                        "z": 365.1543273925781
                    },
                    "rotation": {
                        "roll": 0.002013402059674263,
                        "pitch": -3.415094397496432e-05,
                        "yaw": -89.69943237304688
                    }
                },
                "velocity": {
                    "x": 0.025735097005963326,
                    "y": -5.054800510406494,
                    "z": 0.01469933521002531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2813712358474731,
                "transform": {
                    "location": {
                        "x": 2185.064208984375,
                        "y": 2455.281494140625,
                        "z": 364.72100830078125
                    },
                    "rotation": {
                        "roll": -0.018737779930233955,
                        "pitch": 1.0609127283096313,
                        "yaw": 88.99393463134766
                    }
                },
                "velocity": {
                    "x": 0.026602884754538536,
                    "y": 1.2810237407684326,
                    "z": 0.01351632084697485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006542323972098529,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0006731919711455703,
                        "pitch": 0.21819721162319183,
                        "yaw": -179.83218383789062
                    }
                },
                "velocity": {
                    "x": 2.128597225237172e-05,
                    "y": 1.1612355592660606e-05,
                    "z": 0.0006537829176522791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00041375108412466943,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 6.650685918430099e-06,
                    "y": -1.8365925598118338e-06,
                    "z": 0.00041369354585185647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050549507141113,
                "transform": {
                    "location": {
                        "x": 2188.0,
                        "y": 2457.6806640625,
                        "z": 364.7808532714844
                    },
                    "rotation": {
                        "roll": 0.00041567752487026155,
                        "pitch": -0.6051068902015686,
                        "yaw": -89.91949462890625
                    }
                },
                "velocity": {
                    "x": 0.012867268174886703,
                    "y": -8.050103187561035,
                    "z": -0.08374576270580292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1376051902770996,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2469.78564453125,
                        "z": 364.8668518066406
                    },
                    "rotation": {
                        "roll": 0.0009969772072508931,
                        "pitch": 0.49038705229759216,
                        "yaw": 90.07955932617188
                    }
                },
                "velocity": {
                    "x": -0.0032177786342799664,
                    "y": 2.1375269889831543,
                    "z": 0.01799207739531994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.038172245025635,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2484.271240234375,
                        "z": 364.982421875
                    },
                    "rotation": {
                        "roll": 0.0007502030930481851,
                        "pitch": 0.3775455057621002,
                        "yaw": 90.13275909423828
                    }
                },
                "velocity": {
                    "x": -0.009148092940449715,
                    "y": 6.038013935089111,
                    "z": 0.04275570809841156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.745517253875732,
                "transform": {
                    "location": {
                        "x": 2187.820068359375,
                        "y": 2567.099365234375,
                        "z": 365.0989685058594
                    },
                    "rotation": {
                        "roll": -0.007598887663334608,
                        "pitch": 0.13801762461662292,
                        "yaw": -89.388916015625
                    }
                },
                "velocity": {
                    "x": 0.05628863349556923,
                    "y": -4.745146751403809,
                    "z": 0.018694544211030006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3253961503505707,
        "expert_target_speed": 6.864335409228093,
        "target_point": [
            8.217515115073626,
            -0.4580141508031649
        ],
        "target_point_next": [
            17.314446192973122,
            8.296510664506554
        ]
    },
    "175": {
        "acceleration": [
            0.04512369632720947,
            -3.528718948364258,
            0.002369694411754608
        ],
        "angular_velocity": [
            -0.4064592123031616,
            -0.007191948592662811,
            0.18134300410747528
        ],
        "forward_vector": [
            -0.019453026354312897,
            0.9998090863227844,
            -0.0018349874299019575
        ],
        "right_vector": [
            -0.9998107552528381,
            -0.01945287548005581,
            9.960197348846123e-05
        ],
        "location": [
            2184.75244140625,
            2509.03564453125,
            365.1144714355469
        ],
        "rotation": [
            -0.005706782452762127,
            -0.10513709485530853,
            91.1146469116211
        ],
        "velocity": [
            -0.13069015741348267,
            6.538419723510742,
            0.020858755335211754
        ],
        "speed": 6.539725712752718,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.726314544677734,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2150.640380859375,
                2527.36474609375,
                364.7420654296875
            ],
            "velocity": [
                7.718440532684326,
                -0.0057366034016013145,
                -0.023656262084841728
            ],
            "speed_kmh": 27.786524099279596,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.718479156494141,
                "transform": {
                    "location": {
                        "x": 2150.640380859375,
                        "y": 2527.36474609375,
                        "z": 364.7420654296875
                    },
                    "rotation": {
                        "roll": 0.0010365850757807493,
                        "pitch": -0.23303237557411194,
                        "yaw": -0.0458984300494194
                    }
                },
                "velocity": {
                    "x": 7.718440532684326,
                    "y": -0.0057366034016013145,
                    "z": -0.023656262084841728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.715338706970215,
                "transform": {
                    "location": {
                        "x": 2221.57177734375,
                        "y": 2524.26904296875,
                        "z": 366.0838928222656
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -1.7687593698501587,
                        "yaw": 179.93971252441406
                    }
                },
                "velocity": {
                    "x": -7.711742877960205,
                    "y": 0.005368541926145554,
                    "z": -0.23545894026756287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.251616954803467,
                "transform": {
                    "location": {
                        "x": 2187.890625,
                        "y": 2549.858154296875,
                        "z": 365.15716552734375
                    },
                    "rotation": {
                        "roll": 0.0037193784955888987,
                        "pitch": 0.07850618660449982,
                        "yaw": -89.76841735839844
                    }
                },
                "velocity": {
                    "x": 0.017746232450008392,
                    "y": -5.251577854156494,
                    "z": 0.009872655384242535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.924015462398529,
                "transform": {
                    "location": {
                        "x": 2185.063720703125,
                        "y": 2455.389404296875,
                        "z": 364.72479248046875
                    },
                    "rotation": {
                        "roll": -0.005950948689132929,
                        "pitch": 0.7381043434143066,
                        "yaw": 88.88257598876953
                    }
                },
                "velocity": {
                    "x": -0.002664148109033704,
                    "y": 0.9239521622657776,
                    "z": 0.010483283549547195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045925943413749337,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 3.6398669180925936e-05,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.83218383789062
                    }
                },
                "velocity": {
                    "x": -5.584769041888649e-06,
                    "y": 6.067597951187054e-06,
                    "z": 0.00045918539399281144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011699079186655581,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.784830242802855e-06,
                    "y": 4.350155450083548e-06,
                    "z": 0.0001165793655673042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014695167541504,
                "transform": {
                    "location": {
                        "x": 2188.002197265625,
                        "y": 2455.6728515625,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": -0.0003051880921702832,
                        "pitch": -0.611383855342865,
                        "yaw": -89.91720581054688
                    }
                },
                "velocity": {
                    "x": 0.01152351126074791,
                    "y": -8.01424789428711,
                    "z": -0.08393865078687668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.689323663711548,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2470.374755859375,
                        "z": 364.87225341796875
                    },
                    "rotation": {
                        "roll": 0.002320389961823821,
                        "pitch": 0.4554848074913025,
                        "yaw": 90.09268951416016
                    }
                },
                "velocity": {
                    "x": -0.005192125216126442,
                    "y": 2.6892201900482178,
                    "z": 0.023010624572634697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.513580322265625,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2485.705078125,
                        "z": 364.9917907714844
                    },
                    "rotation": {
                        "roll": 0.001599550130777061,
                        "pitch": 0.43162694573402405,
                        "yaw": 90.10901641845703
                    }
                },
                "velocity": {
                    "x": -0.008853421546518803,
                    "y": 5.51345157623291,
                    "z": 0.036649808287620544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.378719329833984,
                "transform": {
                    "location": {
                        "x": 2187.834228515625,
                        "y": 2565.829345703125,
                        "z": 365.1039733886719
                    },
                    "rotation": {
                        "roll": 0.010833444073796272,
                        "pitch": 0.351502001285553,
                        "yaw": -89.40496063232422
                    }
                },
                "velocity": {
                    "x": 0.0462009496986866,
                    "y": -5.378461837768555,
                    "z": 0.025233400985598564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.38324177265167236,
        "expert_target_speed": 5.454814404635344,
        "target_point": [
            15.592530791543078,
            8.281725448750208
        ],
        "target_point_next": [
            16.198756114354893,
            36.27522962367164
        ]
    },
    "180": {
        "acceleration": [
            0.5051341652870178,
            -26.14884376525879,
            -0.06302527338266373
        ],
        "angular_velocity": [
            -6.32880163192749,
            0.05129324272274971,
            1.0163244009017944
        ],
        "forward_vector": [
            -0.02734605222940445,
            0.9993799924850464,
            -0.02217802405357361
        ],
        "right_vector": [
            -0.9996258020401001,
            -0.0273544043302536,
            -7.3286697443109e-05
        ],
        "location": [
            2184.73583984375,
            2510.06005859375,
            365.12164306640625
        ],
        "rotation": [
            0.004200051538646221,
            -1.2708113193511963,
            91.56739807128906
        ],
        "velocity": [
            -0.00870197918266058,
            1.190333604812622,
            0.0021646691020578146
        ],
        "speed": 1.1903654124628735,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.62198257446289,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2152.46142578125,
                2527.36279296875,
                364.7378845214844
            ],
            "velocity": [
                6.487682342529297,
                -0.007976514287292957,
                -0.00958673469722271
            ],
            "speed_kmh": 23.35569958475791,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.487694263458252,
                "transform": {
                    "location": {
                        "x": 2152.46142578125,
                        "y": 2527.36279296875,
                        "z": 364.7378845214844
                    },
                    "rotation": {
                        "roll": 0.00010738198034232482,
                        "pitch": -0.14654169976711273,
                        "yaw": -0.0724487230181694
                    }
                },
                "velocity": {
                    "x": 6.487682342529297,
                    "y": -0.007976514287292957,
                    "z": -0.00958673469722271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.127829074859619,
                "transform": {
                    "location": {
                        "x": 2219.90234375,
                        "y": 2524.27099609375,
                        "z": 366.0343933105469
                    },
                    "rotation": {
                        "roll": -6.103524356149137e-05,
                        "pitch": -1.7405643463134766,
                        "yaw": 179.9097442626953
                    }
                },
                "velocity": {
                    "x": -6.125216007232666,
                    "y": 0.009644699282944202,
                    "z": -0.1786767542362213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.169999122619629,
                "transform": {
                    "location": {
                        "x": 2187.89453125,
                        "y": 2548.536376953125,
                        "z": 365.1590576171875
                    },
                    "rotation": {
                        "roll": 0.0027346787974238396,
                        "pitch": 0.06710660457611084,
                        "yaw": -89.80687713623047
                    }
                },
                "velocity": {
                    "x": 0.015530205331742764,
                    "y": -5.169972896575928,
                    "z": 0.0056854248978197575
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7400891780853271,
                "transform": {
                    "location": {
                        "x": 2185.064208984375,
                        "y": 2455.724365234375,
                        "z": 364.7300720214844
                    },
                    "rotation": {
                        "roll": -0.00518799526616931,
                        "pitch": 0.5354390144348145,
                        "yaw": 89.0822982788086
                    }
                },
                "velocity": {
                    "x": -0.005112497601658106,
                    "y": 1.7399826049804688,
                    "z": 0.018565034493803978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006199926137924194,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 3.6398669180925936e-05,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.83218383789062
                    }
                },
                "velocity": {
                    "x": 2.0953937564627267e-05,
                    "y": -6.8507142714224756e-06,
                    "z": 0.0006196005269885063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000277655606623739,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.4349296179716475e-05,
                    "y": 3.3878034173540073e-06,
                    "z": 0.0002772638981696218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052083015441895,
                "transform": {
                    "location": {
                        "x": 2188.004150390625,
                        "y": 2453.66455078125,
                        "z": 364.7379150390625
                    },
                    "rotation": {
                        "roll": 0.000436384289059788,
                        "pitch": -0.6245729327201843,
                        "yaw": -89.92144775390625
                    }
                },
                "velocity": {
                    "x": 0.010956496000289917,
                    "y": -8.05158519744873,
                    "z": -0.08888280391693115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6794350147247314,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2471.169921875,
                        "z": 364.8796691894531
                    },
                    "rotation": {
                        "roll": 0.001172166201286018,
                        "pitch": 0.39892399311065674,
                        "yaw": 90.0889663696289
                    }
                },
                "velocity": {
                    "x": -0.005808358080685139,
                    "y": 3.6792986392974854,
                    "z": 0.031164225190877914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.932804107666016,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2487.129150390625,
                        "z": 365.00189208984375
                    },
                    "rotation": {
                        "roll": -9.152894926955923e-05,
                        "pitch": 0.35450729727745056,
                        "yaw": 90.09364318847656
                    }
                },
                "velocity": {
                    "x": -0.007643264252692461,
                    "y": 5.932675838470459,
                    "z": 0.038244858384132385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.961150646209717,
                "transform": {
                    "location": {
                        "x": 2187.844970703125,
                        "y": 2564.46923828125,
                        "z": 365.1099548339844
                    },
                    "rotation": {
                        "roll": 0.018269356340169907,
                        "pitch": 0.39914941787719727,
                        "yaw": -89.54742431640625
                    }
                },
                "velocity": {
                    "x": 0.04087557643651962,
                    "y": -5.96095609664917,
                    "z": 0.025478066876530647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9539393186569214,
                "transform": {
                    "location": {
                        "x": 2236.9375,
                        "y": 2524.330322265625,
                        "z": 366.65545654296875
                    },
                    "rotation": {
                        "roll": -3.0517461709678173e-05,
                        "pitch": -1.7371219396591187,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.05843561142683029,
                    "y": -5.79787592869252e-05,
                    "z": -1.9530653953552246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.41159653663635254,
        "expert_target_speed": 1.4401947650839384,
        "target_point": [
            14.633023252799127,
            8.16964182613027
        ],
        "target_point_next": [
            15.46050948686449,
            36.15747939293407
        ]
    },
    "185": {
        "acceleration": [
            -0.0025974721647799015,
            0.0022456422448158264,
            0.012095621787011623
        ],
        "angular_velocity": [
            4.149970531463623,
            0.027706600725650787,
            -0.005326097831130028
        ],
        "forward_vector": [
            -0.027615172788500786,
            0.9994630217552185,
            -0.01763717271387577
        ],
        "right_vector": [
            -0.999618649482727,
            -0.027613120153546333,
            0.0003600036143325269
        ],
        "location": [
            2184.73583984375,
            2510.08349609375,
            365.1205139160156
        ],
        "rotation": [
            -0.020629897713661194,
            -1.0105879306793213,
            91.58267974853516
        ],
        "velocity": [
            -0.0004165423451922834,
            -0.012539791874587536,
            0.000950849789660424
        ],
        "speed": 0.01254670824492663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.26602554321289,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2153.994384765625,
                2527.36083984375,
                364.73480224609375
            ],
            "velocity": [
                6.026225566864014,
                -0.010092267766594887,
                -0.005284719169139862
            ],
            "speed_kmh": 21.694450805873544,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10983063280582428,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7611999511719
                    },
                    "rotation": {
                        "roll": 0.0016343211755156517,
                        "pitch": -0.219030499458313,
                        "yaw": -0.12591552734375
                    }
                },
                "velocity": {
                    "x": 0.00040837351116351783,
                    "y": 0.000321769155561924,
                    "z": 0.10982940346002579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.026236534118652,
                "transform": {
                    "location": {
                        "x": 2153.994384765625,
                        "y": 2527.36083984375,
                        "z": 364.73480224609375
                    },
                    "rotation": {
                        "roll": 0.0001545281265862286,
                        "pitch": -0.058227360248565674,
                        "yaw": -0.08950803428888321
                    }
                },
                "velocity": {
                    "x": 6.026225566864014,
                    "y": -0.010092267766594887,
                    "z": -0.005284719169139862
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.347708702087402,
                "transform": {
                    "location": {
                        "x": 2218.365966796875,
                        "y": 2524.273681640625,
                        "z": 365.98858642578125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -1.6387603282928467,
                        "yaw": 179.89598083496094
                    }
                },
                "velocity": {
                    "x": -6.3450236320495605,
                    "y": 0.011050911620259285,
                    "z": -0.18428483605384827
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.845446586608887,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2547.289306640625,
                        "z": 365.1602783203125
                    },
                    "rotation": {
                        "roll": 0.0013287188485264778,
                        "pitch": 0.037012793123722076,
                        "yaw": -89.8280029296875
                    }
                },
                "velocity": {
                    "x": 0.013414050452411175,
                    "y": -4.845425128936768,
                    "z": 0.005215988028794527
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.630441427230835,
                "transform": {
                    "location": {
                        "x": 2185.064208984375,
                        "y": 2456.27490234375,
                        "z": 364.7359924316406
                    },
                    "rotation": {
                        "roll": -0.0039062537252902985,
                        "pitch": 0.5175097584724426,
                        "yaw": 89.34676361083984
                    }
                },
                "velocity": {
                    "x": -0.009565374813973904,
                    "y": 2.6302902698516846,
                    "z": 0.026527613401412964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024641744676046073,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0003996148589067161,
                        "pitch": 0.21862751245498657,
                        "yaw": -179.83216857910156
                    }
                },
                "velocity": {
                    "x": 1.983359470614232e-05,
                    "y": -2.064469299511984e-05,
                    "z": 0.00024474880774505436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002760142961051315,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.694230928085744e-06,
                    "y": 3.20628059853334e-05,
                    "z": 0.0002740077907219529
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014498710632324,
                "transform": {
                    "location": {
                        "x": 2188.006103515625,
                        "y": 2451.65673828125,
                        "z": 364.71575927734375
                    },
                    "rotation": {
                        "roll": -0.0014343525981530547,
                        "pitch": -0.6523445248603821,
                        "yaw": -89.9215316772461
                    }
                },
                "velocity": {
                    "x": 0.010969005525112152,
                    "y": -8.013998985290527,
                    "z": -0.08877013623714447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.788938045501709,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2472.2353515625,
                        "z": 364.8890686035156
                    },
                    "rotation": {
                        "roll": 0.0005239347228780389,
                        "pitch": 0.37470415234565735,
                        "yaw": 90.08849334716797
                    }
                },
                "velocity": {
                    "x": -0.0074220323003828526,
                    "y": 4.788763999938965,
                    "z": 0.040169257670640945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.143801689147949,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2488.524658203125,
                        "z": 365.010498046875
                    },
                    "rotation": {
                        "roll": 0.0013784137554466724,
                        "pitch": 0.41586971282958984,
                        "yaw": 90.10173797607422
                    }
                },
                "velocity": {
                    "x": -0.006418116390705109,
                    "y": 5.143688678741455,
                    "z": 0.0334683321416378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.569866180419922,
                "transform": {
                    "location": {
                        "x": 2187.85693359375,
                        "y": 2562.737548828125,
                        "z": 365.11572265625
                    },
                    "rotation": {
                        "roll": 0.01208909135311842,
                        "pitch": 0.7722484469413757,
                        "yaw": -89.60214233398438
                    }
                },
                "velocity": {
                    "x": 0.04925324022769928,
                    "y": -7.569648265838623,
                    "z": 0.029516180977225304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08880313485860825,
                "transform": {
                    "location": {
                        "x": 2236.944091796875,
                        "y": 2524.330322265625,
                        "z": 366.4606018066406
                    },
                    "rotation": {
                        "roll": 0.0012253373861312866,
                        "pitch": -1.7923849821090698,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -0.00272391433827579,
                    "y": 7.590204768348485e-05,
                    "z": 0.08876131474971771
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4106380343437195,
        "expert_target_speed": 0.4076817590360734,
        "target_point": [
            14.611736764120845,
            8.166451197719775
        ],
        "target_point_next": [
            15.446563072155877,
            36.15407078511546
        ]
    },
    "190": {
        "acceleration": [
            0.00599036505445838,
            0.025551915168762207,
            -0.0026080477982759476
        ],
        "angular_velocity": [
            1.9553622007369995,
            0.0008029596647247672,
            0.0006569457473233342
        ],
        "forward_vector": [
            -0.027608828619122505,
            0.9996088743209839,
            -0.004448517691344023
        ],
        "right_vector": [
            -0.9996187686920166,
            -0.02760877087712288,
            7.45677316444926e-05
        ],
        "location": [
            2184.735595703125,
            2510.08837890625,
            365.1177673339844
        ],
        "rotation": [
            -0.0042724586091935635,
            -0.25488215684890747,
            91.58208465576172
        ],
        "velocity": [
            3.550332257873379e-05,
            -0.006200343836098909,
            0.0015607753302901983
        ],
        "speed": 0.006200445481718541,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.88754653930664,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2155.581298828125,
                2527.358154296875,
                364.73345947265625
            ],
            "velocity": [
                6.74119758605957,
                -0.01149978768080473,
                0.0017163753509521484
            ],
            "speed_kmh": 24.268347407811255,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7924736738204956,
                "transform": {
                    "location": {
                        "x": 2136.01171875,
                        "y": 2527.302734375,
                        "z": 364.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.12817531824111938,
                        "yaw": -0.08563232421875
                    }
                },
                "velocity": {
                    "x": 0.7890207767486572,
                    "y": 0.007971116341650486,
                    "z": 0.07346614450216293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.741207599639893,
                "transform": {
                    "location": {
                        "x": 2155.581298828125,
                        "y": 2527.358154296875,
                        "z": 364.73345947265625
                    },
                    "rotation": {
                        "roll": 0.000498323468491435,
                        "pitch": -0.02566101960837841,
                        "yaw": -0.099212646484375
                    }
                },
                "velocity": {
                    "x": 6.74119758605957,
                    "y": -0.01149978768080473,
                    "z": 0.0017163753509521484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.844528675079346,
                "transform": {
                    "location": {
                        "x": 2216.690185546875,
                        "y": 2524.276611328125,
                        "z": 365.9405517578125
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -1.6188298463821411,
                        "yaw": 179.89332580566406
                    }
                },
                "velocity": {
                    "x": -6.84173059463501,
                    "y": 0.013536399230360985,
                    "z": -0.1952291578054428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.6462297439575195,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2546.11328125,
                        "z": 365.1614685058594
                    },
                    "rotation": {
                        "roll": 0.00013146447599865496,
                        "pitch": 0.019548000767827034,
                        "yaw": -89.83794403076172
                    }
                },
                "velocity": {
                    "x": 0.012288026511669159,
                    "y": -4.646209239959717,
                    "z": 0.00633316021412611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6023452281951904,
                "transform": {
                    "location": {
                        "x": 2185.064453125,
                        "y": 2457.05224609375,
                        "z": 364.7442932128906
                    },
                    "rotation": {
                        "roll": -0.0024109112564474344,
                        "pitch": 0.5073464512825012,
                        "yaw": 89.59822845458984
                    }
                },
                "velocity": {
                    "x": -0.008827564306557178,
                    "y": 3.6021294593811035,
                    "z": 0.03841752931475639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014663180336356163,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0006028064526617527,
                        "pitch": 0.2185865342617035,
                        "yaw": -179.8321533203125
                    }
                },
                "velocity": {
                    "x": -1.5075131614139536e-06,
                    "y": 3.33135285472963e-05,
                    "z": 0.0014659387525171041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011625137412920594,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1167414413648658e-05,
                    "y": 8.250158316513989e-06,
                    "z": 0.0011624308535829186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050443649291992,
                "transform": {
                    "location": {
                        "x": 2188.008056640625,
                        "y": 2449.6484375,
                        "z": 364.693115234375
                    },
                    "rotation": {
                        "roll": -0.0008849665755406022,
                        "pitch": -0.6498719453811646,
                        "yaw": -89.92144012451172
                    }
                },
                "velocity": {
                    "x": 0.010991225019097328,
                    "y": -8.049908638000488,
                    "z": -0.09220824390649796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.362105369567871,
                "transform": {
                    "location": {
                        "x": 2185.036865234375,
                        "y": 2473.52197265625,
                        "z": 364.89984130859375
                    },
                    "rotation": {
                        "roll": 0.0010506107937544584,
                        "pitch": 0.4261901080608368,
                        "yaw": 90.08907318115234
                    }
                },
                "velocity": {
                    "x": -0.00802865345031023,
                    "y": 5.361903667449951,
                    "z": 0.045806627720594406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.103426694869995,
                "transform": {
                    "location": {
                        "x": 2185.02001953125,
                        "y": 2489.24609375,
                        "z": 365.01324462890625
                    },
                    "rotation": {
                        "roll": 0.0005841231904923916,
                        "pitch": 0.6302556991577148,
                        "yaw": 90.09729766845703
                    }
                },
                "velocity": {
                    "x": -0.0024437482934445143,
                    "y": 2.1033802032470703,
                    "z": 0.013773727230727673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.494288921356201,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2560.805908203125,
                        "z": 365.1240234375
                    },
                    "rotation": {
                        "roll": 0.007179726380854845,
                        "pitch": 0.4532240033149719,
                        "yaw": -89.60919189453125
                    }
                },
                "velocity": {
                    "x": 0.04933972284197807,
                    "y": -7.494077205657959,
                    "z": 0.02714826539158821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.35735994577407837,
                "transform": {
                    "location": {
                        "x": 2236.93212890625,
                        "y": 2524.330322265625,
                        "z": 366.5451354980469
                    },
                    "rotation": {
                        "roll": -0.0006408693152479827,
                        "pitch": -1.7532957792282104,
                        "yaw": 179.87867736816406
                    }
                },
                "velocity": {
                    "x": -0.12840868532657623,
                    "y": -0.002126309322193265,
                    "z": 0.333485871553421
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.41416284441947937,
        "expert_target_speed": 0.3991645050496362,
        "target_point": [
            14.606761455220058,
            8.166498721657964
        ],
        "target_point_next": [
            15.441287488624795,
            36.154127264157445
        ]
    },
    "195": {
        "acceleration": [
            0.03018559142947197,
            -0.5257494449615479,
            -0.006191253196448088
        ],
        "angular_velocity": [
            0.641681432723999,
            -0.03428634628653526,
            0.03922630846500397
        ],
        "forward_vector": [
            -0.027535688132047653,
            0.9996204376220703,
            0.0008261202019639313
        ],
        "right_vector": [
            -0.999620795249939,
            -0.02753566950559616,
            -3.437095074332319e-05
        ],
        "location": [
            2184.735595703125,
            2510.092529296875,
            365.11669921875
        ],
        "rotation": [
            0.0019693111535161734,
            0.04733320698142052,
            91.577880859375
        ],
        "velocity": [
            0.0007142453687265515,
            0.007020984776318073,
            0.00107402796857059
        ],
        "speed": 0.007057221384938797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.44788360595703,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2157.263427734375,
                2527.355224609375,
                364.73675537109375
            ],
            "velocity": [
                6.463286399841309,
                -0.01211524661630392,
                0.021876726299524307
            ],
            "speed_kmh": 23.268005201976216,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2956068515777588,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.03924560546875
                    },
                    "rotation": {
                        "roll": -0.0003356865490786731,
                        "pitch": 0.3635709583759308,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": -9.570483234710991e-05,
                    "y": -0.008230588398873806,
                    "z": -1.2955807447433472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.013702630996704,
                "transform": {
                    "location": {
                        "x": 2136.385009765625,
                        "y": 2527.306396484375,
                        "z": 364.8006286621094
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": -0.040250301361083984,
                        "yaw": 0.17858180403709412
                    }
                },
                "velocity": {
                    "x": 2.0135982036590576,
                    "y": 0.01947963610291481,
                    "z": 0.006406182888895273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.463334560394287,
                "transform": {
                    "location": {
                        "x": 2157.263427734375,
                        "y": 2527.355224609375,
                        "z": 364.73675537109375
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.1487683355808258,
                        "yaw": -0.10430905967950821
                    }
                },
                "velocity": {
                    "x": 6.463286399841309,
                    "y": -0.01211524661630392,
                    "z": 0.021876726299524307
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.216552257537842,
                "transform": {
                    "location": {
                        "x": 2215.053955078125,
                        "y": 2524.279296875,
                        "z": 365.89410400390625
                    },
                    "rotation": {
                        "roll": 0.00011246430949540809,
                        "pitch": -1.6560065746307373,
                        "yaw": 179.88670349121094
                    }
                },
                "velocity": {
                    "x": -6.213991641998291,
                    "y": 0.013365108519792557,
                    "z": -0.17791101336479187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.397207260131836,
                "transform": {
                    "location": {
                        "x": 2187.904541015625,
                        "y": 2544.9853515625,
                        "z": 365.1625671386719
                    },
                    "rotation": {
                        "roll": 0.001081864582374692,
                        "pitch": -0.006529660429805517,
                        "yaw": -89.86583709716797
                    }
                },
                "velocity": {
                    "x": 0.008529018610715866,
                    "y": -4.397195339202881,
                    "z": 0.0057176207192242146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.71576452255249,
                "transform": {
                    "location": {
                        "x": 2185.064208984375,
                        "y": 2458.099365234375,
                        "z": 364.7553405761719
                    },
                    "rotation": {
                        "roll": 0.00018260748765897006,
                        "pitch": 0.48929423093795776,
                        "yaw": 89.8182144165039
                    }
                },
                "velocity": {
                    "x": -0.01205064170062542,
                    "y": 4.71550989151001,
                    "z": 0.04748622700572014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010236480738967657,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00029670156072825193,
                        "pitch": 0.21846358478069305,
                        "yaw": -179.8321533203125
                    }
                },
                "velocity": {
                    "x": 7.982961506058928e-06,
                    "y": 1.6719701534384512e-06,
                    "z": 0.001023615594021976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005706865340471268,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.634233720134944e-06,
                    "y": -5.017109288019128e-06,
                    "z": 0.0005705831572413445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.751761436462402,
                "transform": {
                    "location": {
                        "x": 2188.01025390625,
                        "y": 2447.662841796875,
                        "z": 364.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010375952115282416,
                        "pitch": -0.681727945804596,
                        "yaw": -89.91976928710938
                    }
                },
                "velocity": {
                    "x": 0.012151123955845833,
                    "y": -7.751214027404785,
                    "z": -0.09132499247789383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7584991455078125,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2474.931396484375,
                        "z": 364.9114074707031
                    },
                    "rotation": {
                        "roll": 0.0002139028365490958,
                        "pitch": 0.4241000711917877,
                        "yaw": 90.0804672241211
                    }
                },
                "velocity": {
                    "x": -0.007745541166514158,
                    "y": 5.758320331573486,
                    "z": 0.04470699280500412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7089250087738037,
                "transform": {
                    "location": {
                        "x": 2185.019287109375,
                        "y": 2489.85302734375,
                        "z": 365.019287109375
                    },
                    "rotation": {
                        "roll": 0.00031310092890635133,
                        "pitch": 0.35928159952163696,
                        "yaw": 90.09477233886719
                    }
                },
                "velocity": {
                    "x": -0.004504573997110128,
                    "y": 2.7088606357574463,
                    "z": 0.018132267519831657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.324934959411621,
                "transform": {
                    "location": {
                        "x": 2187.878173828125,
                        "y": 2559.12451171875,
                        "z": 365.1324157714844
                    },
                    "rotation": {
                        "roll": 0.015532761812210083,
                        "pitch": -0.21639403700828552,
                        "yaw": -89.75436401367188
                    }
                },
                "velocity": {
                    "x": 0.020873166620731354,
                    "y": -5.324865818023682,
                    "z": 0.017331017181277275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7617031931877136,
                "transform": {
                    "location": {
                        "x": 2236.7861328125,
                        "y": 2524.328125,
                        "z": 366.57806396484375
                    },
                    "rotation": {
                        "roll": -0.007659911643713713,
                        "pitch": -1.6213979721069336,
                        "yaw": 179.9012908935547
                    }
                },
                "velocity": {
                    "x": -0.761400043964386,
                    "y": -0.01243265438824892,
                    "z": -0.01752585358917713
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.41947564482688904,
        "expert_target_speed": 0.39727899245478093,
        "target_point": [
            14.602030434888755,
            8.167654263907469
        ],
        "target_point_next": [
            15.434561307756484,
            36.15534222627913
        ]
    },
    "200": {
        "acceleration": [
            -0.06429307162761688,
            3.3244454860687256,
            0.0010576262138783932
        ],
        "angular_velocity": [
            1.0878102779388428,
            -0.0015429956838488579,
            0.6000243425369263
        ],
        "forward_vector": [
            -0.027595993131399155,
            0.9996148347854614,
            0.002921219216659665
        ],
        "right_vector": [
            -0.9996191263198853,
            -0.02759590744972229,
            -7.011787965893745e-05
        ],
        "location": [
            2184.735595703125,
            2510.101806640625,
            365.1163330078125
        ],
        "rotation": [
            0.00401747552677989,
            0.16737377643585205,
            91.58134460449219
        ],
        "velocity": [
            -0.004217781126499176,
            0.19371087849140167,
            0.0014660549350082874
        ],
        "speed": 0.19375679116753983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.1607723236084,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2158.7880859375,
                2527.352294921875,
                364.7406311035156
            ],
            "velocity": [
                5.786497116088867,
                -0.011532144621014595,
                0.026831578463315964
            ],
            "speed_kmh": 20.831654934453347,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.7787780761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -1.3063428810911049e-11,
                    "y": 1.2394126613912704e-08,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15676014125347137,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.01092529296875
                    },
                    "rotation": {
                        "roll": -0.00036620936589315534,
                        "pitch": 0.3590903580188751,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": 0.00017624854808673263,
                    "y": 0.0010178990196436644,
                    "z": 0.15675672888755798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4041590690612793,
                "transform": {
                    "location": {
                        "x": 2137.06005859375,
                        "y": 2527.31396484375,
                        "z": 364.7994689941406
                    },
                    "rotation": {
                        "roll": -0.007263183128088713,
                        "pitch": -0.010620943270623684,
                        "yaw": 0.39559751749038696
                    }
                },
                "velocity": {
                    "x": 3.4039454460144043,
                    "y": 0.036529991775751114,
                    "z": -0.01102178543806076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.786571025848389,
                "transform": {
                    "location": {
                        "x": 2158.7880859375,
                        "y": 2527.352294921875,
                        "z": 364.7406311035156
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.2952827215194702,
                        "yaw": -0.10784912109375
                    }
                },
                "velocity": {
                    "x": 5.786497116088867,
                    "y": -0.011532144621014595,
                    "z": 0.026831578463315964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.658298015594482,
                "transform": {
                    "location": {
                        "x": 2213.585205078125,
                        "y": 2524.2822265625,
                        "z": 365.8522644042969
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": -1.657960057258606,
                        "yaw": 179.87889099121094
                    }
                },
                "velocity": {
                    "x": -5.656041622161865,
                    "y": 0.011836850084364414,
                    "z": -0.1593523472547531
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.210253715515137,
                "transform": {
                    "location": {
                        "x": 2187.906494140625,
                        "y": 2543.9072265625,
                        "z": 365.16326904296875
                    },
                    "rotation": {
                        "roll": 5.134105776960496e-06,
                        "pitch": -0.006345245521515608,
                        "yaw": -89.87761688232422
                    }
                },
                "velocity": {
                    "x": 0.008913873694837093,
                    "y": -4.210243225097656,
                    "z": 0.002384347841143608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.337418079376221,
                "transform": {
                    "location": {
                        "x": 2185.0615234375,
                        "y": 2459.378173828125,
                        "z": 364.768310546875
                    },
                    "rotation": {
                        "roll": 0.0007101283990778029,
                        "pitch": 0.5165808200836182,
                        "yaw": 89.98080444335938
                    }
                },
                "velocity": {
                    "x": -0.014165806584060192,
                    "y": 5.337130546569824,
                    "z": 0.05355998873710632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2316391298081726e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0004740539297927171,
                        "pitch": 0.21799913048744202,
                        "yaw": -179.8321075439453
                    }
                },
                "velocity": {
                    "x": 8.759051524975803e-06,
                    "y": -6.381038133440597e-07,
                    "z": 3.110017496510409e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030892289942130446,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.4194121579057537e-05,
                    "y": -2.0734269128297456e-06,
                    "z": -0.00030796704231761396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.27595329284668,
                "transform": {
                    "location": {
                        "x": 2188.012451171875,
                        "y": 2445.790283203125,
                        "z": 364.6491394042969
                    },
                    "rotation": {
                        "roll": -0.00015254395839292556,
                        "pitch": -0.7178664803504944,
                        "yaw": -89.91485595703125
                    }
                },
                "velocity": {
                    "x": 0.010870547033846378,
                    "y": -7.275460243225098,
                    "z": -0.0839899405837059
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.422834396362305,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2476.606201171875,
                        "z": 364.9256591796875
                    },
                    "rotation": {
                        "roll": 1.8169626855524257e-05,
                        "pitch": 0.3050430715084076,
                        "yaw": 90.07917785644531
                    }
                },
                "velocity": {
                    "x": -0.010046044364571571,
                    "y": 7.422585487365723,
                    "z": 0.05995902791619301
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0776336193084717,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2490.454833984375,
                        "z": 365.0227966308594
                    },
                    "rotation": {
                        "roll": 4.973356772097759e-05,
                        "pitch": 0.4072226881980896,
                        "yaw": 90.09065246582031
                    }
                },
                "velocity": {
                    "x": -0.003357469569891691,
                    "y": 2.0775887966156006,
                    "z": 0.013234729878604412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0069801826030015945,
                "transform": {
                    "location": {
                        "x": 2187.881103515625,
                        "y": 2558.534423828125,
                        "z": 365.1390686035156
                    },
                    "rotation": {
                        "roll": 0.002894412726163864,
                        "pitch": -1.5658276081085205,
                        "yaw": -89.85393524169922
                    }
                },
                "velocity": {
                    "x": 0.0006575584993697703,
                    "y": -0.006672079209238291,
                    "z": -0.0019426592625677586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6687884330749512,
                "transform": {
                    "location": {
                        "x": 2236.46923828125,
                        "y": 2524.326171875,
                        "z": 366.55584716796875
                    },
                    "rotation": {
                        "roll": -0.003143310546875,
                        "pitch": -1.5698232650756836,
                        "yaw": -179.99610900878906
                    }
                },
                "velocity": {
                    "x": -1.6652257442474365,
                    "y": -0.010717276483774185,
                    "z": -0.10845693945884705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4212009906768799,
        "expert_target_speed": 0.5578043951179792,
        "target_point": [
            14.593233692754982,
            8.167057318301419
        ],
        "target_point_next": [
            15.42739939647657,
            36.154696602672956
        ]
    },
    "205": {
        "acceleration": [
            0.03503749147057533,
            2.005162239074707,
            0.0006319070234894753
        ],
        "angular_velocity": [
            0.4791649580001831,
            -0.0930042564868927,
            0.7877991795539856
        ],
        "forward_vector": [
            -0.026540374383330345,
            0.9996278882026672,
            0.006296354345977306
        ],
        "right_vector": [
            -0.9996477365493774,
            -0.026539849117398262,
            -0.00016715073434170336
        ],
        "location": [
            2184.732666015625,
            2510.22607421875,
            365.1160888671875
        ],
        "rotation": [
            0.009577222168445587,
            0.36075690388679504,
            91.52085876464844
        ],
        "velocity": [
            -0.012916131876409054,
            0.7969480752944946,
            0.002283611334860325
        ],
        "speed": 0.797052734251786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.916831970214844,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2160.20361328125,
                2527.349365234375,
                364.7481994628906
            ],
            "velocity": [
                5.683631420135498,
                -0.011492733843624592,
                0.029152506962418556
            ],
            "speed_kmh": 20.461384093145345,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13275107741355896,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192626953125,
                        "z": 364.5244445800781
                    },
                    "rotation": {
                        "roll": 2.409408989478834e-05,
                        "pitch": 0.6737844347953796,
                        "yaw": 90.06037139892578
                    }
                },
                "velocity": {
                    "x": -2.6013543902081437e-05,
                    "y": -0.0016034756554290652,
                    "z": 0.13274139165878296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.254136085510254,
                "transform": {
                    "location": {
                        "x": 2187.779296875,
                        "y": 2576.138427734375,
                        "z": 365.0353698730469
                    },
                    "rotation": {
                        "roll": -0.0026550586335361004,
                        "pitch": 0.4344410002231598,
                        "yaw": -89.83938598632812
                    }
                },
                "velocity": {
                    "x": 0.02392042987048626,
                    "y": -1.2528339624404907,
                    "z": 0.05188551917672157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.878572940826416,
                "transform": {
                    "location": {
                        "x": 2138.108642578125,
                        "y": 2527.3251953125,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": 0.0018387282034382224,
                        "pitch": 0.010812188498675823,
                        "yaw": 0.5137356519699097
                    }
                },
                "velocity": {
                    "x": 4.878424644470215,
                    "y": 0.033488236367702484,
                    "z": -0.018041376024484634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.683717727661133,
                "transform": {
                    "location": {
                        "x": 2160.20361328125,
                        "y": 2527.349365234375,
                        "z": 364.7481994628906
                    },
                    "rotation": {
                        "roll": 0.00017726270016282797,
                        "pitch": 0.2939235270023346,
                        "yaw": -0.1103820726275444
                    }
                },
                "velocity": {
                    "x": 5.683631420135498,
                    "y": -0.011492733843624592,
                    "z": 0.029152506962418556
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.7507643699646,
                "transform": {
                    "location": {
                        "x": 2212.16162109375,
                        "y": 2524.28515625,
                        "z": 365.8125305175781
                    },
                    "rotation": {
                        "roll": 0.00016333810344804078,
                        "pitch": -1.5830943584442139,
                        "yaw": 179.87730407714844
                    }
                },
                "velocity": {
                    "x": -5.748661518096924,
                    "y": 0.012260084971785545,
                    "z": -0.15503786504268646
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.031221866607666,
                "transform": {
                    "location": {
                        "x": 2187.908447265625,
                        "y": 2542.879150390625,
                        "z": 365.1636657714844
                    },
                    "rotation": {
                        "roll": 0.0011937934905290604,
                        "pitch": -0.002807207638397813,
                        "yaw": -89.89244842529297
                    }
                },
                "velocity": {
                    "x": 0.0065675294026732445,
                    "y": -4.031216144561768,
                    "z": 0.0016756057739257812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.807923316955566,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2460.782958984375,
                        "z": 364.7825012207031
                    },
                    "rotation": {
                        "roll": 0.0017128151375800371,
                        "pitch": 0.4999288320541382,
                        "yaw": 90.09168243408203
                    }
                },
                "velocity": {
                    "x": -0.015855779871344566,
                    "y": 5.807608604431152,
                    "z": 0.05837051197886467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007117718923836946,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0004740539297927171,
                        "pitch": 0.21799913048744202,
                        "yaw": -179.8321075439453
                    }
                },
                "velocity": {
                    "x": 7.993802682904061e-06,
                    "y": -1.5362265912699513e-05,
                    "z": 0.0007115611806511879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007623860728926957,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.729062756174244e-06,
                    "y": 9.10978633328341e-06,
                    "z": 0.0007622817065566778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.97833776473999,
                "transform": {
                    "location": {
                        "x": 2188.014404296875,
                        "y": 2444.014404296875,
                        "z": 364.6282653808594
                    },
                    "rotation": {
                        "roll": -0.0007019088952802122,
                        "pitch": -0.708433985710144,
                        "yaw": -89.9172592163086
                    }
                },
                "velocity": {
                    "x": 0.009878783486783504,
                    "y": -6.97783088684082,
                    "z": -0.08351462334394455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8633832931518555,
                "transform": {
                    "location": {
                        "x": 2185.031005859375,
                        "y": 2478.427978515625,
                        "z": 364.9388122558594
                    },
                    "rotation": {
                        "roll": -0.0004577712097670883,
                        "pitch": 0.466631680727005,
                        "yaw": 90.07273864746094
                    }
                },
                "velocity": {
                    "x": -0.008770264685153961,
                    "y": 6.86317253112793,
                    "z": 0.053053177893161774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.080579996109009,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2490.949951171875,
                        "z": 365.026123046875
                    },
                    "rotation": {
                        "roll": -0.0008849955047480762,
                        "pitch": 0.3774157464504242,
                        "yaw": 90.08894348144531
                    }
                },
                "velocity": {
                    "x": -0.003210426541045308,
                    "y": 2.0805346965789795,
                    "z": 0.01334380079060793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5202387571334839,
                "transform": {
                    "location": {
                        "x": 2187.88134765625,
                        "y": 2558.277099609375,
                        "z": 365.1351623535156
                    },
                    "rotation": {
                        "roll": -0.00357056618668139,
                        "pitch": -0.32763731479644775,
                        "yaw": -89.89567565917969
                    }
                },
                "velocity": {
                    "x": 0.0038156236987560987,
                    "y": -1.5202223062515259,
                    "z": 0.005947647150605917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2497408390045166,
                "transform": {
                    "location": {
                        "x": 2235.84814453125,
                        "y": 2524.32275390625,
                        "z": 366.5285949707031
                    },
                    "rotation": {
                        "roll": -0.012390135787427425,
                        "pitch": -1.441716194152832,
                        "yaw": -179.88763427734375
                    }
                },
                "velocity": {
                    "x": -3.2479870319366455,
                    "y": -0.022061701864004135,
                    "z": -0.10444816201925278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4263249337673187,
        "expert_target_speed": 0.9899067155252752,
        "target_point": [
            14.460327259951963,
            8.182783667197945
        ],
        "target_point_next": [
            15.265032213347748,
            36.1712855040477
        ]
    },
    "210": {
        "acceleration": [
            0.007416345179080963,
            1.5089654922485352,
            0.008835792541503906
        ],
        "angular_velocity": [
            0.08070696890354156,
            0.006734899710863829,
            0.5068982839584351
        ],
        "forward_vector": [
            -0.0249339547008276,
            0.9996627569198608,
            0.0072582317516207695
        ],
        "right_vector": [
            -0.9996891617774963,
            -0.02493298426270485,
            -0.00022423731570597738
        ],
        "location": [
            2184.72802734375,
            2510.4921875,
            365.11676025390625
        ],
        "rotation": [
            0.012848190031945705,
            0.41586971282958984,
            91.42879486083984
        ],
        "velocity": [
            -0.020515233278274536,
            1.3362199068069458,
            0.0025620555970817804
        ],
        "speed": 1.3363773846274207,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.597749710083008,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2161.62744140625,
                2527.346435546875,
                364.75823974609375
            ],
            "velocity": [
                5.568593502044678,
                -0.01084346603602171,
                0.05355256050825119
            ],
            "speed_kmh": 20.04790160761592,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13149693608283997,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.57562255859375
                    },
                    "rotation": {
                        "roll": -3.0497840270982124e-05,
                        "pitch": 0.6746792197227478,
                        "yaw": 90.06037902832031
                    }
                },
                "velocity": {
                    "x": -5.50295299035497e-05,
                    "y": -0.00157439848408103,
                    "z": 0.13148750364780426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8932675123214722,
                "transform": {
                    "location": {
                        "x": 2187.78271484375,
                        "y": 2575.75537109375,
                        "z": 365.0424499511719
                    },
                    "rotation": {
                        "roll": 0.002394813345745206,
                        "pitch": 0.40024906396865845,
                        "yaw": -89.6654052734375
                    }
                },
                "velocity": {
                    "x": 0.01826721802353859,
                    "y": -1.893094778060913,
                    "z": 0.017893284559249878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.461371898651123,
                "transform": {
                    "location": {
                        "x": 2139.437744140625,
                        "y": 2527.333740234375,
                        "z": 364.7908935546875
                    },
                    "rotation": {
                        "roll": 0.002332327188923955,
                        "pitch": -0.09911970049142838,
                        "yaw": 0.4012461006641388
                    }
                },
                "velocity": {
                    "x": 5.461228370666504,
                    "y": 0.03338267654180527,
                    "z": -0.021322470158338547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.568861484527588,
                "transform": {
                    "location": {
                        "x": 2161.62744140625,
                        "y": 2527.346435546875,
                        "z": 364.75823974609375
                    },
                    "rotation": {
                        "roll": 0.0001971153251361102,
                        "pitch": 0.4024825394153595,
                        "yaw": -0.11236570030450821
                    }
                },
                "velocity": {
                    "x": 5.568593502044678,
                    "y": -0.01084346603602171,
                    "z": 0.05355256050825119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.352029800415039,
                "transform": {
                    "location": {
                        "x": 2210.765625,
                        "y": 2524.2880859375,
                        "z": 365.7740783691406
                    },
                    "rotation": {
                        "roll": 0.00019809413061011583,
                        "pitch": -1.5337803363800049,
                        "yaw": 179.87669372558594
                    }
                },
                "velocity": {
                    "x": -5.350029945373535,
                    "y": 0.011493638157844543,
                    "z": -0.14584192633628845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8371598720550537,
                "transform": {
                    "location": {
                        "x": 2187.91064453125,
                        "y": 2541.89794921875,
                        "z": 365.163818359375
                    },
                    "rotation": {
                        "roll": 0.00031299475813284516,
                        "pitch": -0.01581188663840294,
                        "yaw": -89.89492797851562
                    }
                },
                "velocity": {
                    "x": 0.006125203799456358,
                    "y": -3.8371548652648926,
                    "z": 0.0009561061742715538
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.442130088806152,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2462.4130859375,
                        "z": 364.7992858886719
                    },
                    "rotation": {
                        "roll": 0.0009205123642459512,
                        "pitch": 0.4170854687690735,
                        "yaw": 90.13270568847656
                    }
                },
                "velocity": {
                    "x": -0.01687360368669033,
                    "y": 7.441746711730957,
                    "z": 0.07364402711391449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.577972039347515e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00020426188712008297,
                        "pitch": 0.21840211749076843,
                        "yaw": -179.83209228515625
                    }
                },
                "velocity": {
                    "x": 1.048017293214798e-05,
                    "y": 1.2051726116624195e-05,
                    "z": -8.427978173131123e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026183968293480575,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.8928385543404147e-05,
                    "y": 3.5001935430045705e-06,
                    "z": -0.00026113115018233657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.73577356338501,
                "transform": {
                    "location": {
                        "x": 2188.0166015625,
                        "y": 2442.297607421875,
                        "z": 364.60791015625
                    },
                    "rotation": {
                        "roll": -0.0004883166402578354,
                        "pitch": -0.7168829441070557,
                        "yaw": -89.92013549804688
                    }
                },
                "velocity": {
                    "x": 0.009265590459108353,
                    "y": -6.7353034019470215,
                    "z": -0.0790354311466217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.4752373695373535,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2479.963623046875,
                        "z": 364.9499206542969
                    },
                    "rotation": {
                        "roll": 0.0004859266337007284,
                        "pitch": 0.5542493462562561,
                        "yaw": 90.07286834716797
                    }
                },
                "velocity": {
                    "x": -0.006955907680094242,
                    "y": 5.475086688995361,
                    "z": 0.04004054144024849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2233707904815674,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2491.48095703125,
                        "z": 365.0297546386719
                    },
                    "rotation": {
                        "roll": 0.0006553365965373814,
                        "pitch": 0.3468506336212158,
                        "yaw": 90.08779907226562
                    }
                },
                "velocity": {
                    "x": -0.0034826688934117556,
                    "y": 2.223325729370117,
                    "z": 0.013724383898079395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5966548919677734,
                "transform": {
                    "location": {
                        "x": 2187.883056640625,
                        "y": 2557.754638671875,
                        "z": 365.1345520019531
                    },
                    "rotation": {
                        "roll": -0.003906253259629011,
                        "pitch": 0.33230918645858765,
                        "yaw": -89.8975830078125
                    }
                },
                "velocity": {
                    "x": 0.007687948644161224,
                    "y": -2.596634864807129,
                    "z": 0.006742896977812052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.285416126251221,
                "transform": {
                    "location": {
                        "x": 2234.772705078125,
                        "y": 2524.31640625,
                        "z": 366.49615478515625
                    },
                    "rotation": {
                        "roll": -0.018676752224564552,
                        "pitch": -1.2969367504119873,
                        "yaw": -179.75538635253906
                    }
                },
                "velocity": {
                    "x": -5.283172607421875,
                    "y": -0.037887442857027054,
                    "z": -0.14923912286758423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.422361820936203,
        "expert_target_speed": 1.165771042403707,
        "target_point": [
            14.180993571581313,
            8.20804251934426
        ],
        "target_point_next": [
            14.940654895192038,
            36.19780314366493
        ]
    },
    "215": {
        "acceleration": [
            -0.005257613956928253,
            1.1615705490112305,
            0.025333594530820847
        ],
        "angular_velocity": [
            -0.23387625813484192,
            0.020086824893951416,
            -1.4857041835784912
        ],
        "forward_vector": [
            -0.022699706256389618,
            0.9997209310531616,
            0.006539059337228537
        ],
        "right_vector": [
            -0.9997423887252808,
            -0.022698769345879555,
            -0.00021758813818451017
        ],
        "location": [
            2184.721923828125,
            2510.87060546875,
            365.117919921875
        ],
        "rotation": [
            0.012467148713767529,
            0.37466317415237427,
            91.30073547363281
        ],
        "velocity": [
            -0.02373700588941574,
            1.6613799333572388,
            0.005982703994959593
        ],
        "speed": 1.6615494962265485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.307296752929688,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2162.945556640625,
                2527.343505859375,
                364.76898193359375
            ],
            "velocity": [
                5.015065670013428,
                -0.010638157837092876,
                0.04481180012226105
            ],
            "speed_kmh": 18.05499775832829,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.796578049659729,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2443.31982421875,
                        "z": 364.5910339355469
                    },
                    "rotation": {
                        "roll": 0.00594622315838933,
                        "pitch": 0.5257469415664673,
                        "yaw": 90.09390258789062
                    }
                },
                "velocity": {
                    "x": -0.02590392529964447,
                    "y": 1.7961698770523071,
                    "z": 0.028205441311001778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.362107038497925,
                "transform": {
                    "location": {
                        "x": 2187.7890625,
                        "y": 2575.100830078125,
                        "z": 365.0467834472656
                    },
                    "rotation": {
                        "roll": 0.001994819613173604,
                        "pitch": 0.43591630458831787,
                        "yaw": -89.58649444580078
                    }
                },
                "velocity": {
                    "x": 0.035196609795093536,
                    "y": -3.3618555068969727,
                    "z": 0.021264219656586647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.931868076324463,
                "transform": {
                    "location": {
                        "x": 2140.909912109375,
                        "y": 2527.342041015625,
                        "z": 364.7852783203125
                    },
                    "rotation": {
                        "roll": 0.0016044721705839038,
                        "pitch": 0.0043576606549322605,
                        "yaw": 0.3574535548686981
                    }
                },
                "velocity": {
                    "x": 6.931707382202148,
                    "y": 0.03921814262866974,
                    "z": -0.026232276111841202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.015276908874512,
                "transform": {
                    "location": {
                        "x": 2162.945556640625,
                        "y": 2527.343505859375,
                        "z": 364.76898193359375
                    },
                    "rotation": {
                        "roll": 0.00026764566428028047,
                        "pitch": 0.558579683303833,
                        "yaw": -0.1162414476275444
                    }
                },
                "velocity": {
                    "x": 5.015065670013428,
                    "y": -0.010638157837092876,
                    "z": 0.04481180012226105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.142496585845947,
                "transform": {
                    "location": {
                        "x": 2209.47802734375,
                        "y": 2524.291015625,
                        "z": 365.73974609375
                    },
                    "rotation": {
                        "roll": 6.91492241458036e-05,
                        "pitch": -1.5355494022369385,
                        "yaw": 179.87744140625
                    }
                },
                "velocity": {
                    "x": -5.140684127807617,
                    "y": 0.011087311431765556,
                    "z": -0.13606803119182587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.660322666168213,
                "transform": {
                    "location": {
                        "x": 2187.912353515625,
                        "y": 2540.960693359375,
                        "z": 365.1638488769531
                    },
                    "rotation": {
                        "roll": 0.00011135744716739282,
                        "pitch": -0.032559510320425034,
                        "yaw": -89.90287017822266
                    }
                },
                "velocity": {
                    "x": 0.005597826559096575,
                    "y": -3.66031813621521,
                    "z": 0.0014448261354118586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.10161018371582,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2464.39208984375,
                        "z": 364.8180847167969
                    },
                    "rotation": {
                        "roll": 0.0008038264350034297,
                        "pitch": 0.4545627236366272,
                        "yaw": 90.12812042236328
                    }
                },
                "velocity": {
                    "x": -0.01808043010532856,
                    "y": 8.101239204406738,
                    "z": 0.07540656626224518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008622781606391072,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00020426188712008297,
                        "pitch": 0.21840211749076843,
                        "yaw": -179.83209228515625
                    }
                },
                "velocity": {
                    "x": 1.4922395166649949e-05,
                    "y": 1.962677742994856e-05,
                    "z": 0.0008619255968369544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007840499165467918,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.4160647879180033e-05,
                    "y": 2.369858520978596e-05,
                    "z": 0.0007835637079551816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.312326431274414,
                "transform": {
                    "location": {
                        "x": 2188.018310546875,
                        "y": 2440.669921875,
                        "z": 364.588623046875
                    },
                    "rotation": {
                        "roll": 0.0007606933359056711,
                        "pitch": -0.7261037230491638,
                        "yaw": -89.92068481445312
                    }
                },
                "velocity": {
                    "x": 0.008853260427713394,
                    "y": -6.311867713928223,
                    "z": -0.07556623965501785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00576676893979311,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2480.643798828125,
                        "z": 364.9518127441406
                    },
                    "rotation": {
                        "roll": 0.0004905788809992373,
                        "pitch": 0.8907590508460999,
                        "yaw": 90.01448059082031
                    }
                },
                "velocity": {
                    "x": -0.00025164507678709924,
                    "y": 0.0057446095161139965,
                    "z": -0.0004379017627798021
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.333190679550171,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2492.088623046875,
                        "z": 365.0334777832031
                    },
                    "rotation": {
                        "roll": 0.0005941037088632584,
                        "pitch": 0.3435721695423126,
                        "yaw": 90.0869369506836
                    }
                },
                "velocity": {
                    "x": -0.003521161386743188,
                    "y": 2.3331499099731445,
                    "z": 0.013324746862053871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.0071563720703125,
                "transform": {
                    "location": {
                        "x": 2187.885009765625,
                        "y": 2556.92236328125,
                        "z": 365.1357727050781
                    },
                    "rotation": {
                        "roll": -0.001800562022253871,
                        "pitch": 0.6435608863830566,
                        "yaw": -89.86858367919922
                    }
                },
                "velocity": {
                    "x": 0.011745519004762173,
                    "y": -4.007125377655029,
                    "z": 0.010548191145062447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.172066688537598,
                "transform": {
                    "location": {
                        "x": 2233.373779296875,
                        "y": 2524.306884765625,
                        "z": 366.45660400390625
                    },
                    "rotation": {
                        "roll": -0.0177612267434597,
                        "pitch": -1.5004831552505493,
                        "yaw": -179.64231872558594
                    }
                },
                "velocity": {
                    "x": -6.169035911560059,
                    "y": -0.04695497453212738,
                    "z": -0.18761512637138367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4191310405731201,
        "expert_target_speed": 0.8179487070710101,
        "target_point": [
            13.784133097641531,
            8.242239852376814
        ],
        "target_point_next": [
            14.48116384881182,
            36.23363019414592
        ]
    },
    "220": {
        "acceleration": [
            0.014948844909667969,
            0.308835506439209,
            -0.0011819880455732346
        ],
        "angular_velocity": [
            -0.30263689160346985,
            -0.013605576008558273,
            0.39690184593200684
        ],
        "forward_vector": [
            -0.02043115347623825,
            0.9997767210006714,
            0.005392048042267561
        ],
        "right_vector": [
            -0.9997912645339966,
            -0.02043016254901886,
            -0.0002389701403444633
        ],
        "location": [
            2184.71533203125,
            2511.31201171875,
            365.11962890625
        ],
        "rotation": [
            0.013692179694771767,
            0.30894309282302856,
            91.17071533203125
        ],
        "velocity": [
            -0.02142227813601494,
            1.8304722309112549,
            0.005727424286305904
        ],
        "speed": 1.830597580610704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.022249221801758,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2164.218505859375,
                2527.3408203125,
                364.78070068359375
            ],
            "velocity": [
                5.1433000564575195,
                -0.011158766224980354,
                0.057336460798978806
            ],
            "speed_kmh": 18.51707425763835,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0991594791412354,
                "transform": {
                    "location": {
                        "x": 2185.15869140625,
                        "y": 2443.95849609375,
                        "z": 364.5982360839844
                    },
                    "rotation": {
                        "roll": 0.00662226602435112,
                        "pitch": 0.512216329574585,
                        "yaw": 90.28764343261719
                    }
                },
                "velocity": {
                    "x": -0.04317324981093407,
                    "y": 3.098682165145874,
                    "z": 0.033070534467697144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.436578750610352,
                "transform": {
                    "location": {
                        "x": 2187.799560546875,
                        "y": 2574.123291015625,
                        "z": 365.05291748046875
                    },
                    "rotation": {
                        "roll": 0.0010406723013147712,
                        "pitch": 0.4273375868797302,
                        "yaw": -89.59744262695312
                    }
                },
                "velocity": {
                    "x": 0.048592112958431244,
                    "y": -4.436229228973389,
                    "z": 0.027205314487218857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.19841194152832,
                "transform": {
                    "location": {
                        "x": 2142.83837890625,
                        "y": 2527.352783203125,
                        "z": 364.77789306640625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.008940717205405235,
                        "yaw": 0.320583701133728
                    }
                },
                "velocity": {
                    "x": 8.1982421875,
                    "y": 0.04368496686220169,
                    "z": -0.029569415375590324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.143631935119629,
                "transform": {
                    "location": {
                        "x": 2164.218505859375,
                        "y": 2527.3408203125,
                        "z": 364.78070068359375
                    },
                    "rotation": {
                        "roll": 0.0016840910539031029,
                        "pitch": 0.6523513197898865,
                        "yaw": -0.1228027269244194
                    }
                },
                "velocity": {
                    "x": 5.1433000564575195,
                    "y": -0.011158766224980354,
                    "z": 0.057336460798978806
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.024170875549316,
                "transform": {
                    "location": {
                        "x": 2208.210205078125,
                        "y": 2524.292724609375,
                        "z": 365.7060546875
                    },
                    "rotation": {
                        "roll": 0.0034202805254608393,
                        "pitch": -1.5317381620407104,
                        "yaw": 179.74571228027344
                    }
                },
                "velocity": {
                    "x": -5.022250175476074,
                    "y": 0.011769157834351063,
                    "z": -0.13840007781982422
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.636148691177368,
                "transform": {
                    "location": {
                        "x": 2187.8837890625,
                        "y": 2540.156494140625,
                        "z": 365.1637878417969
                    },
                    "rotation": {
                        "roll": 0.033079519867897034,
                        "pitch": -0.14761404693126678,
                        "yaw": -91.03131866455078
                    }
                },
                "velocity": {
                    "x": -0.118522509932518,
                    "y": -2.6334826946258545,
                    "z": 0.0010926532559096813
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.270927906036377,
                "transform": {
                    "location": {
                        "x": 2185.047119140625,
                        "y": 2466.31591796875,
                        "z": 364.83502197265625
                    },
                    "rotation": {
                        "roll": 2.5721261408762075e-05,
                        "pitch": 0.5830317735671997,
                        "yaw": 90.1205062866211
                    }
                },
                "velocity": {
                    "x": -0.015361587516963482,
                    "y": 7.270598411560059,
                    "z": 0.06745601445436478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005989604978822172,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0008642968605272472,
                        "pitch": 0.21801279485225677,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 1.6884207070688717e-05,
                    "y": 3.2455925520480378e-06,
                    "z": 0.0005987136973999441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034386423067189753,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 4.725679445982678e-06,
                    "y": 1.0641721928550396e-05,
                    "z": 0.0003436670231167227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.98486328125,
                        "y": 2439.06787109375,
                        "z": 364.5570373535156
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0113129615783691,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2480.75927734375,
                        "z": 364.9560852050781
                    },
                    "rotation": {
                        "roll": 0.0007503328961320221,
                        "pitch": 0.47712284326553345,
                        "yaw": 90.02238464355469
                    }
                },
                "velocity": {
                    "x": 0.001071884180419147,
                    "y": 1.0112881660461426,
                    "z": 0.0069904993288218975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9301060438156128,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2492.60205078125,
                        "z": 365.0362854003906
                    },
                    "rotation": {
                        "roll": 0.00028814177494496107,
                        "pitch": 0.38602179288864136,
                        "yaw": 90.08594512939453
                    }
                },
                "velocity": {
                    "x": -0.002899620682001114,
                    "y": 1.9300591945648193,
                    "z": 0.013131904415786266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.312856674194336,
                "transform": {
                    "location": {
                        "x": 2187.888916015625,
                        "y": 2555.749267578125,
                        "z": 365.1387939453125
                    },
                    "rotation": {
                        "roll": 0.0019505189266055822,
                        "pitch": 0.7182626724243164,
                        "yaw": -89.85577392578125
                    }
                },
                "velocity": {
                    "x": 0.012020756490528584,
                    "y": -5.312816619873047,
                    "z": 0.01674807444214821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.784262657165527,
                "transform": {
                    "location": {
                        "x": 2231.58642578125,
                        "y": 2524.2939453125,
                        "z": 366.40081787109375
                    },
                    "rotation": {
                        "roll": -0.023223876953125,
                        "pitch": -1.3976683616638184,
                        "yaw": -179.51438903808594
                    }
                },
                "velocity": {
                    "x": -7.780304431915283,
                    "y": -0.06349759548902512,
                    "z": -0.2399451732635498
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.42840975522994995,
        "expert_target_speed": 0.0,
        "target_point": [
            13.323943001656287,
            8.27592852615118
        ],
        "target_point_next": [
            13.957445371227132,
            36.26882869532104
        ]
    },
    "225": {
        "acceleration": [
            0.019798167049884796,
            -0.3851199150085449,
            -0.0013135932385921478
        ],
        "angular_velocity": [
            -0.32468581199645996,
            -0.02519606612622738,
            -1.604622483253479
        ],
        "forward_vector": [
            -0.01771109364926815,
            0.999835193157196,
            0.003974546678364277
        ],
        "right_vector": [
            -0.9998431205749512,
            -0.017710458487272263,
            -0.0001950686564669013
        ],
        "location": [
            2184.710205078125,
            2511.76904296875,
            365.1213684082031
        ],
        "rotation": [
            0.011176698841154575,
            0.2277253270149231,
            91.01483154296875
        ],
        "velocity": [
            -0.016860317438840866,
            1.8043638467788696,
            0.00572529761120677
        ],
        "speed": 1.8044426180587674,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.759479522705078,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2165.460693359375,
                2527.337646484375,
                364.794677734375
            ],
            "velocity": [
                4.8103132247924805,
                -0.010985074564814568,
                0.052442558109760284
            ],
            "speed_kmh": 17.318201852915774,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.224908351898193,
                "transform": {
                    "location": {
                        "x": 2185.147216796875,
                        "y": 2444.87939453125,
                        "z": 364.6084289550781
                    },
                    "rotation": {
                        "roll": 0.007030825596302748,
                        "pitch": 0.5468932390213013,
                        "yaw": 90.4748764038086
                    }
                },
                "velocity": {
                    "x": -0.05939541757106781,
                    "y": 4.224201679229736,
                    "z": 0.04943133145570755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.2822585105896,
                "transform": {
                    "location": {
                        "x": 2187.812744140625,
                        "y": 2572.8662109375,
                        "z": 365.0606689453125
                    },
                    "rotation": {
                        "roll": 0.003160159569233656,
                        "pitch": 0.39895814657211304,
                        "yaw": -89.5429916381836
                    }
                },
                "velocity": {
                    "x": 0.05854925885796547,
                    "y": -5.281840801239014,
                    "z": 0.03141570836305618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.125261306762695,
                "transform": {
                    "location": {
                        "x": 2144.903076171875,
                        "y": 2527.35888671875,
                        "z": 364.7698669433594
                    },
                    "rotation": {
                        "roll": 0.007385256700217724,
                        "pitch": -0.17447033524513245,
                        "yaw": 0.15067821741104126
                    }
                },
                "velocity": {
                    "x": 8.12518310546875,
                    "y": 0.016991155222058296,
                    "z": -0.03139727935194969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.810611724853516,
                "transform": {
                    "location": {
                        "x": 2165.460693359375,
                        "y": 2527.337646484375,
                        "z": 364.794677734375
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.6276465654373169,
                        "yaw": -0.119293212890625
                    }
                },
                "velocity": {
                    "x": 4.8103132247924805,
                    "y": -0.010985074564814568,
                    "z": 0.052442558109760284
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.62897253036499,
                "transform": {
                    "location": {
                        "x": 2207.002197265625,
                        "y": 2524.2958984375,
                        "z": 365.6736755371094
                    },
                    "rotation": {
                        "roll": 0.0023208227939903736,
                        "pitch": -1.5388141870498657,
                        "yaw": 179.77175903320312
                    }
                },
                "velocity": {
                    "x": -4.627326965332031,
                    "y": 0.011434455402195454,
                    "z": -0.12288614362478256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002582329325377941,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.862548828125,
                        "z": 365.16351318359375
                    },
                    "rotation": {
                        "roll": -0.012207027524709702,
                        "pitch": -0.4051804542541504,
                        "yaw": -91.6699447631836
                    }
                },
                "velocity": {
                    "x": 0.0004857633030042052,
                    "y": 0.0022735034581273794,
                    "z": 0.001124117523431778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.570082187652588,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.75048828125,
                        "z": 364.8460388183594
                    },
                    "rotation": {
                        "roll": -0.0021361494436860085,
                        "pitch": 0.824670135974884,
                        "yaw": 90.03616333007812
                    }
                },
                "velocity": {
                    "x": 0.0014245755737647414,
                    "y": 3.5699548721313477,
                    "z": 0.030138710513710976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0008642968605272472,
                        "pitch": 0.21801279485225677,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016251498891506344,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7493701307103038e-05,
                    "y": -2.5734123482834548e-05,
                    "z": -0.00015950814122334123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.952880859375,
                        "y": 2437.540771484375,
                        "z": 364.52679443359375
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8122625350952148,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2481.115234375,
                        "z": 364.959716796875
                    },
                    "rotation": {
                        "roll": -0.0005493200151249766,
                        "pitch": 0.34660476446151733,
                        "yaw": 90.00959777832031
                    }
                },
                "velocity": {
                    "x": -0.0020755433943122625,
                    "y": 1.8122071027755737,
                    "z": 0.014027785509824753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4573206901550293,
                "transform": {
                    "location": {
                        "x": 2185.018310546875,
                        "y": 2493.1376953125,
                        "z": 365.0403137207031
                    },
                    "rotation": {
                        "roll": -0.00018311050371266901,
                        "pitch": 0.3142160177230835,
                        "yaw": 90.08580780029297
                    }
                },
                "velocity": {
                    "x": -0.0035058017820119858,
                    "y": 2.4572746753692627,
                    "z": 0.01461051870137453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.336017608642578,
                "transform": {
                    "location": {
                        "x": 2187.89208984375,
                        "y": 2554.421630859375,
                        "z": 365.1435546875
                    },
                    "rotation": {
                        "roll": -0.00021363511041272432,
                        "pitch": 0.3901608884334564,
                        "yaw": -89.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.013284015469253063,
                    "y": -5.3359832763671875,
                    "z": 0.013638496398925781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.853524208068848,
                "transform": {
                    "location": {
                        "x": 2229.492431640625,
                        "y": 2524.281982421875,
                        "z": 366.3363952636719
                    },
                    "rotation": {
                        "roll": 0.006558860652148724,
                        "pitch": -1.5070470571517944,
                        "yaw": -179.67713928222656
                    }
                },
                "velocity": {
                    "x": -8.849113464355469,
                    "y": -0.03509373217821121,
                    "z": -0.27721554040908813
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.41702741384506226,
        "expert_target_speed": 0.0,
        "target_point": [
            12.844365566530172,
            8.315055756062176
        ],
        "target_point_next": [
            13.401835171817236,
            36.30957330454911
        ]
    },
    "230": {
        "acceleration": [
            0.01756833866238594,
            -0.5585098266601562,
            0.007575796917080879
        ],
        "angular_velocity": [
            -0.18148334324359894,
            0.031268950551748276,
            0.5286766886711121
        ],
        "forward_vector": [
            -0.015474517829716206,
            0.9998762011528015,
            0.002840276574715972
        ],
        "right_vector": [
            -0.9998802542686462,
            -0.015474141575396061,
            -0.00015454400272574276
        ],
        "location": [
            2184.705810546875,
            2512.20263671875,
            365.1229553222656
        ],
        "rotation": [
            0.008854755200445652,
            0.16273607313632965,
            90.88666534423828
        ],
        "velocity": [
            -0.011463794857263565,
            1.6680493354797363,
            0.005645541939884424
        ],
        "speed": 1.6680887279119536,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.592744827270508,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2166.608154296875,
                2527.335205078125,
                364.8101501464844
            ],
            "velocity": [
                4.484259128570557,
                -0.010253381915390491,
                0.0686757043004036
            ],
            "speed_kmh": 16.145268110383242,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.284454822540283,
                "transform": {
                    "location": {
                        "x": 2185.131591796875,
                        "y": 2446.0751953125,
                        "z": 364.6224670410156
                    },
                    "rotation": {
                        "roll": 0.007729760836809874,
                        "pitch": 0.5544542074203491,
                        "yaw": 90.62417602539062
                    }
                },
                "velocity": {
                    "x": -0.07464089244604111,
                    "y": 5.2835373878479,
                    "z": 0.06419942528009415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.800533294677734,
                "transform": {
                    "location": {
                        "x": 2187.830810546875,
                        "y": 2571.15283203125,
                        "z": 365.06988525390625
                    },
                    "rotation": {
                        "roll": 0.0027178339660167694,
                        "pitch": 0.45526623725891113,
                        "yaw": -89.42797088623047
                    }
                },
                "velocity": {
                    "x": 0.08620695024728775,
                    "y": -7.799949645996094,
                    "z": 0.040899552404880524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.933145999908447,
                "transform": {
                    "location": {
                        "x": 2146.893310546875,
                        "y": 2527.36181640625,
                        "z": 364.7621765136719
                    },
                    "rotation": {
                        "roll": 0.004986919928342104,
                        "pitch": -0.23288211226463318,
                        "yaw": 0.07174264639616013
                    }
                },
                "velocity": {
                    "x": 7.933084487915039,
                    "y": 0.008347750641405582,
                    "z": -0.030083397403359413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.484796524047852,
                "transform": {
                    "location": {
                        "x": 2166.608154296875,
                        "y": 2527.335205078125,
                        "z": 364.8101501464844
                    },
                    "rotation": {
                        "roll": 0.0012559572933241725,
                        "pitch": 0.7328587770462036,
                        "yaw": -0.1209716722369194
                    }
                },
                "velocity": {
                    "x": 4.484259128570557,
                    "y": -0.010253381915390491,
                    "z": 0.0686757043004036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.477197647094727,
                "transform": {
                    "location": {
                        "x": 2205.870361328125,
                        "y": 2524.29931640625,
                        "z": 365.6435852050781
                    },
                    "rotation": {
                        "roll": 0.0016119596548378468,
                        "pitch": -1.5319498777389526,
                        "yaw": 179.8191680908203
                    }
                },
                "velocity": {
                    "x": -4.4757184982299805,
                    "y": 0.010466022416949272,
                    "z": -0.11459214985370636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001953242812305689,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.861083984375,
                        "z": 365.1638488769531
                    },
                    "rotation": {
                        "roll": -0.003326423466205597,
                        "pitch": -0.12631067633628845,
                        "yaw": -91.67012786865234
                    }
                },
                "velocity": {
                    "x": 0.00014786650717724115,
                    "y": 0.0012868809280917048,
                    "z": 0.0014619269641116261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.448095440864563,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2468.060546875,
                        "z": 364.8482360839844
                    },
                    "rotation": {
                        "roll": -0.000793412618804723,
                        "pitch": 0.8952328562736511,
                        "yaw": 89.99583435058594
                    }
                },
                "velocity": {
                    "x": 0.0012765781721100211,
                    "y": 0.44806936383247375,
                    "z": 0.004660501144826412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008034013444557786,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0008095303201116621,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 1.86162069439888e-05,
                    "y": -1.31980050355196e-05,
                    "z": 0.0008030771859921515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005418635555543005,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 6.906501766934525e-06,
                    "y": -1.0708812396842404e-06,
                    "z": 0.0005418184446170926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9287109375,
                        "y": 2436.084716796875,
                        "z": 364.5001525878906
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9294506311416626,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2481.626708984375,
                        "z": 364.9631042480469
                    },
                    "rotation": {
                        "roll": -0.0003967204538639635,
                        "pitch": 0.3905433714389801,
                        "yaw": 90.02428436279297
                    }
                },
                "velocity": {
                    "x": -0.002361233113333583,
                    "y": 1.9294036626815796,
                    "z": 0.01325284969061613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9572337865829468,
                "transform": {
                    "location": {
                        "x": 2185.01806640625,
                        "y": 2493.713134765625,
                        "z": 365.0431823730469
                    },
                    "rotation": {
                        "roll": -0.0011291664559394121,
                        "pitch": 0.37460169196128845,
                        "yaw": 90.0867919921875
                    }
                },
                "velocity": {
                    "x": -0.0028171467129141092,
                    "y": 1.9571876525878906,
                    "z": 0.013145865872502327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.498169898986816,
                "transform": {
                    "location": {
                        "x": 2187.89599609375,
                        "y": 2552.83544921875,
                        "z": 365.1467590332031
                    },
                    "rotation": {
                        "roll": 0.0007366783102042973,
                        "pitch": 0.5321400165557861,
                        "yaw": -89.85147094726562
                    }
                },
                "velocity": {
                    "x": 0.013883561827242374,
                    "y": -6.498140335083008,
                    "z": 0.013818330131471157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.312299728393555,
                "transform": {
                    "location": {
                        "x": 2227.3515625,
                        "y": 2524.273681640625,
                        "z": 366.273193359375
                    },
                    "rotation": {
                        "roll": 0.0006182976649142802,
                        "pitch": -1.88970148563385,
                        "yaw": -179.83447265625
                    }
                },
                "velocity": {
                    "x": -8.308324813842773,
                    "y": -0.02204173430800438,
                    "z": -0.2560877799987793
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.42418983578681946,
        "expert_target_speed": 0.0,
        "target_point": [
            12.392116182276135,
            8.346093945744816
        ],
        "target_point_next": [
            12.886938402695524,
            36.3417889023545
        ]
    },
    "235": {
        "acceleration": [
            0.013535851612687111,
            0.5095863342285156,
            0.01366596668958664
        ],
        "angular_velocity": [
            0.21964190900325775,
            -0.048902325332164764,
            -1.4699426889419556
        ],
        "forward_vector": [
            -0.013055188581347466,
            0.9999111294746399,
            0.002692815149202943
        ],
        "right_vector": [
            -0.9999147653579712,
            -0.013054847717285156,
            -0.00014426512643694878
        ],
        "location": [
            2184.703369140625,
            2512.6064453125,
            365.12432861328125
        ],
        "rotation": [
            0.008265812881290913,
            0.15428712964057922,
            90.74803161621094
        ],
        "velocity": [
            -0.00734945060685277,
            1.6223787069320679,
            0.005977277643978596
        ],
        "speed": 1.622395353522313,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.483402252197266,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2167.717041015625,
                2527.333251953125,
                364.8255920410156
            ],
            "velocity": [
                4.326032638549805,
                -0.009295810014009476,
                0.06516508013010025
            ],
            "speed_kmh": 15.575520251746738,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.612648963928223,
                "transform": {
                    "location": {
                        "x": 2185.11865234375,
                        "y": 2447.4140625,
                        "z": 364.6375732421875
                    },
                    "rotation": {
                        "roll": 0.0020605637691915035,
                        "pitch": 0.6042463183403015,
                        "yaw": 90.61283111572266
                    }
                },
                "velocity": {
                    "x": -0.04378499463200569,
                    "y": 5.6121134757995605,
                    "z": 0.06398379802703857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.29414176940918,
                "transform": {
                    "location": {
                        "x": 2187.84814453125,
                        "y": 2569.091552734375,
                        "z": 365.0815124511719
                    },
                    "rotation": {
                        "roll": 0.005958916153758764,
                        "pitch": 0.3484967350959778,
                        "yaw": -89.55089569091797
                    }
                },
                "velocity": {
                    "x": 0.05093963071703911,
                    "y": -8.293874740600586,
                    "z": 0.04278469830751419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041688919067383,
                "transform": {
                    "location": {
                        "x": 2148.901123046875,
                        "y": 2527.36279296875,
                        "z": 364.7545471191406
                    },
                    "rotation": {
                        "roll": 0.00458183279260993,
                        "pitch": -0.2087988704442978,
                        "yaw": 0.013335769064724445
                    }
                },
                "velocity": {
                    "x": 8.041632652282715,
                    "y": -0.0013046754756942391,
                    "z": -0.030018743127584457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.326533317565918,
                "transform": {
                    "location": {
                        "x": 2167.717041015625,
                        "y": 2527.333251953125,
                        "z": 364.8255920410156
                    },
                    "rotation": {
                        "roll": 0.00111768685746938,
                        "pitch": 0.876743495464325,
                        "yaw": -0.1234435886144638
                    }
                },
                "velocity": {
                    "x": 4.326032638549805,
                    "y": -0.009295810014009476,
                    "z": 0.06516508013010025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.238472938537598,
                "transform": {
                    "location": {
                        "x": 2204.7802734375,
                        "y": 2524.302001953125,
                        "z": 365.6156311035156
                    },
                    "rotation": {
                        "roll": 0.0008257500012405217,
                        "pitch": -1.487820029258728,
                        "yaw": 179.84617614746094
                    }
                },
                "velocity": {
                    "x": -4.23710823059082,
                    "y": 0.009097769856452942,
                    "z": -0.10715848952531815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001362539827823639,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639404296875
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.04702584818005562,
                        "yaw": -91.670166015625
                    }
                },
                "velocity": {
                    "x": -0.0002561652800068259,
                    "y": 0.0002951952628791332,
                    "z": 0.0013052792055532336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.489505410194397,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.314208984375,
                        "z": 364.8539123535156
                    },
                    "rotation": {
                        "roll": -0.0007934786262921989,
                        "pitch": 0.4940548837184906,
                        "yaw": 90.05591583251953
                    }
                },
                "velocity": {
                    "x": -0.002140569733455777,
                    "y": 1.4894368648529053,
                    "z": 0.014130115509033203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023142184363678098,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0008095303201116621,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 9.340643373434432e-06,
                    "y": -6.086158919060836e-06,
                    "z": 0.0002311531570740044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002243715280201286,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7304718085142667e-06,
                    "y": -1.8798007658915594e-05,
                    "z": 0.00022357598936650902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9287109375,
                        "y": 2434.696533203125,
                        "z": 364.4821472167969
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8572601079940796,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2482.067626953125,
                        "z": 364.9661560058594
                    },
                    "rotation": {
                        "roll": 7.229252514662221e-05,
                        "pitch": 0.4174269735813141,
                        "yaw": 90.03502655029297
                    }
                },
                "velocity": {
                    "x": -0.0022286761086434126,
                    "y": 1.8572089672088623,
                    "z": 0.013589982874691486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.747053861618042,
                "transform": {
                    "location": {
                        "x": 2185.01806640625,
                        "y": 2494.148193359375,
                        "z": 365.0459289550781
                    },
                    "rotation": {
                        "roll": -0.0014038480585440993,
                        "pitch": 0.3800385296344757,
                        "yaw": 90.09186553955078
                    }
                },
                "velocity": {
                    "x": -0.0025151597801595926,
                    "y": 1.7470226287841797,
                    "z": 0.010132999159395695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6320769786834717,
                "transform": {
                    "location": {
                        "x": 2187.896484375,
                        "y": 2551.547119140625,
                        "z": 365.15338134765625
                    },
                    "rotation": {
                        "roll": 0.008443820290267467,
                        "pitch": -0.6432740092277527,
                        "yaw": -89.51333618164062
                    }
                },
                "velocity": {
                    "x": -0.014569883234798908,
                    "y": -2.632035255432129,
                    "z": 0.0027622412890195847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.927830696105957,
                "transform": {
                    "location": {
                        "x": 2225.33203125,
                        "y": 2524.26953125,
                        "z": 366.2110900878906
                    },
                    "rotation": {
                        "roll": 0.004983479622751474,
                        "pitch": -1.9063398838043213,
                        "yaw": -179.92982482910156
                    }
                },
                "velocity": {
                    "x": -7.924098491668701,
                    "y": -0.0049180989153683186,
                    "z": -0.2431965172290802
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.41933614015579224,
        "expert_target_speed": 0.0,
        "target_point": [
            11.968044783553168,
            8.37893414910522
        ],
        "target_point_next": [
            12.395010679663969,
            36.375746204353945
        ]
    },
    "240": {
        "acceleration": [
            0.038938816636800766,
            2.850463390350342,
            -0.0008554477244615555
        ],
        "angular_velocity": [
            0.779125988483429,
            -0.04203594848513603,
            0.11418453603982925
        ],
        "forward_vector": [
            -0.01063329167664051,
            0.9999302625656128,
            0.005128718912601471
        ],
        "right_vector": [
            -0.9999434351921082,
            -0.010632341727614403,
            -0.00021243699302431196
        ],
        "location": [
            2184.701171875,
            2513.065673828125,
            365.1253356933594
        ],
        "rotation": [
            0.012171903625130653,
            0.293855220079422,
            90.60926055908203
        ],
        "velocity": [
            -0.003094148589298129,
            2.115017890930176,
            0.006408195476979017
        ],
        "speed": 2.1150201542089904,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.388736724853516,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2168.766845703125,
                2527.330810546875,
                364.8404235839844
            ],
            "velocity": [
                4.106836795806885,
                -0.009201601147651672,
                0.06663421541452408
            ],
            "speed_kmh": 14.786595517276838,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6690778732299805,
                "transform": {
                    "location": {
                        "x": 2185.106201171875,
                        "y": 2448.89404296875,
                        "z": 364.6546325683594
                    },
                    "rotation": {
                        "roll": 0.0023272058460861444,
                        "pitch": 0.563565731048584,
                        "yaw": 90.49177551269531
                    }
                },
                "velocity": {
                    "x": -0.05061868205666542,
                    "y": 6.668457984924316,
                    "z": 0.07555263489484787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.073390960693359,
                "transform": {
                    "location": {
                        "x": 2187.85986328125,
                        "y": 2567.16357421875,
                        "z": 365.0920104980469
                    },
                    "rotation": {
                        "roll": 0.003174558049067855,
                        "pitch": 0.23930932581424713,
                        "yaw": -89.65484619140625
                    }
                },
                "velocity": {
                    "x": 0.03961284086108208,
                    "y": -7.073195457458496,
                    "z": 0.03462747484445572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.478121280670166,
                "transform": {
                    "location": {
                        "x": 2150.843994140625,
                        "y": 2527.362060546875,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": 0.0027206232771277428,
                        "pitch": -0.27392470836639404,
                        "yaw": -0.0379028283059597
                    }
                },
                "velocity": {
                    "x": 7.478084564208984,
                    "y": -0.00546913780272007,
                    "z": -0.022762179374694824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.107387542724609,
                "transform": {
                    "location": {
                        "x": 2168.766845703125,
                        "y": 2527.330810546875,
                        "z": 364.8404235839844
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.9800910949707031,
                        "yaw": -0.125457763671875
                    }
                },
                "velocity": {
                    "x": 4.106836795806885,
                    "y": -0.009201601147651672,
                    "z": 0.06663421541452408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.060838222503662,
                "transform": {
                    "location": {
                        "x": 2203.744873046875,
                        "y": 2524.30419921875,
                        "z": 365.5890197753906
                    },
                    "rotation": {
                        "roll": 0.00028505371301434934,
                        "pitch": -1.4455206394195557,
                        "yaw": 179.86837768554688
                    }
                },
                "velocity": {
                    "x": -4.059517860412598,
                    "y": 0.008181868121027946,
                    "z": -0.10322684049606323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001419514446752146,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0005798341007903218,
                        "pitch": -0.032019924372434616,
                        "yaw": -91.670166015625
                    }
                },
                "velocity": {
                    "x": 3.237827695556916e-05,
                    "y": 9.22432736842893e-05,
                    "z": 0.0001029224949888885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2798244953155518,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.794677734375,
                        "z": 364.85870361328125
                    },
                    "rotation": {
                        "roll": -0.0001220665144501254,
                        "pitch": 0.4385049641132355,
                        "yaw": 90.06527709960938
                    }
                },
                "velocity": {
                    "x": -0.003769064089283347,
                    "y": 2.2797446250915527,
                    "z": 0.018689651042222977
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010686044115573168,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00015620133490301669,
                        "pitch": 0.21833381056785583,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 1.0551325431151781e-05,
                    "y": -1.6723397493478842e-05,
                    "z": 0.0010684214066714048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001040707458741963,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.074317788152257e-05,
                    "y": -4.1259540921601e-06,
                    "z": 0.0010406438959762454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82353,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.92919921875,
                        "y": 2433.37255859375,
                        "z": 364.46502685546875
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9263933897018433,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2482.581298828125,
                        "z": 364.97003173828125
                    },
                    "rotation": {
                        "roll": -0.000518800166901201,
                        "pitch": 0.4002695679664612,
                        "yaw": 90.0405044555664
                    }
                },
                "velocity": {
                    "x": -0.0025171246379613876,
                    "y": 1.9263415336608887,
                    "z": 0.013915453106164932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1316020488739014,
                "transform": {
                    "location": {
                        "x": 2185.018310546875,
                        "y": 2494.655029296875,
                        "z": 365.0494384765625
                    },
                    "rotation": {
                        "roll": -0.0005493049393408,
                        "pitch": 0.31504929065704346,
                        "yaw": 90.09953308105469
                    }
                },
                "velocity": {
                    "x": -0.003734584664925933,
                    "y": 2.1315550804138184,
                    "z": 0.013630055822432041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.800079345703125,
                "transform": {
                    "location": {
                        "x": 2187.89501953125,
                        "y": 2551.384033203125,
                        "z": 365.15478515625
                    },
                    "rotation": {
                        "roll": -0.02502433955669403,
                        "pitch": -1.0066810846328735,
                        "yaw": -89.44742584228516
                    }
                },
                "velocity": {
                    "x": 0.0022754359524697065,
                    "y": -0.8000741600990295,
                    "z": 0.001779155689291656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.90796422958374,
                "transform": {
                    "location": {
                        "x": 2223.351806640625,
                        "y": 2524.268798828125,
                        "z": 366.14947509765625
                    },
                    "rotation": {
                        "roll": 0.003993540070950985,
                        "pitch": -1.777037501335144,
                        "yaw": 179.9900665283203
                    }
                },
                "velocity": {
                    "x": -7.904298305511475,
                    "y": 0.0033739705104380846,
                    "z": -0.24074038863182068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4072522819042206,
        "expert_target_speed": 0.0,
        "target_point": [
            11.488497223112681,
            8.410570676819082
        ],
        "target_point_next": [
            11.847677713708912,
            36.40833441802772
        ]
    },
    "245": {
        "acceleration": [
            0.06549053639173508,
            4.6353864669799805,
            0.02503948286175728
        ],
        "angular_velocity": [
            0.8263722062110901,
            -0.04824816808104515,
            -1.6871520280838013
        ],
        "forward_vector": [
            -0.006304623559117317,
            0.9999423027038574,
            0.008703120984137058
        ],
        "right_vector": [
            -0.9999800324440002,
            -0.0063010286539793015,
            -0.00044031438301317394
        ],
        "location": [
            2184.701171875,
            2513.7158203125,
            365.1265869140625
        ],
        "rotation": [
            0.025229111313819885,
            0.4986584186553955,
            90.36124420166016
        ],
        "velocity": [
            0.01039004884660244,
            3.106147050857544,
            0.009975004009902477
        ],
        "speed": 3.1061644281438245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.220443725585938,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2169.751953125,
                2527.328857421875,
                364.857421875
            ],
            "velocity": [
                3.5749709606170654,
                -0.007916033267974854,
                0.0611838698387146
            ],
            "speed_kmh": 12.871811704030366,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990085124969482,
                "transform": {
                    "location": {
                        "x": 2185.092041015625,
                        "y": 2450.758544921875,
                        "z": 364.67626953125
                    },
                    "rotation": {
                        "roll": 0.0028857605066150427,
                        "pitch": 0.5058916211128235,
                        "yaw": 90.4624252319336
                    }
                },
                "velocity": {
                    "x": -0.058680709451436996,
                    "y": 7.9893646240234375,
                    "z": 0.08982614427804947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.162484169006348,
                "transform": {
                    "location": {
                        "x": 2187.868408203125,
                        "y": 2565.59326171875,
                        "z": 365.0994567871094
                    },
                    "rotation": {
                        "roll": 0.0026048137806355953,
                        "pitch": 0.16304343938827515,
                        "yaw": -89.65486907958984
                    }
                },
                "velocity": {
                    "x": 0.0231770072132349,
                    "y": -5.162379264831543,
                    "z": 0.023378495126962662
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.103278160095215,
                "transform": {
                    "location": {
                        "x": 2152.656494140625,
                        "y": 2527.3603515625,
                        "z": 364.7430419921875
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.15106327831745148,
                        "yaw": -0.0502319261431694
                    }
                },
                "velocity": {
                    "x": 7.103254318237305,
                    "y": -0.006240741349756718,
                    "z": -0.017287597060203552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.575503349304199,
                "transform": {
                    "location": {
                        "x": 2169.751953125,
                        "y": 2527.328857421875,
                        "z": 364.857421875
                    },
                    "rotation": {
                        "roll": -6.103527994127944e-05,
                        "pitch": 0.9623326063156128,
                        "yaw": -0.1289977878332138
                    }
                },
                "velocity": {
                    "x": 3.5749709606170654,
                    "y": -0.007916033267974854,
                    "z": 0.0611838698387146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8659820556640625,
                "transform": {
                    "location": {
                        "x": 2202.754638671875,
                        "y": 2524.30615234375,
                        "z": 365.56365966796875
                    },
                    "rotation": {
                        "roll": 0.0007896439055912197,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.87612915039062
                    }
                },
                "velocity": {
                    "x": -3.864769458770752,
                    "y": 0.00689894612878561,
                    "z": -0.09657363593578339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018925602489616722,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": -5.364054231904447e-05,
                    "y": -9.972715815820266e-06,
                    "z": -0.00018122108303941786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7552958726882935,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2469.317138671875,
                        "z": 364.8623046875
                    },
                    "rotation": {
                        "roll": -0.0001525921543361619,
                        "pitch": 0.5410534143447876,
                        "yaw": 90.07057189941406
                    }
                },
                "velocity": {
                    "x": -0.0036478727124631405,
                    "y": 1.75521981716156,
                    "z": 0.0159284770488739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007151730242185295,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.000590562995057553,
                        "pitch": 0.21791717410087585,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 3.7829577195225284e-06,
                    "y": 2.9134973374311812e-05,
                    "z": 0.000714569294359535
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000852470810059458,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.3485848285199609e-05,
                    "y": 7.2540178734925576e-06,
                    "z": 0.0008523332653567195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 2.771587959138344e-10,
                    "y": -6.092900164435255e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8517488241195679,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2483.021240234375,
                        "z": 364.9730529785156
                    },
                    "rotation": {
                        "roll": -3.052320971619338e-05,
                        "pitch": 0.4160473048686981,
                        "yaw": 90.0439453125
                    }
                },
                "velocity": {
                    "x": -0.0022384673357009888,
                    "y": 1.851694941520691,
                    "z": 0.013955755159258842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.810848355293274,
                "transform": {
                    "location": {
                        "x": 2185.017822265625,
                        "y": 2495.1318359375,
                        "z": 365.0519714355469
                    },
                    "rotation": {
                        "roll": 0.00022201247338671237,
                        "pitch": 0.3710773289203644,
                        "yaw": 90.10137176513672
                    }
                },
                "velocity": {
                    "x": -0.0031733049545437098,
                    "y": 1.8108057975769043,
                    "z": 0.01201377809047699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6784405708312988,
                "transform": {
                    "location": {
                        "x": 2187.896484375,
                        "y": 2551.05419921875,
                        "z": 365.15179443359375
                    },
                    "rotation": {
                        "roll": -0.006134033203125,
                        "pitch": -0.002226641634479165,
                        "yaw": -89.53164672851562
                    }
                },
                "velocity": {
                    "x": 0.006085326429456472,
                    "y": -1.678427815437317,
                    "z": 0.0024461746215820312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.535947322845459,
                "transform": {
                    "location": {
                        "x": 2221.41748046875,
                        "y": 2524.27001953125,
                        "z": 366.0908508300781
                    },
                    "rotation": {
                        "roll": 3.0470384444925003e-05,
                        "pitch": -1.812800407409668,
                        "yaw": 179.95120239257812
                    }
                },
                "velocity": {
                    "x": -7.532477378845215,
                    "y": 0.006919512990862131,
                    "z": -0.22856047749519348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.49259138107299805,
        "expert_target_speed": 0.09580759551894891,
        "target_point": [
            10.801836949926736,
            8.464335081835616
        ],
        "target_point_next": [
            11.039779704838697,
            36.463391644133324
        ]
    },
    "250": {
        "acceleration": [
            -0.186139315366745,
            4.410161972045898,
            -0.002613067626953125
        ],
        "angular_velocity": [
            0.17667809128761292,
            0.17870767414569855,
            -0.06897992640733719
        ],
        "forward_vector": [
            -0.0031317067332565784,
            0.9999317526817322,
            0.011256098747253418
        ],
        "right_vector": [
            -0.9999951124191284,
            -0.0031321148853749037,
            1.8639955669641495e-05
        ],
        "location": [
            2184.701416015625,
            2514.654296875,
            365.1289367675781
        ],
        "rotation": [
            -0.0010680584236979485,
            0.6449405550956726,
            90.179443359375
        ],
        "velocity": [
            -0.009492499753832817,
            4.308777809143066,
            0.009659909643232822
        ],
        "speed": 4.308788265407723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.057138442993164,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.470947265625,
                2527.3271484375,
                364.8699035644531
            ],
            "velocity": [
                2.251089334487915,
                -0.004902381915599108,
                0.03875038027763367
            ],
            "speed_kmh": 8.105141421990302,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10983063280582428,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7611999511719
                    },
                    "rotation": {
                        "roll": 0.0016343211755156517,
                        "pitch": -0.219030499458313,
                        "yaw": -0.12591552734375
                    }
                },
                "velocity": {
                    "x": 0.00040837351116351783,
                    "y": 0.000321769155561924,
                    "z": 0.10982940346002579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.085824966430664,
                "transform": {
                    "location": {
                        "x": 2185.0791015625,
                        "y": 2452.805908203125,
                        "z": 364.69842529296875
                    },
                    "rotation": {
                        "roll": -0.0037536651361733675,
                        "pitch": 0.605851411819458,
                        "yaw": 90.3274154663086
                    }
                },
                "velocity": {
                    "x": -0.03220907971262932,
                    "y": 8.085291862487793,
                    "z": 0.08706920593976974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016104249516502023,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2565.139404296875,
                        "z": 365.1026611328125
                    },
                    "rotation": {
                        "roll": 0.0007957372581586242,
                        "pitch": -0.04616524651646614,
                        "yaw": -89.57561492919922
                    }
                },
                "velocity": {
                    "x": -2.795133013933082e-06,
                    "y": 0.0005106664611957967,
                    "z": -0.0015273115132004023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.886173725128174,
                "transform": {
                    "location": {
                        "x": 2154.408447265625,
                        "y": 2527.3583984375,
                        "z": 364.74029541015625
                    },
                    "rotation": {
                        "roll": 0.0016045118682086468,
                        "pitch": -0.08401132375001907,
                        "yaw": -0.0752563327550888
                    }
                },
                "velocity": {
                    "x": 6.886165142059326,
                    "y": -0.00969426054507494,
                    "z": -0.005007619969546795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2514281272888184,
                "transform": {
                    "location": {
                        "x": 2170.470947265625,
                        "y": 2527.3271484375,
                        "z": 364.8699035644531
                    },
                    "rotation": {
                        "roll": 0.00046597086475230753,
                        "pitch": 0.9298413991928101,
                        "yaw": -0.1226501390337944
                    }
                },
                "velocity": {
                    "x": 2.251089334487915,
                    "y": -0.004902381915599108,
                    "z": 0.03875038027763367
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6925406455993652,
                "transform": {
                    "location": {
                        "x": 2201.8115234375,
                        "y": 2524.30810546875,
                        "z": 365.54058837890625
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": -1.4203786849975586,
                        "yaw": 179.8838348388672
                    }
                },
                "velocity": {
                    "x": -3.6914000511169434,
                    "y": 0.007763340137898922,
                    "z": -0.09144619852304459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00041289738146588206,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": 5.2187489927746356e-05,
                    "y": -1.7419019059161656e-05,
                    "z": 0.0004092154558748007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9434152841567993,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2469.748291015625,
                        "z": 364.8664855957031
                    },
                    "rotation": {
                        "roll": 0.0008289929828606546,
                        "pitch": 0.505092442035675,
                        "yaw": 90.08615112304688
                    }
                },
                "velocity": {
                    "x": -0.003582251025363803,
                    "y": 1.9433504343032837,
                    "z": 0.015460309572517872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013944312231615186,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00012021541624562815,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.83206176757812
                    }
                },
                "velocity": {
                    "x": 1.7562173525220715e-05,
                    "y": -1.532205169496592e-05,
                    "z": 0.0013942363439127803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.548141830833629e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.536855031910818e-06,
                    "y": -5.294428433444409e-07,
                    "z": 3.417161133256741e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4746410846710205,
                "transform": {
                    "location": {
                        "x": 2236.940185546875,
                        "y": 2524.330322265625,
                        "z": 366.57220458984375
                    },
                    "rotation": {
                        "roll": 0.00015566528600174934,
                        "pitch": -1.7617789506912231,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.04409943148493767,
                    "y": 1.9465624063741416e-05,
                    "z": -1.473981499671936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.923232913017273,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2483.533447265625,
                        "z": 364.9767761230469
                    },
                    "rotation": {
                        "roll": -0.0006714026676490903,
                        "pitch": 0.40085694193840027,
                        "yaw": 90.04857635498047
                    }
                },
                "velocity": {
                    "x": -0.0025080761406570673,
                    "y": 1.9231834411621094,
                    "z": 0.013554573059082031
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.42854905128479,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2495.650634765625,
                        "z": 365.0558166503906
                    },
                    "rotation": {
                        "roll": 0.000219116045627743,
                        "pitch": 0.30270713567733765,
                        "yaw": 90.1042709350586
                    }
                },
                "velocity": {
                    "x": -0.005469214171171188,
                    "y": 2.428501605987549,
                    "z": 0.014172639697790146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1810519695281982,
                "transform": {
                    "location": {
                        "x": 2187.898681640625,
                        "y": 2550.53076171875,
                        "z": 365.15179443359375
                    },
                    "rotation": {
                        "roll": 0.0019248254830017686,
                        "pitch": 0.2576074004173279,
                        "yaw": -89.6168441772461
                    }
                },
                "velocity": {
                    "x": 0.0054113976657390594,
                    "y": -2.181043863296509,
                    "z": 0.0025240802206099033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.151719570159912,
                "transform": {
                    "location": {
                        "x": 2219.5849609375,
                        "y": 2524.272216796875,
                        "z": 366.0367431640625
                    },
                    "rotation": {
                        "roll": 0.0018434545490890741,
                        "pitch": -1.8109357357025146,
                        "yaw": 179.92308044433594
                    }
                },
                "velocity": {
                    "x": -7.148693084716797,
                    "y": 0.01079701166599989,
                    "z": -0.20775951445102692
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4189823567867279,
        "expert_target_speed": 5.100065640490746,
        "target_point": [
            9.836607164280855,
            8.501568996370326
        ],
        "target_point_next": [
            9.986212052441767,
            36.501236914236785
        ]
    },
    "255": {
        "acceleration": [
            -0.6497304439544678,
            2.0815277099609375,
            -0.04969557747244835
        ],
        "angular_velocity": [
            -0.8094417452812195,
            0.5139164328575134,
            7.751736640930176
        ],
        "forward_vector": [
            -0.012912181206047535,
            0.9998599886894226,
            0.01064447220414877
        ],
        "right_vector": [
            -0.9999136328697205,
            -0.012937396764755249,
            0.0023035018239170313
        ],
        "location": [
            2184.682373046875,
            2515.864501953125,
            365.13226318359375
        ],
        "rotation": [
            -0.131988525390625,
            0.609894871711731,
            90.73987579345703
        ],
        "velocity": [
            -0.15389874577522278,
            5.230770587921143,
            0.012980661354959011
        ],
        "speed": 5.233034088118678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.14691162109375,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615234375,
                2527.32568359375,
                364.8727111816406
            ],
            "velocity": [
                -0.00018622874631546438,
                -8.852514292811975e-05,
                0.0012690294533967972
            ],
            "speed_kmh": 0.004628420752495746,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7924736738204956,
                "transform": {
                    "location": {
                        "x": 2136.01171875,
                        "y": 2527.302734375,
                        "z": 364.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.12817531824111938,
                        "yaw": -0.08563232421875
                    }
                },
                "velocity": {
                    "x": 0.7890207767486572,
                    "y": 0.007971116341650486,
                    "z": 0.07346614450216293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.333156108856201,
                "transform": {
                    "location": {
                        "x": 2185.070556640625,
                        "y": 2454.661865234375,
                        "z": 364.7171325683594
                    },
                    "rotation": {
                        "roll": 0.0003777471138164401,
                        "pitch": 0.7496815323829651,
                        "yaw": 90.12908172607422
                    }
                },
                "velocity": {
                    "x": -0.022548889741301537,
                    "y": 6.332755088806152,
                    "z": 0.06760198622941971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2306621074676514,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2564.912841796875,
                        "z": 365.10211181640625
                    },
                    "rotation": {
                        "roll": 0.002155500464141369,
                        "pitch": 0.21849091351032257,
                        "yaw": -89.58102416992188
                    }
                },
                "velocity": {
                    "x": 0.002268669195473194,
                    "y": -1.2306485176086426,
                    "z": 0.0053134155459702015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.486013889312744,
                "transform": {
                    "location": {
                        "x": 2156.078369140625,
                        "y": 2527.35546875,
                        "z": 364.7400207519531
                    },
                    "rotation": {
                        "roll": 0.00045281596248969436,
                        "pitch": -0.056000716984272,
                        "yaw": -0.0923767015337944
                    }
                },
                "velocity": {
                    "x": 6.485995292663574,
                    "y": -0.011229920201003551,
                    "z": 0.010801343247294426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012856724206358194,
                "transform": {
                    "location": {
                        "x": 2170.615234375,
                        "y": 2527.32568359375,
                        "z": 364.8727111816406
                    },
                    "rotation": {
                        "roll": 0.0024503914173692465,
                        "pitch": 0.8991670608520508,
                        "yaw": 0.011463606730103493
                    }
                },
                "velocity": {
                    "x": -0.00018622874631546438,
                    "y": -8.852514292811975e-05,
                    "z": 0.0012690294533967972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9713480472564697,
                "transform": {
                    "location": {
                        "x": 2200.95361328125,
                        "y": 2524.326904296875,
                        "z": 365.51953125
                    },
                    "rotation": {
                        "roll": 0.032254114747047424,
                        "pitch": -1.435487151145935,
                        "yaw": 179.18243408203125
                    }
                },
                "velocity": {
                    "x": -2.9658801555633545,
                    "y": 0.1644921600818634,
                    "z": -0.07353752106428146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0957697668345645e-05,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": 9.051529445969209e-07,
                    "y": 1.0865778676816262e-05,
                    "z": 1.0893568287428934e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7978971004486084,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2470.342041015625,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0018441756255924702,
                        "pitch": 0.42733076214790344,
                        "yaw": 90.0873794555664
                    }
                },
                "velocity": {
                    "x": -0.006287400145083666,
                    "y": 2.7977867126464844,
                    "z": 0.024044379591941833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00118023413233459,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -3.051757266803179e-05,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.83200073242188
                    }
                },
                "velocity": {
                    "x": 9.655170288169757e-06,
                    "y": 7.665459634154104e-06,
                    "z": 0.0011801697546616197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007165791466832161,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 6.967224180698395e-06,
                    "y": -1.0924941307166591e-05,
                    "z": 0.0007164619746617973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2721054255962372,
                "transform": {
                    "location": {
                        "x": 2236.943359375,
                        "y": 2524.330322265625,
                        "z": 366.4708557128906
                    },
                    "rotation": {
                        "roll": 0.0012586620869114995,
                        "pitch": -1.7895231246948242,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -0.008221399039030075,
                    "y": 9.299698285758495e-05,
                    "z": 0.2719811797142029
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.845554232597351,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2483.971923828125,
                        "z": 364.97979736328125
                    },
                    "rotation": {
                        "roll": -0.00021364912390708923,
                        "pitch": 0.4161292612552643,
                        "yaw": 90.05438995361328
                    }
                },
                "velocity": {
                    "x": -0.0014849641593173146,
                    "y": 1.8455034494400024,
                    "z": 0.013606719672679901
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2389378547668457,
                "transform": {
                    "location": {
                        "x": 2185.015380859375,
                        "y": 2496.374267578125,
                        "z": 365.0602111816406
                    },
                    "rotation": {
                        "roll": -0.0005798385245725513,
                        "pitch": 0.26440343260765076,
                        "yaw": 90.1027603149414
                    }
                },
                "velocity": {
                    "x": -0.004506054800003767,
                    "y": 3.2388877868652344,
                    "z": 0.017430657520890236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6831655502319336,
                "transform": {
                    "location": {
                        "x": 2187.898681640625,
                        "y": 2550.317138671875,
                        "z": 365.1540832519531
                    },
                    "rotation": {
                        "roll": -0.007843024097383022,
                        "pitch": -0.30791857838630676,
                        "yaw": -89.52526092529297
                    }
                },
                "velocity": {
                    "x": 0.003516246797516942,
                    "y": -0.6831539869308472,
                    "z": 0.0018544768681749701
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.749818325042725,
                "transform": {
                    "location": {
                        "x": 2217.850830078125,
                        "y": 2524.27490234375,
                        "z": 365.9857482910156
                    },
                    "rotation": {
                        "roll": 0.0007580753299407661,
                        "pitch": -1.7296086549758911,
                        "yaw": 179.9085693359375
                    }
                },
                "velocity": {
                    "x": -6.747000694274902,
                    "y": 0.011884001083672047,
                    "z": -0.19465190172195435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2534630596637726,
        "expert_target_speed": 5.84865843588573,
        "target_point": [
            8.70879584436379,
            8.401702692443079
        ],
        "target_point_next": [
            9.131776784953686,
            36.39857523666236
        ]
    },
    "260": {
        "acceleration": [
            -1.4113736152648926,
            -0.9298992156982422,
            -0.11332531273365021
        ],
        "angular_velocity": [
            -1.0595799684524536,
            0.6878648400306702,
            8.701818466186523
        ],
        "forward_vector": [
            -0.03813638165593147,
            0.9992642998695374,
            0.004049170296639204
        ],
        "right_vector": [
            -0.9992614984512329,
            -0.03815469518303871,
            0.004546495620161295
        ],
        "location": [
            2184.623779296875,
            2517.123779296875,
            365.1363220214844
        ],
        "rotation": [
            -0.260498046875,
            0.23200102150440216,
            92.18560028076172
        ],
        "velocity": [
            -0.38879889249801636,
            4.947605133056641,
            0.0058190724812448025
        ],
        "speed": 4.962858161529111,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.331504821777344,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.87225341796875
            ],
            "velocity": [
                -9.912833047565073e-05,
                -5.473737110150978e-05,
                0.001246153493411839
            ],
            "speed_kmh": 0.004504636046067784,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.013702630996704,
                "transform": {
                    "location": {
                        "x": 2136.385009765625,
                        "y": 2527.306396484375,
                        "z": 364.8006286621094
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": -0.040250301361083984,
                        "yaw": 0.17858180403709412
                    }
                },
                "velocity": {
                    "x": 2.0135982036590576,
                    "y": 0.01947963610291481,
                    "z": 0.006406182888895273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7766304016113281,
                "transform": {
                    "location": {
                        "x": 2185.0634765625,
                        "y": 2455.5693359375,
                        "z": 364.7242431640625
                    },
                    "rotation": {
                        "roll": -0.01281740888953209,
                        "pitch": 1.0389058589935303,
                        "yaw": 88.8232421875
                    }
                },
                "velocity": {
                    "x": 0.003458190243691206,
                    "y": 1.7765263319015503,
                    "z": 0.018909912556409836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8721227645874023,
                "transform": {
                    "location": {
                        "x": 2187.870361328125,
                        "y": 2564.548583984375,
                        "z": 365.103271484375
                    },
                    "rotation": {
                        "roll": 0.0010904010850936174,
                        "pitch": 0.2703252136707306,
                        "yaw": -89.61494445800781
                    }
                },
                "velocity": {
                    "x": 0.009087726473808289,
                    "y": -1.8720890283584595,
                    "z": 0.006626519840210676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.234856605529785,
                "transform": {
                    "location": {
                        "x": 2157.666259765625,
                        "y": 2527.3525390625,
                        "z": 364.74346923828125
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.15991520881652832,
                        "yaw": -0.0991821363568306
                    }
                },
                "velocity": {
                    "x": 6.234834671020508,
                    "y": -0.010737283155322075,
                    "z": 0.012505616992712021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012512877583503723,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.87225341796875
                    },
                    "rotation": {
                        "roll": 0.0029926681891083717,
                        "pitch": 0.9646685719490051,
                        "yaw": 0.011525553651154041
                    }
                },
                "velocity": {
                    "x": -9.912833047565073e-05,
                    "y": -5.473737110150978e-05,
                    "z": 0.001246153493411839
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.21536974608898163,
                "transform": {
                    "location": {
                        "x": 2200.435302734375,
                        "y": 2524.3505859375,
                        "z": 365.50726318359375
                    },
                    "rotation": {
                        "roll": 0.031248589977622032,
                        "pitch": -1.4854704141616821,
                        "yaw": 178.36517333984375
                    }
                },
                "velocity": {
                    "x": -0.2150961309671402,
                    "y": 0.00956870149821043,
                    "z": -0.005120592191815376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003396132669877261,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": -2.883255001506768e-05,
                    "y": -9.872340342553798e-06,
                    "z": -0.0003382430877536535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8189287185668945,
                "transform": {
                    "location": {
                        "x": 2185.0419921875,
                        "y": 2471.167724609375,
                        "z": 364.8797302246094
                    },
                    "rotation": {
                        "roll": 0.0014427374117076397,
                        "pitch": 0.39032480120658875,
                        "yaw": 90.09288787841797
                    }
                },
                "velocity": {
                    "x": -0.007445248309522867,
                    "y": 3.818772077560425,
                    "z": 0.03379172086715698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002857753715943545,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -2.6055291604820674e-11,
                        "pitch": 0.21816305816173553,
                        "yaw": -179.8319854736328
                    }
                },
                "velocity": {
                    "x": 1.87953937711427e-05,
                    "y": 2.044248276433791e-06,
                    "z": 0.00028514928999356925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005592955858446658,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1922194971702993e-05,
                    "y": 1.825607796490658e-05,
                    "z": 0.0005588704370893538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.41866186261177063,
                "transform": {
                    "location": {
                        "x": 2236.921630859375,
                        "y": 2524.329833984375,
                        "z": 366.5594787597656
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -1.7325730323791504,
                        "yaw": 179.8634796142578
                    }
                },
                "velocity": {
                    "x": -0.33011549711227417,
                    "y": -0.004477300215512514,
                    "z": 0.2574518620967865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9146877527236938,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2484.482177734375,
                        "z": 364.9835510253906
                    },
                    "rotation": {
                        "roll": -0.0005188002251088619,
                        "pitch": 0.40130773186683655,
                        "yaw": 90.06123352050781
                    }
                },
                "velocity": {
                    "x": -0.0030907245818525553,
                    "y": 1.9146385192871094,
                    "z": 0.013375520706176758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5213990211486816,
                "transform": {
                    "location": {
                        "x": 2185.013427734375,
                        "y": 2497.199462890625,
                        "z": 365.06451416015625
                    },
                    "rotation": {
                        "roll": -0.0011901890393346548,
                        "pitch": 0.29046744108200073,
                        "yaw": 90.09711456298828
                    }
                },
                "velocity": {
                    "x": -0.004762514494359493,
                    "y": 3.5213475227355957,
                    "z": 0.018453329801559448
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0029190871864557266,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.258544921875,
                        "z": 365.1539001464844
                    },
                    "rotation": {
                        "roll": -0.005065913777798414,
                        "pitch": -0.21136702597141266,
                        "yaw": -89.54379272460938
                    }
                },
                "velocity": {
                    "x": 0.0002300350897712633,
                    "y": 0.002776086563244462,
                    "z": 0.000872638076543808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.481510639190674,
                "transform": {
                    "location": {
                        "x": 2216.199951171875,
                        "y": 2524.27783203125,
                        "z": 365.93853759765625
                    },
                    "rotation": {
                        "roll": 0.00026861726655624807,
                        "pitch": -1.713011384010315,
                        "yaw": 179.89569091796875
                    }
                },
                "velocity": {
                    "x": -6.478885173797607,
                    "y": 0.012823791243135929,
                    "z": -0.1840207576751709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1480942815542221,
        "expert_target_speed": 5.559632468513619,
        "target_point": [
            7.657434859374801,
            8.16874429804048
        ],
        "target_point_next": [
            8.78675217423353,
            36.14602843241853
        ]
    },
    "265": {
        "acceleration": [
            -1.8900203704833984,
            -4.319448471069336,
            0.004292866215109825
        ],
        "angular_velocity": [
            -1.2909380197525024,
            0.7781885266304016,
            18.30785369873047
        ],
        "forward_vector": [
            -0.098951555788517,
            0.9950910806655884,
            -0.0015228980919346213
        ],
        "right_vector": [
            -0.9950467348098755,
            -0.09893226623535156,
            0.009719308465719223
        ],
        "location": [
            2184.47705078125,
            2518.253662109375,
            365.1392517089844
        ],
        "rotation": [
            -0.556884765625,
            -0.08725566416978836,
            95.6788101196289
        ],
        "velocity": [
            -0.8509915471076965,
            4.045277118682861,
            0.005847282242029905
        ],
        "speed": 4.133818280982833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.568527221679688,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8722229003906
            ],
            "velocity": [
                -4.834607170778327e-05,
                -2.003189547394868e-05,
                0.0006094799027778208
            ],
            "speed_kmh": 0.0022022008657322477,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4041590690612793,
                "transform": {
                    "location": {
                        "x": 2137.06005859375,
                        "y": 2527.31396484375,
                        "z": 364.7994689941406
                    },
                    "rotation": {
                        "roll": -0.007263183128088713,
                        "pitch": -0.010620943270623684,
                        "yaw": 0.39559751749038696
                    }
                },
                "velocity": {
                    "x": 3.4039454460144043,
                    "y": 0.036529991775751114,
                    "z": -0.01102178543806076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6163220405578613,
                "transform": {
                    "location": {
                        "x": 2185.064208984375,
                        "y": 2456.12060546875,
                        "z": 364.73345947265625
                    },
                    "rotation": {
                        "roll": -0.0018005293095484376,
                        "pitch": 0.6264376044273376,
                        "yaw": 89.1366195678711
                    }
                },
                "velocity": {
                    "x": -0.00852788146585226,
                    "y": 2.6161677837371826,
                    "z": 0.027104118838906288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0636658668518066,
                "transform": {
                    "location": {
                        "x": 2187.877685546875,
                        "y": 2564.0986328125,
                        "z": 365.1050720214844
                    },
                    "rotation": {
                        "roll": -0.0006408839835785329,
                        "pitch": 0.2643214762210846,
                        "yaw": -90.15862274169922
                    }
                },
                "velocity": {
                    "x": 0.005658664740622044,
                    "y": -2.0636367797851562,
                    "z": 0.009400262497365475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9019603729248047,
                "transform": {
                    "location": {
                        "x": 2158.986083984375,
                        "y": 2527.35009765625,
                        "z": 364.7468566894531
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.10390765964984894,
                        "yaw": 0.16403841972351074
                    }
                },
                "velocity": {
                    "x": 2.9019105434417725,
                    "y": -0.00894474983215332,
                    "z": 0.01445425022393465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000611722469329834,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8722229003906
                    },
                    "rotation": {
                        "roll": 0.0031149485148489475,
                        "pitch": 0.9682134389877319,
                        "yaw": 0.01154861506074667
                    }
                },
                "velocity": {
                    "x": -4.834607170778327e-05,
                    "y": -2.003189547394868e-05,
                    "z": 0.0006094799027778208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008605956099927425,
                "transform": {
                    "location": {
                        "x": 2200.43408203125,
                        "y": 2524.3505859375,
                        "z": 365.50689697265625
                    },
                    "rotation": {
                        "roll": 0.03437298163771629,
                        "pitch": -1.453914999961853,
                        "yaw": 178.3597869873047
                    }
                },
                "velocity": {
                    "x": 5.638524817186408e-05,
                    "y": -0.00044566564611159265,
                    "z": -0.0007340488373301923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005156421684660017,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": -2.5210585590684786e-05,
                    "y": -1.6943179161899025e-06,
                    "z": -0.0005150227225385606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.919699668884277,
                "transform": {
                    "location": {
                        "x": 2185.0400390625,
                        "y": 2472.267822265625,
                        "z": 364.8893737792969
                    },
                    "rotation": {
                        "roll": 0.0015266065020114183,
                        "pitch": 0.37480661273002625,
                        "yaw": 90.09099578857422
                    }
                },
                "velocity": {
                    "x": -0.007891114801168442,
                    "y": 4.919520378112793,
                    "z": 0.04125397652387619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001120815402828157,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": 0.2181015908718109,
                        "yaw": -179.83197021484375
                    }
                },
                "velocity": {
                    "x": 6.616860446229111e-06,
                    "y": -4.875408194493502e-06,
                    "z": 0.0011207852512598038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013741939328610897,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.5328005247283727e-05,
                    "y": -1.278872605325887e-05,
                    "z": 0.0013740489957854152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9558727145195007,
                "transform": {
                    "location": {
                        "x": 2236.743896484375,
                        "y": 2524.32763671875,
                        "z": 366.5759582519531
                    },
                    "rotation": {
                        "roll": -0.0070800757966935635,
                        "pitch": -1.6252707242965698,
                        "yaw": 179.9092559814453
                    }
                },
                "velocity": {
                    "x": -0.9539422392845154,
                    "y": -0.015063661150634289,
                    "z": -0.05882076546549797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8401768207550049,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2484.91845703125,
                        "z": 364.9864807128906
                    },
                    "rotation": {
                        "roll": -9.155626321444288e-05,
                        "pitch": 0.4135337769985199,
                        "yaw": 90.06684112548828
                    }
                },
                "velocity": {
                    "x": -0.003243173472583294,
                    "y": 1.840118646621704,
                    "z": 0.014270085841417313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8791706562042236,
                "transform": {
                    "location": {
                        "x": 2185.011474609375,
                        "y": 2498.167236328125,
                        "z": 365.06988525390625
                    },
                    "rotation": {
                        "roll": 0.0012539137387648225,
                        "pitch": 0.26915040612220764,
                        "yaw": 90.09349060058594
                    }
                },
                "velocity": {
                    "x": -0.006515051703900099,
                    "y": 3.879103660583496,
                    "z": 0.021816624328494072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0022918786853551865,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.25732421875,
                        "z": 365.1531982421875
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.021030152216553688,
                        "yaw": -89.54385375976562
                    }
                },
                "velocity": {
                    "x": 0.000172457133885473,
                    "y": 0.0016436947043985128,
                    "z": 0.0015878395643085241
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5915353298187256,
                "transform": {
                    "location": {
                        "x": 2214.901123046875,
                        "y": 2524.280029296875,
                        "z": 365.9059753417969
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -2.2727863788604736,
                        "yaw": 179.8902130126953
                    }
                },
                "velocity": {
                    "x": -2.590425968170166,
                    "y": 0.004874132107943296,
                    "z": -0.07565926015377045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3664570450782776,
        "expert_target_speed": 4.78685982504391,
        "target_point": [
            7.002070162041827,
            7.652797490094044
        ],
        "target_point_next": [
            9.833936320948688,
            35.509292588928716
        ]
    },
    "270": {
        "acceleration": [
            -0.25936365127563477,
            -3.546595573425293,
            0.07374763488769531
        ],
        "angular_velocity": [
            -0.12554502487182617,
            -0.8235241770744324,
            20.416101455688477
        ],
        "forward_vector": [
            -0.18790563941001892,
            0.9821749925613403,
            -0.004885773174464703
        ],
        "right_vector": [
            -0.9821492433547974,
            -0.1878523826599121,
            0.009716007858514786
        ],
        "location": [
            2184.23828125,
            2519.13427734375,
            365.1407470703125
        ],
        "rotation": [
            -0.5567016005516052,
            -0.2799353003501892,
            100.83071899414062
        ],
        "velocity": [
            -1.1270767450332642,
            3.0738160610198975,
            0.004174251575022936
        ],
        "speed": 3.273934508535358,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.898176193237305,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -4.0080398321151733e-05,
                8.403931701650436e-07,
                0.0002687433734536171
            ],
            "speed_kmh": 0.0009781813144488034,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.878572940826416,
                "transform": {
                    "location": {
                        "x": 2138.108642578125,
                        "y": 2527.3251953125,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": 0.0018387282034382224,
                        "pitch": 0.010812188498675823,
                        "yaw": 0.5137356519699097
                    }
                },
                "velocity": {
                    "x": 4.878424644470215,
                    "y": 0.033488236367702484,
                    "z": -0.018041376024484634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6268808841705322,
                "transform": {
                    "location": {
                        "x": 2185.064697265625,
                        "y": 2456.901123046875,
                        "z": 364.74261474609375
                    },
                    "rotation": {
                        "roll": -0.002899185288697481,
                        "pitch": 0.5147503614425659,
                        "yaw": 89.45811462402344
                    }
                },
                "velocity": {
                    "x": -0.00912554282695055,
                    "y": 3.6266632080078125,
                    "z": 0.03866487368941307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0463848114013672,
                "transform": {
                    "location": {
                        "x": 2187.87109375,
                        "y": 2563.687744140625,
                        "z": 365.1070556640625
                    },
                    "rotation": {
                        "roll": 0.001431642915122211,
                        "pitch": 0.22807367146015167,
                        "yaw": -89.45858001708984
                    }
                },
                "velocity": {
                    "x": -0.004847433418035507,
                    "y": -1.0463621616363525,
                    "z": 0.004900588653981686
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.761172354221344,
                "transform": {
                    "location": {
                        "x": 2159.171875,
                        "y": 2527.349609375,
                        "z": 364.7484436035156
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.06716807931661606,
                        "yaw": 0.1908586621284485
                    }
                },
                "velocity": {
                    "x": 0.761146068572998,
                    "y": -3.814393494394608e-05,
                    "z": 0.0063269613310694695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002717170282267034,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -4.0080398321151733e-05,
                    "y": 8.403931701650436e-07,
                    "z": 0.0002687433734536171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002625912893563509,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.506591796875
                    },
                    "rotation": {
                        "roll": 0.03786928579211235,
                        "pitch": -1.4210139513015747,
                        "yaw": 178.3597412109375
                    }
                },
                "velocity": {
                    "x": -3.530427784426138e-05,
                    "y": -0.0001970903540495783,
                    "z": -0.00016989167488645762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1430388339213096e-06,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": 1.527421204627899e-06,
                    "y": 3.0671043305119383e-07,
                    "z": 4.901404281554278e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.956596851348877,
                "transform": {
                    "location": {
                        "x": 2185.0380859375,
                        "y": 2473.55126953125,
                        "z": 364.8997497558594
                    },
                    "rotation": {
                        "roll": 9.687974670669064e-05,
                        "pitch": 0.4602659344673157,
                        "yaw": 90.08906555175781
                    }
                },
                "velocity": {
                    "x": -0.007725886069238186,
                    "y": 4.956409931182861,
                    "z": 0.04235647991299629
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.2951966507826e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0002577520499471575,
                        "pitch": 0.21795132756233215,
                        "yaw": -179.83197021484375
                    }
                },
                "velocity": {
                    "x": 8.319467269757297e-06,
                    "y": 1.0873885003093164e-05,
                    "z": 9.193809819407761e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005505093140527606,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1906399777217302e-05,
                    "y": -2.059760481643025e-05,
                    "z": 0.0005499949911609292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9406132698059082,
                "transform": {
                    "location": {
                        "x": 2236.37744140625,
                        "y": 2524.32568359375,
                        "z": 366.5503845214844
                    },
                    "rotation": {
                        "roll": -0.004241943825036287,
                        "pitch": -1.5598101615905762,
                        "yaw": -179.97454833984375
                    }
                },
                "velocity": {
                    "x": -1.9376329183578491,
                    "y": -0.012723186053335667,
                    "z": -0.10675554722547531
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.687354803085327,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2485.48583984375,
                        "z": 364.9909362792969
                    },
                    "rotation": {
                        "roll": 0.0012966232607141137,
                        "pitch": 0.32944050431251526,
                        "yaw": 90.0784912109375
                    }
                },
                "velocity": {
                    "x": -0.0045568253844976425,
                    "y": 2.6872949600219727,
                    "z": 0.017337141558527946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3902242183685303,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2499.072509765625,
                        "z": 365.0743408203125
                    },
                    "rotation": {
                        "roll": -0.0006713971379213035,
                        "pitch": 0.32688599824905396,
                        "yaw": 90.08850860595703
                    }
                },
                "velocity": {
                    "x": -0.004013857338577509,
                    "y": 3.390166759490967,
                    "z": 0.019325342029333115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003904221812263131,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.2568359375,
                        "z": 365.1529541015625
                    },
                    "rotation": {
                        "roll": 0.00024622370256111026,
                        "pitch": 0.04829626530408859,
                        "yaw": -89.54385375976562
                    }
                },
                "velocity": {
                    "x": 0.00016200871323235333,
                    "y": 0.0003393086662981659,
                    "z": 0.00010512979497434571
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.43076348304748535,
                "transform": {
                    "location": {
                        "x": 2214.759765625,
                        "y": 2524.2802734375,
                        "z": 365.904052734375
                    },
                    "rotation": {
                        "roll": -0.0019836430437862873,
                        "pitch": -2.567502021789551,
                        "yaw": 179.8796844482422
                    }
                },
                "velocity": {
                    "x": -0.43059268593788147,
                    "y": 0.0011919621611014009,
                    "z": -0.012070455588400364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.45004263520240784,
        "expert_target_speed": 3.970537610639567,
        "target_point": [
            6.75118391628661,
            6.924076003460726
        ],
        "target_point_next": [
            12.07303318832268,
            34.413741433565384
        ]
    },
    "275": {
        "acceleration": [
            -0.21953105926513672,
            -2.759881019592285,
            -0.04719581454992294
        ],
        "angular_velocity": [
            -1.0663232803344727,
            -0.5285956859588623,
            18.391965866088867
        ],
        "forward_vector": [
            -0.2693312168121338,
            0.9630053639411926,
            -0.00901472195982933
        ],
        "right_vector": [
            -0.9630277156829834,
            -0.26925376057624817,
            0.008940815925598145
        ],
        "location": [
            2183.971435546875,
            2519.803955078125,
            365.136474609375
        ],
        "rotation": [
            -0.5122986435890198,
            -0.5165125131607056,
            105.62512969970703
        ],
        "velocity": [
            -1.1491584777832031,
            2.3263745307922363,
            -0.033299192786216736
        ],
        "speed": 2.594722271184299,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.330617904663086,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -4.1549203160684556e-05,
                -6.914933692314662e-06,
                0.0005005192942917347
            ],
            "speed_kmh": 0.0018082385258815302,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.461371898651123,
                "transform": {
                    "location": {
                        "x": 2139.437744140625,
                        "y": 2527.333740234375,
                        "z": 364.7908935546875
                    },
                    "rotation": {
                        "roll": 0.002332327188923955,
                        "pitch": -0.09911970049142838,
                        "yaw": 0.4012461006641388
                    }
                },
                "velocity": {
                    "x": 5.461228370666504,
                    "y": 0.03338267654180527,
                    "z": -0.021322470158338547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.729626655578613,
                "transform": {
                    "location": {
                        "x": 2185.06494140625,
                        "y": 2457.951904296875,
                        "z": 364.7538146972656
                    },
                    "rotation": {
                        "roll": 0.0001623830321477726,
                        "pitch": 0.49134328961372375,
                        "yaw": 89.73639678955078
                    }
                },
                "velocity": {
                    "x": -0.012242564000189304,
                    "y": 4.7293548583984375,
                    "z": 0.049220867455005646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.588893473148346,
                "transform": {
                    "location": {
                        "x": 2187.870849609375,
                        "y": 2563.400634765625,
                        "z": 365.1084289550781
                    },
                    "rotation": {
                        "roll": 0.0007828878588043153,
                        "pitch": 0.18640951812267303,
                        "yaw": -89.40264892578125
                    }
                },
                "velocity": {
                    "x": 0.00199522590264678,
                    "y": -0.5888884663581848,
                    "z": -0.0013763236347585917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8240008354187012,
                "transform": {
                    "location": {
                        "x": 2159.5166015625,
                        "y": 2527.349609375,
                        "z": 364.75091552734375
                    },
                    "rotation": {
                        "roll": 0.0014813493471592665,
                        "pitch": 0.34401610493659973,
                        "yaw": 0.17036260664463043
                    }
                },
                "velocity": {
                    "x": 1.8239787817001343,
                    "y": -0.0003082122711930424,
                    "z": 0.008969010785222054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005022884579375386,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -4.1549203160684556e-05,
                    "y": -6.914933692314662e-06,
                    "z": 0.0005005192942917347
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00044517224887385964,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.038308605551719666,
                        "pitch": -1.4167450666427612,
                        "yaw": 178.35971069335938
                    }
                },
                "velocity": {
                    "x": -2.6104598873644136e-05,
                    "y": 1.588088707649149e-05,
                    "z": -0.0004441223863977939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005899363313801587,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2539.8603515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0008239758317358792,
                        "pitch": -0.02868679352104664,
                        "yaw": -91.67015838623047
                    }
                },
                "velocity": {
                    "x": -4.438766609382583e-06,
                    "y": -2.932429197244346e-06,
                    "z": -0.0005899123498238623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2019868940114975,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2474.177490234375,
                        "z": 364.9015197753906
                    },
                    "rotation": {
                        "roll": -0.00039675598964095116,
                        "pitch": 0.8607540726661682,
                        "yaw": 90.1077880859375
                    }
                },
                "velocity": {
                    "x": 0.0012434859527274966,
                    "y": 0.20197442173957825,
                    "z": 0.0018679331988096237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011346397222951055,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 9.427843906451017e-05,
                        "pitch": 0.21820403635501862,
                        "yaw": -179.8319549560547
                    }
                },
                "velocity": {
                    "x": 7.646791345905513e-06,
                    "y": -7.007856311247451e-06,
                    "z": 0.001134592341259122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.607846260070801,
                "transform": {
                    "location": {
                        "x": 2235.675048828125,
                        "y": 2524.32177734375,
                        "z": 366.5230407714844
                    },
                    "rotation": {
                        "roll": -0.013854979537427425,
                        "pitch": -1.4155224561691284,
                        "yaw": -179.85879516601562
                    }
                },
                "velocity": {
                    "x": -3.6061317920684814,
                    "y": -0.024836203083395958,
                    "z": -0.10839759558439255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6787593364715576,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2486.280029296875,
                        "z": 364.99652099609375
                    },
                    "rotation": {
                        "roll": 0.0017951219342648983,
                        "pitch": 0.2900712788105011,
                        "yaw": 90.08322143554688
                    }
                },
                "velocity": {
                    "x": -0.006829745601862669,
                    "y": 3.678666830062866,
                    "z": 0.025186290964484215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2958974838256836,
                "transform": {
                    "location": {
                        "x": 2185.008056640625,
                        "y": 2499.907958984375,
                        "z": 365.0788269042969
                    },
                    "rotation": {
                        "roll": -0.000549317745026201,
                        "pitch": 0.30567145347595215,
                        "yaw": 90.08314514160156
                    }
                },
                "velocity": {
                    "x": -0.0035047840792685747,
                    "y": 3.295851945877075,
                    "z": 0.01694953814148903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003853817761410028,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.256591796875,
                        "z": 365.15289306640625
                    },
                    "rotation": {
                        "roll": 0.0006063065375201404,
                        "pitch": 0.07500230520963669,
                        "yaw": -89.5438461303711
                    }
                },
                "velocity": {
                    "x": 7.357127469731495e-05,
                    "y": 0.0002634352713357657,
                    "z": 0.00027149260859005153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8632752299308777,
                "transform": {
                    "location": {
                        "x": 2214.576416015625,
                        "y": 2524.280517578125,
                        "z": 365.890380859375
                    },
                    "rotation": {
                        "roll": -0.0014038081280887127,
                        "pitch": -1.5024707317352295,
                        "yaw": 179.88096618652344
                    }
                },
                "velocity": {
                    "x": -0.862923264503479,
                    "y": 0.0011818772181868553,
                    "z": -0.024620475247502327
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4653943181037903,
        "expert_target_speed": 3.3073710652074344,
        "target_point": [
            6.58947647073884,
            6.258970360491453
        ],
        "target_point_next": [
            14.190301722754482,
            33.20764826167398
        ]
    },
    "280": {
        "acceleration": [
            -0.20226001739501953,
            -1.2437224388122559,
            0.08706528693437576
        ],
        "angular_velocity": [
            -0.20098374783992767,
            -0.9387146830558777,
            19.23731231689453
        ],
        "forward_vector": [
            -0.3481358587741852,
            0.9373575448989868,
            -0.012737047858536243
        ],
        "right_vector": [
            -0.9374390840530396,
            -0.3480572998523712,
            0.008007923141121864
        ],
        "location": [
            2183.693115234375,
            2520.3173828125,
            365.1295471191406
        ],
        "rotation": [
            -0.4588623344898224,
            -0.7297988533973694,
            110.37506866455078
        ],
        "velocity": [
            -1.2310172319412231,
            1.843098521232605,
            -0.025691866874694824
        ],
        "speed": 2.216396982561122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.839376449584961,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -3.0066370527492836e-05,
                2.7511734401741705e-07,
                0.0002647411893121898
            ],
            "speed_kmh": 0.0009591953904158846,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1669921875,
                        "y": 2443.516357421875,
                        "z": 364.8289794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.931868076324463,
                "transform": {
                    "location": {
                        "x": 2140.909912109375,
                        "y": 2527.342041015625,
                        "z": 364.7852783203125
                    },
                    "rotation": {
                        "roll": 0.0016044721705839038,
                        "pitch": 0.0043576606549322605,
                        "yaw": 0.3574535548686981
                    }
                },
                "velocity": {
                    "x": 6.931707382202148,
                    "y": 0.03921814262866974,
                    "z": -0.026232276111841202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3120832443237305,
                "transform": {
                    "location": {
                        "x": 2185.062744140625,
                        "y": 2459.233642578125,
                        "z": 364.7668151855469
                    },
                    "rotation": {
                        "roll": 0.0003494479169603437,
                        "pitch": 0.5198183655738831,
                        "yaw": 89.93628692626953
                    }
                },
                "velocity": {
                    "x": -0.014202814549207687,
                    "y": 5.311797142028809,
                    "z": 0.05328173562884331
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4005450010299683,
                "transform": {
                    "location": {
                        "x": 2187.8701171875,
                        "y": 2562.966552734375,
                        "z": 365.1098327636719
                    },
                    "rotation": {
                        "roll": 0.005954079329967499,
                        "pitch": 0.2622792422771454,
                        "yaw": -89.11397552490234
                    }
                },
                "velocity": {
                    "x": -0.01455594226717949,
                    "y": -1.4004604816436768,
                    "z": 0.004994859453290701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.310166597366333,
                "transform": {
                    "location": {
                        "x": 2160.070556640625,
                        "y": 2527.349365234375,
                        "z": 364.7538146972656
                    },
                    "rotation": {
                        "roll": 0.0019221437396481633,
                        "pitch": 0.3702850341796875,
                        "yaw": 0.09489799290895462
                    }
                },
                "velocity": {
                    "x": 2.3101401329040527,
                    "y": -0.0019159169169142842,
                    "z": 0.010905589908361435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026644315221346915,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -3.0066370527492836e-05,
                    "y": 2.7511734401741705e-07,
                    "z": 0.0002647411893121898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.947588503360748e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.038308605551719666,
                        "pitch": -1.4167450666427612,
                        "yaw": 178.35971069335938
                    }
                },
                "velocity": {
                    "x": -3.777325036935508e-05,
                    "y": -1.3608867448056117e-05,
                    "z": -7.996195927262306e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.008254257962107658,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2539.8583984375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 0.0009260451188310981,
                        "pitch": -0.02099600061774254,
                        "yaw": -91.67193603515625
                    }
                },
                "velocity": {
                    "x": 0.00047244084998965263,
                    "y": 0.008230730891227722,
                    "z": 0.00040576932951807976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.091785192489624,
                "transform": {
                    "location": {
                        "x": 2185.037841796875,
                        "y": 2474.31787109375,
                        "z": 364.9054870605469
                    },
                    "rotation": {
                        "roll": 0.00044125854037702084,
                        "pitch": 0.5129881501197815,
                        "yaw": 90.1637954711914
                    }
                },
                "velocity": {
                    "x": -0.001795047428458929,
                    "y": 1.0917521715164185,
                    "z": 0.00829373300075531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009679858339950442,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0004895749734714627,
                        "pitch": 0.21856604516506195,
                        "yaw": -179.8319549560547
                    }
                },
                "velocity": {
                    "x": 2.7041658540838398e-05,
                    "y": -2.801893742798711e-06,
                    "z": 0.0009676039917394519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008435037452727556,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.134841664286796e-06,
                    "y": 1.181137758976547e-05,
                    "z": 0.0008433818584308028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.200687408447266,
                "transform": {
                    "location": {
                        "x": 2234.506591796875,
                        "y": 2524.314697265625,
                        "z": 366.4886779785156
                    },
                    "rotation": {
                        "roll": -0.018371576443314552,
                        "pitch": -1.313165307044983,
                        "yaw": -179.7350311279297
                    }
                },
                "velocity": {
                    "x": -5.198428630828857,
                    "y": -0.03750587999820709,
                    "z": -0.1486022174358368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.792368412017822,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2487.346923828125,
                        "z": 365.00390625
                    },
                    "rotation": {
                        "roll": -0.0006714065093547106,
                        "pitch": 0.2616235613822937,
                        "yaw": 90.07951354980469
                    }
                },
                "velocity": {
                    "x": -0.0048853931948542595,
                    "y": 4.792265892028809,
                    "z": 0.03097677230834961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.019294023513794,
                "transform": {
                    "location": {
                        "x": 2185.006591796875,
                        "y": 2500.690185546875,
                        "z": 365.0827331542969
                    },
                    "rotation": {
                        "roll": -0.00018309714505448937,
                        "pitch": 0.31358763575553894,
                        "yaw": 90.08124542236328
                    }
                },
                "velocity": {
                    "x": -0.004455280024558306,
                    "y": 3.019244909286499,
                    "z": 0.016626043245196342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002638602745719254,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.256591796875,
                        "z": 365.15283203125
                    },
                    "rotation": {
                        "roll": 0.000422048062318936,
                        "pitch": 0.08160709589719772,
                        "yaw": -89.54385375976562
                    }
                },
                "velocity": {
                    "x": 4.2314342863392085e-05,
                    "y": 0.00010831704275915399,
                    "z": -0.00023685260384809226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9162299633026123,
                "transform": {
                    "location": {
                        "x": 2214.3515625,
                        "y": 2524.280517578125,
                        "z": 365.8839416503906
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": -1.5102776288986206,
                        "yaw": 179.884033203125
                    }
                },
                "velocity": {
                    "x": -0.9158626198768616,
                    "y": 0.002100779442116618,
                    "z": -0.025855468586087227
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.472710520029068,
        "expert_target_speed": 2.9136799115597873,
        "target_point": [
            6.506929451192756,
            5.6096666133333
        ],
        "target_point_next": [
            16.313202831651626,
            31.83638557551127
        ]
    },
    "285": {
        "acceleration": [
            -1.5490436553955078,
            0.07180213928222656,
            -0.003872700035572052
        ],
        "angular_velocity": [
            0.0008840692462399602,
            -0.2608053684234619,
            21.664541244506836
        ],
        "forward_vector": [
            -0.42972373962402344,
            0.9028549194335938,
            -0.013803757727146149
        ],
        "right_vector": [
            -0.9029598236083984,
            -0.4296909272670746,
            0.0054131317883729935
        ],
        "location": [
            2183.37939453125,
            2520.7607421875,
            365.1246337890625
        ],
        "rotation": [
            -0.3101806640625,
            -0.790922224521637,
            115.45262145996094
        ],
        "velocity": [
            -1.467458963394165,
            1.7194645404815674,
            -0.019167833030223846
        ],
        "speed": 2.2605296094542457,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.355477333068848,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -5.335479727364145e-05,
                1.2063734175171703e-05,
                0.0011424660915508866
            ],
            "speed_kmh": 0.004117589666042045,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16552734375,
                        "y": 2444.97607421875,
                        "z": 364.714599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.19841194152832,
                "transform": {
                    "location": {
                        "x": 2142.83837890625,
                        "y": 2527.352783203125,
                        "z": 364.77789306640625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.008940717205405235,
                        "yaw": 0.320583701133728
                    }
                },
                "velocity": {
                    "x": 8.1982421875,
                    "y": 0.04368496686220169,
                    "z": -0.029569415375590324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.583693504333496,
                "transform": {
                    "location": {
                        "x": 2185.0595703125,
                        "y": 2460.613037109375,
                        "z": 364.7806091308594
                    },
                    "rotation": {
                        "roll": 0.0009826273890212178,
                        "pitch": 0.5215805172920227,
                        "yaw": 90.04750061035156
                    }
                },
                "velocity": {
                    "x": -0.016672099009156227,
                    "y": 5.583388328552246,
                    "z": 0.0559702105820179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.748956322669983,
                "transform": {
                    "location": {
                        "x": 2187.8681640625,
                        "y": 2562.553955078125,
                        "z": 365.1115417480469
                    },
                    "rotation": {
                        "roll": 0.0027455389499664307,
                        "pitch": 0.2671765089035034,
                        "yaw": -88.9698715209961
                    }
                },
                "velocity": {
                    "x": 0.011180716566741467,
                    "y": -1.7489045858383179,
                    "z": 0.007508554495871067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002070925896987319,
                "transform": {
                    "location": {
                        "x": 2160.296875,
                        "y": 2527.349365234375,
                        "z": 364.7544860839844
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": 0.025326339527964592,
                        "yaw": 0.06875581294298172
                    }
                },
                "velocity": {
                    "x": -0.0019175905035808682,
                    "y": 8.967685425886884e-05,
                    "z": 0.0007768773939460516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011437749490141869,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -5.335479727364145e-05,
                    "y": 1.2063734175171703e-05,
                    "z": 0.0011424660915508866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023671697999816388,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.038166653364896774,
                        "pitch": -1.4155224561691284,
                        "yaw": 178.359619140625
                    }
                },
                "velocity": {
                    "x": -3.156646926072426e-05,
                    "y": -2.1806505174026825e-05,
                    "z": -0.00023358716862276196
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6597966551780701,
                "transform": {
                    "location": {
                        "x": 2187.865478515625,
                        "y": 2539.781494140625,
                        "z": 365.1640930175781
                    },
                    "rotation": {
                        "roll": 0.006649908144026995,
                        "pitch": 0.04849433898925781,
                        "yaw": -91.75082397460938
                    }
                },
                "velocity": {
                    "x": -0.03417277708649635,
                    "y": -0.6589111089706421,
                    "z": 0.00012193679867777973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0087716579437256,
                "transform": {
                    "location": {
                        "x": 2185.03759765625,
                        "y": 2474.709228515625,
                        "z": 364.9096374511719
                    },
                    "rotation": {
                        "roll": 0.0002910903422161937,
                        "pitch": 0.39488735795021057,
                        "yaw": 90.15434265136719
                    }
                },
                "velocity": {
                    "x": -0.0029867878183722496,
                    "y": 2.0087151527404785,
                    "z": 0.014757804572582245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024025443417485803,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00015615955635439605,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 1.7581134670763277e-05,
                    "y": 5.62836385142873e-06,
                    "z": 0.0002395441842963919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005214863340370357,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0866149750654586e-05,
                    "y": 2.0713856429210864e-05,
                    "z": 0.000520961475558579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.430690765380859,
                "transform": {
                    "location": {
                        "x": 2233.055908203125,
                        "y": 2524.3046875,
                        "z": 366.4469909667969
                    },
                    "rotation": {
                        "roll": -0.0191650353372097,
                        "pitch": -1.5085086822509766,
                        "yaw": -179.61753845214844
                    }
                },
                "velocity": {
                    "x": -6.42747163772583,
                    "y": -0.049939095973968506,
                    "z": -0.1972154974937439
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3835954666137695,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2488.635986328125,
                        "z": 365.0122985839844
                    },
                    "rotation": {
                        "roll": 0.001179585000500083,
                        "pitch": 0.30608808994293213,
                        "yaw": 90.0384292602539
                    }
                },
                "velocity": {
                    "x": -0.006471734493970871,
                    "y": 5.383481979370117,
                    "z": 0.0343368723988533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.589329719543457,
                "transform": {
                    "location": {
                        "x": 2185.006103515625,
                        "y": 2501.373779296875,
                        "z": 365.0861511230469
                    },
                    "rotation": {
                        "roll": 0.0013889798428863287,
                        "pitch": 0.3335795998573303,
                        "yaw": 90.08011627197266
                    }
                },
                "velocity": {
                    "x": -0.0036543894093483686,
                    "y": 2.589289903640747,
                    "z": 0.013910302892327309
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00031586215482093394,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.256591796875,
                        "z": 365.1528015136719
                    },
                    "rotation": {
                        "roll": 8.048493327805772e-05,
                        "pitch": 0.0883006826043129,
                        "yaw": -89.5438461303711
                    }
                },
                "velocity": {
                    "x": 7.056580216158181e-05,
                    "y": 3.4026037610601634e-05,
                    "z": 0.0003059928130824119
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6548829078674316,
                "transform": {
                    "location": {
                        "x": 2214.064453125,
                        "y": 2524.28125,
                        "z": 365.8761901855469
                    },
                    "rotation": {
                        "roll": 0.00045016410876996815,
                        "pitch": -1.5600833892822266,
                        "yaw": 179.8571014404297
                    }
                },
                "velocity": {
                    "x": -1.6542141437530518,
                    "y": 0.003009482752531767,
                    "z": -0.046946581453084946
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.41238605976104736,
        "expert_target_speed": 2.894192118956004,
        "target_point": [
            6.442723138156865,
            4.91902830780269
        ],
        "target_point_next": [
            18.531702471866843,
            30.17492591217413
        ]
    },
    "290": {
        "acceleration": [
            -2.2611093521118164,
            0.7191133499145508,
            -0.01670878380537033
        ],
        "angular_velocity": [
            0.09121526032686234,
            -0.6280929446220398,
            26.47108268737793
        ],
        "forward_vector": [
            -0.5211502909660339,
            0.8533415198326111,
            -0.014513101428747177
        ],
        "right_vector": [
            -0.8534536361694336,
            -0.5211555361747742,
            0.003720568958669901
        ],
        "location": [
            2182.975830078125,
            2521.21728515625,
            365.1190185546875
        ],
        "rotation": [
            -0.21319584548473358,
            -0.8315686583518982,
            121.41312408447266
        ],
        "velocity": [
            -1.9628570079803467,
            1.8522251844406128,
            -0.027295418083667755
        ],
        "speed": 2.698804507120444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.789551734924316,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -4.694268136518076e-05,
                5.71229384149774e-06,
                0.0009751392644830048
            ],
            "speed_kmh": 0.003514626791964401,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2446.548583984375,
                        "z": 364.6509704589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.63818359375,
                "transform": {
                    "location": {
                        "x": 2144.8525390625,
                        "y": 2527.35888671875,
                        "z": 364.7699890136719
                    },
                    "rotation": {
                        "roll": 0.0060858046635985374,
                        "pitch": -0.23336705565452576,
                        "yaw": 0.15263903141021729
                    }
                },
                "velocity": {
                    "x": 7.6381120681762695,
                    "y": 0.016325991600751877,
                    "z": -0.028763704001903534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.872983932495117,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2462.228271484375,
                        "z": 364.7971496582031
                    },
                    "rotation": {
                        "roll": -0.0014343316433951259,
                        "pitch": 0.4556145668029785,
                        "yaw": 90.06853485107422
                    }
                },
                "velocity": {
                    "x": -0.011215058155357838,
                    "y": 6.872646808624268,
                    "z": 0.06715577840805054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8303158283233643,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2562.081298828125,
                        "z": 365.1131286621094
                    },
                    "rotation": {
                        "roll": 0.005158544052392244,
                        "pitch": 0.299244225025177,
                        "yaw": -89.17040252685547
                    }
                },
                "velocity": {
                    "x": 0.008001437410712242,
                    "y": -2.830288887023926,
                    "z": 0.009439649060368538
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012762551195919514,
                "transform": {
                    "location": {
                        "x": 2160.29833984375,
                        "y": 2527.349365234375,
                        "z": 364.7547302246094
                    },
                    "rotation": {
                        "roll": 0.00037563798832707107,
                        "pitch": 0.22242510318756104,
                        "yaw": 0.06874368339776993
                    }
                },
                "velocity": {
                    "x": -0.0008945920853875577,
                    "y": 8.779179188422859e-05,
                    "z": 0.0009059938020072877
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009762851987034082,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -4.694268136518076e-05,
                    "y": 5.71229384149774e-06,
                    "z": 0.0009751392644830048
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.301307828631252e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03862259164452553,
                        "pitch": -1.4155566692352295,
                        "yaw": 178.35952758789062
                    }
                },
                "velocity": {
                    "x": -4.46309131802991e-05,
                    "y": -2.103173392242752e-05,
                    "z": 1.939418143592775e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5570017099380493,
                "transform": {
                    "location": {
                        "x": 2187.850341796875,
                        "y": 2539.500244140625,
                        "z": 365.16400146484375
                    },
                    "rotation": {
                        "roll": 0.010292715393006802,
                        "pitch": 0.1045018881559372,
                        "yaw": -91.93111419677734
                    }
                },
                "velocity": {
                    "x": -0.08318231999874115,
                    "y": -1.5547763109207153,
                    "z": -0.0023938368540257215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8543200492858887,
                "transform": {
                    "location": {
                        "x": 2185.036376953125,
                        "y": 2475.319091796875,
                        "z": 364.91461181640625
                    },
                    "rotation": {
                        "roll": 0.0010793001856654882,
                        "pitch": 0.3793896734714508,
                        "yaw": 90.13890075683594
                    }
                },
                "velocity": {
                    "x": -0.004156696144491434,
                    "y": 2.8542256355285645,
                    "z": 0.022865161299705505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013729330385103822,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0002799845242407173,
                        "pitch": 0.21791717410087585,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 2.466626483510481e-06,
                    "y": 4.7489279495493975e-06,
                    "z": 0.0013729226775467396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011997157707810402,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0015592124545947e-05,
                    "y": -9.957320799003355e-06,
                    "z": 0.0011996326502412558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6644673347473145,
                "transform": {
                    "location": {
                        "x": 2231.200927734375,
                        "y": 2524.291259765625,
                        "z": 366.3892517089844
                    },
                    "rotation": {
                        "roll": -0.01681518368422985,
                        "pitch": -1.4496461153030396,
                        "yaw": -179.52906799316406
                    }
                },
                "velocity": {
                    "x": -7.660632610321045,
                    "y": -0.046959348022937775,
                    "z": -0.2378336638212204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.264711380004883,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2490.001708984375,
                        "z": 365.02044677734375
                    },
                    "rotation": {
                        "roll": -0.0002136210969183594,
                        "pitch": 0.3623688220977783,
                        "yaw": 90.09583282470703
                    }
                },
                "velocity": {
                    "x": -0.00727488100528717,
                    "y": 5.264604568481445,
                    "z": 0.032708652317523956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8816473484039307,
                "transform": {
                    "location": {
                        "x": 2185.00537109375,
                        "y": 2502.06982421875,
                        "z": 365.0902404785156
                    },
                    "rotation": {
                        "roll": 0.000476544548291713,
                        "pitch": 0.27477166056632996,
                        "yaw": 90.07821655273438
                    }
                },
                "velocity": {
                    "x": -0.002336496487259865,
                    "y": 2.8816118240356445,
                    "z": 0.014073619619011879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.13878823816776276,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.24462890625,
                        "z": 365.1526794433594
                    },
                    "rotation": {
                        "roll": 0.0023444874677807093,
                        "pitch": 0.12187788635492325,
                        "yaw": -89.53964233398438
                    }
                },
                "velocity": {
                    "x": -0.00045318921911530197,
                    "y": -0.1387866586446762,
                    "z": 0.000482263567391783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7661701440811157,
                "transform": {
                    "location": {
                        "x": 2213.52734375,
                        "y": 2524.281494140625,
                        "z": 365.86041259765625
                    },
                    "rotation": {
                        "roll": 0.0005967846955172718,
                        "pitch": -1.4581564664840698,
                        "yaw": 179.80010986328125
                    }
                },
                "velocity": {
                    "x": -1.7655080556869507,
                    "y": -0.0010414482094347477,
                    "z": -0.04834548383951187
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28947219252586365,
        "expert_target_speed": 3.192040209599105,
        "target_point": [
            6.318726786999479,
            4.116946950608595
        ],
        "target_point_next": [
            20.964976533045242,
            27.980960726790844
        ]
    },
    "295": {
        "acceleration": [
            -3.4775161743164062,
            0.1393437385559082,
            -0.11230230331420898
        ],
        "angular_velocity": [
            -0.5285816788673401,
            1.198933720588684,
            33.62686538696289
        ],
        "forward_vector": [
            -0.628948986530304,
            0.7772951126098633,
            -0.015348188579082489
        ],
        "right_vector": [
            -0.7774258852005005,
            -0.628953754901886,
            0.005117968190461397
        ],
        "location": [
            2182.4150390625,
            2521.7119140625,
            365.1100158691406
        ],
        "rotation": [
            -0.29327380657196045,
            -0.8794209361076355,
            128.97808837890625
        ],
        "velocity": [
            -2.7121236324310303,
            1.963965892791748,
            -0.049706634134054184
        ],
        "speed": 3.34854843561209,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.069069862365723,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -3.196269244654104e-05,
                -2.1947751349671307e-07,
                6.890346412546933e-05
            ],
            "speed_kmh": 0.00027344243680347093,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16259765625,
                        "y": 2448.177490234375,
                        "z": 364.6600646972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.01599645614624,
                "transform": {
                    "location": {
                        "x": 2146.592529296875,
                        "y": 2527.361572265625,
                        "z": 364.76312255859375
                    },
                    "rotation": {
                        "roll": 0.003179740160703659,
                        "pitch": -0.41116371750831604,
                        "yaw": 0.07259112596511841
                    }
                },
                "velocity": {
                    "x": 6.015946388244629,
                    "y": 0.006783675868064165,
                    "z": -0.02354721538722515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.82095193862915,
                "transform": {
                    "location": {
                        "x": 2185.052490234375,
                        "y": 2463.827392578125,
                        "z": 364.8114013671875
                    },
                    "rotation": {
                        "roll": 0.0006605932139791548,
                        "pitch": 0.6242451071739197,
                        "yaw": 90.12609100341797
                    }
                },
                "velocity": {
                    "x": -0.011093327775597572,
                    "y": 5.820682048797607,
                    "z": 0.054934244602918625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6863754987716675,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2561.750244140625,
                        "z": 365.1147155761719
                    },
                    "rotation": {
                        "roll": 0.002577176783233881,
                        "pitch": 0.2326020747423172,
                        "yaw": -89.26110076904297
                    }
                },
                "velocity": {
                    "x": 0.0031157240737229586,
                    "y": -1.6863563060760498,
                    "z": 0.007412500213831663
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00077728001633659,
                "transform": {
                    "location": {
                        "x": 2160.298828125,
                        "y": 2527.349365234375,
                        "z": 364.7547912597656
                    },
                    "rotation": {
                        "roll": 0.0015983358025550842,
                        "pitch": 0.2636316418647766,
                        "yaw": 0.06875389069318771
                    }
                },
                "velocity": {
                    "x": -0.00030938017880544066,
                    "y": -0.00013412926637101918,
                    "z": 0.0007003266946412623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.595623173983768e-05,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -3.196269244654104e-05,
                    "y": -2.1947751349671307e-07,
                    "z": 6.890346412546933e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.3414220272097737e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03862259164452553,
                        "pitch": -1.4155566692352295,
                        "yaw": 178.35952758789062
                    }
                },
                "velocity": {
                    "x": -4.071444345754571e-05,
                    "y": -5.458648047351744e-06,
                    "z": -1.4047483091417234e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6337759494781494,
                "transform": {
                    "location": {
                        "x": 2187.82080078125,
                        "y": 2538.96630859375,
                        "z": 365.1637878417969
                    },
                    "rotation": {
                        "roll": 0.011279919184744358,
                        "pitch": 0.12954819202423096,
                        "yaw": -92.31267547607422
                    }
                },
                "velocity": {
                    "x": -0.14602302014827728,
                    "y": -2.6297237873077393,
                    "z": -0.0024002837017178535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9247233867645264,
                "transform": {
                    "location": {
                        "x": 2185.034423828125,
                        "y": 2476.167724609375,
                        "z": 364.921630859375
                    },
                    "rotation": {
                        "roll": 0.00098702113609761,
                        "pitch": 0.3539472222328186,
                        "yaw": 90.1206283569336
                    }
                },
                "velocity": {
                    "x": -0.0056961351074278355,
                    "y": 3.9245970249176025,
                    "z": 0.030955055728554726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005117602995596826,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0002799845242407173,
                        "pitch": 0.21791717410087585,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 1.7302892956649885e-05,
                    "y": 3.09161187033169e-05,
                    "z": 0.0005105324671603739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001828734966693446,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1015646123269107e-05,
                    "y": -2.514921834517736e-05,
                    "z": 0.00018080067820847034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.7961745262146,
                "transform": {
                    "location": {
                        "x": 2229.2041015625,
                        "y": 2524.279296875,
                        "z": 366.32940673828125
                    },
                    "rotation": {
                        "roll": 0.01497775036841631,
                        "pitch": -1.7615057229995728,
                        "yaw": -179.9088592529297
                    }
                },
                "velocity": {
                    "x": -7.792320251464844,
                    "y": -0.02402886375784874,
                    "z": -0.24392791092395782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9307118654251099,
                "transform": {
                    "location": {
                        "x": 2185.016845703125,
                        "y": 2490.79345703125,
                        "z": 365.0222473144531
                    },
                    "rotation": {
                        "roll": 0.0022318894043564796,
                        "pitch": 0.7249494194984436,
                        "yaw": 90.32839965820312
                    }
                },
                "velocity": {
                    "x": -0.005377716384828091,
                    "y": 0.93067866563797,
                    "z": 0.005731773097068071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9538774490356445,
                "transform": {
                    "location": {
                        "x": 2185.003662109375,
                        "y": 2502.80126953125,
                        "z": 365.0939025878906
                    },
                    "rotation": {
                        "roll": -0.0004882843350060284,
                        "pitch": 0.28142425417900085,
                        "yaw": 90.07830810546875
                    }
                },
                "velocity": {
                    "x": -0.004029284697026014,
                    "y": 2.953840970993042,
                    "z": 0.014074096456170082
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7808883786201477,
                "transform": {
                    "location": {
                        "x": 2187.899169921875,
                        "y": 2550.1259765625,
                        "z": 365.1523742675781
                    },
                    "rotation": {
                        "roll": 0.004051293712109327,
                        "pitch": 0.2692050635814667,
                        "yaw": -89.60308837890625
                    }
                },
                "velocity": {
                    "x": 0.0011297044111415744,
                    "y": -0.7808857560157776,
                    "z": 0.0016795825213193893
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3399091958999634,
                "transform": {
                    "location": {
                        "x": 2213.3427734375,
                        "y": 2524.28076171875,
                        "z": 365.8583984375
                    },
                    "rotation": {
                        "roll": 0.0065622152760624886,
                        "pitch": -1.8337349891662598,
                        "yaw": 179.74957275390625
                    }
                },
                "velocity": {
                    "x": -1.3394161462783813,
                    "y": 0.0033948628697544336,
                    "z": -0.03618766739964485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11022502928972244,
        "expert_target_speed": 3.578340082780216,
        "target_point": [
            23.728947340147457,
            24.85254553275161
        ],
        "target_point_next": [
            23.728947340147457,
            24.85254553275161
        ]
    },
    "300": {
        "acceleration": [
            -3.351874351501465,
            -0.6205201148986816,
            -0.12449651956558228
        ],
        "angular_velocity": [
            -0.48729026317596436,
            0.4478968381881714,
            37.932334899902344
        ],
        "forward_vector": [
            -0.7429400682449341,
            0.6692173480987549,
            -0.013720081187784672
        ],
        "right_vector": [
            -0.669340193271637,
            -0.7429136633872986,
            0.007939650677144527
        ],
        "location": [
            2181.648193359375,
            2522.224609375,
            365.093505859375
        ],
        "rotation": [
            -0.4549560546875,
            -0.7861273884773254,
            137.9884490966797
        ],
        "velocity": [
            -3.57357120513916,
            1.910388708114624,
            -0.08112581819295883
        ],
        "speed": 4.052159445813011,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.15692138671875,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -4.761159289046191e-05,
                -2.397873913650983e-06,
                0.0008277827873826027
            ],
            "speed_kmh": 0.0029849557045897083,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.160400390625,
                        "y": 2449.952392578125,
                        "z": 364.66998291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2667401432991028,
                "transform": {
                    "location": {
                        "x": 2147.445556640625,
                        "y": 2527.362548828125,
                        "z": 364.7588195800781
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.9753714799880981,
                        "yaw": 0.24254952371120453
                    }
                },
                "velocity": {
                    "x": 0.2667379677295685,
                    "y": -0.001024516997858882,
                    "z": -0.0003345584846101701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5294520854949951,
                "transform": {
                    "location": {
                        "x": 2185.050048828125,
                        "y": 2464.8076171875,
                        "z": 364.81793212890625
                    },
                    "rotation": {
                        "roll": 0.0023248554207384586,
                        "pitch": 0.9154980182647705,
                        "yaw": 90.23934936523438
                    }
                },
                "velocity": {
                    "x": -0.006495851092040539,
                    "y": 1.5293759107589722,
                    "z": 0.01381462998688221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8900377750396729,
                "transform": {
                    "location": {
                        "x": 2187.881591796875,
                        "y": 2561.312255859375,
                        "z": 365.1163635253906
                    },
                    "rotation": {
                        "roll": -0.0022583138197660446,
                        "pitch": 0.21355268359184265,
                        "yaw": -89.80426788330078
                    }
                },
                "velocity": {
                    "x": 0.019166206941008568,
                    "y": -1.88992178440094,
                    "z": 0.008443526923656464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.299072265625,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.001555867143906653,
                        "pitch": 0.28244197368621826,
                        "yaw": 0.06876738369464874
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008291543344967067,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -4.761159289046191e-05,
                    "y": -2.397873913650983e-06,
                    "z": 0.0008277827873826027
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010097248741658404,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03895055130124092,
                        "pitch": -1.4153722524642944,
                        "yaw": 178.3592987060547
                    }
                },
                "velocity": {
                    "x": -3.9289890992222354e-05,
                    "y": -6.731534085702151e-06,
                    "z": -9.277086792280897e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.574493885040283,
                "transform": {
                    "location": {
                        "x": 2187.77392578125,
                        "y": 2538.16064453125,
                        "z": 365.1634216308594
                    },
                    "rotation": {
                        "roll": 0.012479469180107117,
                        "pitch": 0.13380339741706848,
                        "yaw": -92.80052947998047
                    }
                },
                "velocity": {
                    "x": -0.2105359435081482,
                    "y": -3.5682878494262695,
                    "z": -0.0017138003604486585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.012744903564453,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2477.2919921875,
                        "z": 364.9308166503906
                    },
                    "rotation": {
                        "roll": -0.0002441433898638934,
                        "pitch": 0.3347133994102478,
                        "yaw": 90.09970092773438
                    }
                },
                "velocity": {
                    "x": -0.005577852483838797,
                    "y": 5.012590408325195,
                    "z": 0.03898749127984047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014428974827751517,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00013838136510457844,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 1.3311393558979034e-05,
                    "y": -1.023874483507825e-05,
                    "z": 0.001442799810320139
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007700104033574462,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.356997907161713e-06,
                    "y": 4.855030056205578e-06,
                    "z": 0.0007699382258579135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8334095478057861,
                "transform": {
                    "location": {
                        "x": 2227.987548828125,
                        "y": 2524.2626953125,
                        "z": 366.3012390136719
                    },
                    "rotation": {
                        "roll": 0.056403592228889465,
                        "pitch": -2.948237419128418,
                        "yaw": 178.96022033691406
                    }
                },
                "velocity": {
                    "x": -1.8321200609207153,
                    "y": -0.037409935146570206,
                    "z": -0.05767822265625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.400721788406372,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2490.986572265625,
                        "z": 365.0260009765625
                    },
                    "rotation": {
                        "roll": 0.00019393193360883743,
                        "pitch": 0.4218529462814331,
                        "yaw": 90.36618041992188
                    }
                },
                "velocity": {
                    "x": -0.0011626096675172448,
                    "y": 1.4006998538970947,
                    "z": 0.0077577019110322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0144686698913574,
                "transform": {
                    "location": {
                        "x": 2185.0029296875,
                        "y": 2503.522705078125,
                        "z": 365.0975646972656
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.2871343195438385,
                        "yaw": 90.07283782958984
                    }
                },
                "velocity": {
                    "x": -0.0023583457805216312,
                    "y": 3.0144331455230713,
                    "z": 0.014402884989976883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5938490629196167,
                "transform": {
                    "location": {
                        "x": 2187.8994140625,
                        "y": 2549.82421875,
                        "z": 365.1525573730469
                    },
                    "rotation": {
                        "roll": 0.005195539444684982,
                        "pitch": 0.37896618247032166,
                        "yaw": -89.6616439819336
                    }
                },
                "velocity": {
                    "x": 0.00358373555354774,
                    "y": -1.5938438177108765,
                    "z": 0.0019459533505141735
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.382413625717163,
                "transform": {
                    "location": {
                        "x": 2212.843505859375,
                        "y": 2524.2822265625,
                        "z": 365.8406982421875
                    },
                    "rotation": {
                        "roll": 0.003377023618668318,
                        "pitch": -1.336975336074829,
                        "yaw": 179.7064971923828
                    }
                },
                "velocity": {
                    "x": -2.3815181255340576,
                    "y": 0.006430680397897959,
                    "z": -0.06500231474637985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11119216680526733,
        "expert_target_speed": 3.795998855370763,
        "target_point": [
            26.415454466464844,
            20.69730738435817
        ],
        "target_point_next": [
            26.415454466464844,
            20.69730738435817
        ]
    },
    "305": {
        "acceleration": [
            -1.4455699920654297,
            -2.0926976203918457,
            -0.032041966915130615
        ],
        "angular_velocity": [
            -0.5874696373939514,
            -0.5802196264266968,
            36.75432205200195
        ],
        "forward_vector": [
            -0.8423391580581665,
            0.5387319326400757,
            -0.015253428369760513
        ],
        "right_vector": [
            -0.5388901829719543,
            -0.8423256278038025,
            0.009214399382472038
        ],
        "location": [
            2180.68798828125,
            2522.6943359375,
            365.0724182128906
        ],
        "rotation": [
            -0.5280150771141052,
            -0.8739909529685974,
            147.39837646484375
        ],
        "velocity": [
            -4.1706695556640625,
            1.5727779865264893,
            -0.08860272169113159
        ],
        "speed": 4.457366390307778,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.088052749633789,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -4.185587022220716e-05,
                3.5943339753430337e-06,
                0.0006266440032050014
            ],
            "speed_kmh": 0.0022609821132874987,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.2458190917969
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 1.5003266641208657e-12,
                    "y": -1.4244110335681626e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1591796875,
                        "y": 2451.060302734375,
                        "z": 364.6762390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2572517395019531,
                "transform": {
                    "location": {
                        "x": 2147.607666015625,
                        "y": 2527.362548828125,
                        "z": 364.75909423828125
                    },
                    "rotation": {
                        "roll": -0.00164794921875,
                        "pitch": -0.3515634834766388,
                        "yaw": 0.2304239720106125
                    }
                },
                "velocity": {
                    "x": 1.2572437524795532,
                    "y": 0.0009692363091744483,
                    "z": -0.004365148488432169
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8188118934631348,
                "transform": {
                    "location": {
                        "x": 2185.049560546875,
                        "y": 2464.92138671875,
                        "z": 364.8209228515625
                    },
                    "rotation": {
                        "roll": 0.0011790370335802436,
                        "pitch": 0.6775957345962524,
                        "yaw": 90.22412872314453
                    }
                },
                "velocity": {
                    "x": -0.001290467451326549,
                    "y": 0.8187775015830994,
                    "z": 0.007393912877887487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8266853094100952,
                "transform": {
                    "location": {
                        "x": 2187.87939453125,
                        "y": 2560.877197265625,
                        "z": 365.1180114746094
                    },
                    "rotation": {
                        "roll": 0.0056581636890769005,
                        "pitch": 0.21280136704444885,
                        "yaw": -89.32302856445312
                    }
                },
                "velocity": {
                    "x": 0.005145363509654999,
                    "y": -1.8266669511795044,
                    "z": 0.006391439121216536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004329181101638824,
                "transform": {
                    "location": {
                        "x": 2160.299072265625,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.001555867143906653,
                        "pitch": 0.28244197368621826,
                        "yaw": 0.06876738369464874
                    }
                },
                "velocity": {
                    "x": -6.124455103417858e-05,
                    "y": 0.00012089862866559997,
                    "z": 0.0004111577873118222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006280505913309753,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -4.185587022220716e-05,
                    "y": 3.5943339753430337e-06,
                    "z": 0.0006266440032050014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00030581688042730093,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03875230252742767,
                        "pitch": -1.4154951572418213,
                        "yaw": 178.35928344726562
                    }
                },
                "velocity": {
                    "x": -4.910662755719386e-05,
                    "y": 1.6391262761317194e-05,
                    "z": 0.0003014031099155545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.864328145980835,
                "transform": {
                    "location": {
                        "x": 2187.7255859375,
                        "y": 2537.368408203125,
                        "z": 365.1628112792969
                    },
                    "rotation": {
                        "roll": 0.006947637535631657,
                        "pitch": -0.06829505413770676,
                        "yaw": -93.15225219726562
                    }
                },
                "velocity": {
                    "x": -0.17770850658416748,
                    "y": -2.858809232711792,
                    "z": -0.0022634982597082853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.471640586853027,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2478.607177734375,
                        "z": 364.94085693359375
                    },
                    "rotation": {
                        "roll": 0.00015441655705217272,
                        "pitch": 0.39079609513282776,
                        "yaw": 90.09161376953125
                    }
                },
                "velocity": {
                    "x": -0.005402787122875452,
                    "y": 5.471473217010498,
                    "z": 0.04244719445705414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005377610796131194,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00013838136510457844,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 1.9084400264546275e-05,
                    "y": 2.833922735590022e-05,
                    "z": 0.0005366746336221695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007128260331228375,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.14935367795988e-06,
                    "y": -1.746519046719186e-05,
                    "z": 0.0007125762058421969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5614793300628662,
                "transform": {
                    "location": {
                        "x": 2227.88623046875,
                        "y": 2524.260498046875,
                        "z": 366.29541015625
                    },
                    "rotation": {
                        "roll": 0.08735445141792297,
                        "pitch": -2.6188652515411377,
                        "yaw": 178.904296875
                    }
                },
                "velocity": {
                    "x": -0.5612398982048035,
                    "y": 0.004100933205336332,
                    "z": -0.015874108299613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2394394874572754,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2491.45263671875,
                        "z": 365.0300598144531
                    },
                    "rotation": {
                        "roll": 0.00027505174512043595,
                        "pitch": 0.2788561284542084,
                        "yaw": 90.30274963378906
                    }
                },
                "velocity": {
                    "x": -0.0020407582633197308,
                    "y": 2.239398241043091,
                    "z": 0.013429593294858932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4250123500823975,
                "transform": {
                    "location": {
                        "x": 2185.002197265625,
                        "y": 2504.34033203125,
                        "z": 365.1019592285156
                    },
                    "rotation": {
                        "roll": 0.00015680243086535484,
                        "pitch": 0.2560979425907135,
                        "yaw": 90.07003021240234
                    }
                },
                "velocity": {
                    "x": -0.0042403507977724075,
                    "y": 3.4249651432037354,
                    "z": 0.01749272271990776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6057474613189697,
                "transform": {
                    "location": {
                        "x": 2187.9013671875,
                        "y": 2549.29931640625,
                        "z": 365.153076171875
                    },
                    "rotation": {
                        "roll": 0.005789205897599459,
                        "pitch": 0.46890613436698914,
                        "yaw": -89.7265625
                    }
                },
                "velocity": {
                    "x": 0.005635666195303202,
                    "y": -2.6057400703430176,
                    "z": 0.0024869441986083984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5665757060050964,
                "transform": {
                    "location": {
                        "x": 2212.6015625,
                        "y": 2524.282470703125,
                        "z": 365.8393249511719
                    },
                    "rotation": {
                        "roll": 0.009941318072378635,
                        "pitch": -1.978999376296997,
                        "yaw": 179.6797637939453
                    }
                },
                "velocity": {
                    "x": -0.5663594603538513,
                    "y": 0.0012763937702402472,
                    "z": -0.015599164180457592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3584444224834442,
        "expert_target_speed": 3.380257540915438,
        "target_point": [
            28.381946365369703,
            15.978326931020604
        ],
        "target_point_next": [
            28.381946365369703,
            15.978326931020604
        ]
    },
    "310": {
        "acceleration": [
            3.3490943908691406,
            -2.80049204826355,
            0.02625972032546997
        ],
        "angular_velocity": [
            0.20387685298919678,
            -1.799140453338623,
            29.671672821044922
        ],
        "forward_vector": [
            -0.912085771560669,
            0.4094562232494354,
            -0.02109859697520733
        ],
        "right_vector": [
            -0.4096662104129791,
            -0.9122112989425659,
            0.006640927866101265
        ],
        "location": [
            2179.681884765625,
            2523.0302734375,
            365.052734375
        ],
        "rotation": [
            -0.3805846869945526,
            -1.2089502811431885,
            155.82359313964844
        ],
        "velocity": [
            -3.8344225883483887,
            0.8855302929878235,
            -0.07910584658384323
        ],
        "speed": 3.935347568618998,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.034085273742676,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -3.595724774640985e-05,
                -1.7666341591393575e-05,
                0.00046924769412726164
            ],
            "speed_kmh": 0.0016954372727054118,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11036749184131622,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.0072937011719
                    },
                    "rotation": {
                        "roll": 0.0008774158777669072,
                        "pitch": 0.3538106083869934,
                        "yaw": -89.93975067138672
                    }
                },
                "velocity": {
                    "x": 0.0001905184908537194,
                    "y": 0.0007795339915901423,
                    "z": 0.11036457866430283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2451.893798828125,
                        "z": 364.6853332519531
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2010605335235596,
                "transform": {
                    "location": {
                        "x": 2148.03955078125,
                        "y": 2527.36279296875,
                        "z": 364.7578125
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.12982140481472015,
                        "yaw": 0.1883642077445984
                    }
                },
                "velocity": {
                    "x": 2.2010462284088135,
                    "y": 0.001620108843781054,
                    "z": -0.007794837933033705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6467604637145996,
                "transform": {
                    "location": {
                        "x": 2185.04931640625,
                        "y": 2465.2353515625,
                        "z": 364.8255920410156
                    },
                    "rotation": {
                        "roll": 0.0008831255254335701,
                        "pitch": 0.47309303283691406,
                        "yaw": 90.20323181152344
                    }
                },
                "velocity": {
                    "x": -0.0028486300725489855,
                    "y": 1.6466871500015259,
                    "z": 0.015280656516551971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7815879583358765,
                "transform": {
                    "location": {
                        "x": 2187.88330078125,
                        "y": 2560.5517578125,
                        "z": 365.1194763183594
                    },
                    "rotation": {
                        "roll": 0.002970685251057148,
                        "pitch": 0.1222672089934349,
                        "yaw": -89.64437103271484
                    }
                },
                "velocity": {
                    "x": -0.000493074010591954,
                    "y": -0.7815846800804138,
                    "z": 0.0022058296017348766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.159240340115502e-05,
                "transform": {
                    "location": {
                        "x": 2160.299072265625,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.0014881445094943047,
                        "pitch": 0.29104116559028625,
                        "yaw": 0.06880789250135422
                    }
                },
                "velocity": {
                    "x": -1.6429834431619383e-05,
                    "y": 1.8797725715558045e-05,
                    "z": -6.709827721351758e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00047095477930270135,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -3.595724774640985e-05,
                    "y": -1.7666341591393575e-05,
                    "z": 0.00046924769412726164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.768764822278172e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03875230252742767,
                        "pitch": -1.4154951572418213,
                        "yaw": 178.35928344726562
                    }
                },
                "velocity": {
                    "x": -4.539370274869725e-05,
                    "y": -3.168591865687631e-05,
                    "z": 1.622588752070442e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82363,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.051344156265259,
                "transform": {
                    "location": {
                        "x": 2187.6787109375,
                        "y": 2536.63671875,
                        "z": 365.1623229980469
                    },
                    "rotation": {
                        "roll": 0.006210602819919586,
                        "pitch": -0.024076415225863457,
                        "yaw": -93.36761474609375
                    }
                },
                "velocity": {
                    "x": -0.19472339749336243,
                    "y": -3.045124053955078,
                    "z": -0.0019467162201181054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.513700485229492,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2480.01171875,
                        "z": 364.95123291015625
                    },
                    "rotation": {
                        "roll": 0.0001124478003475815,
                        "pitch": 0.42913392186164856,
                        "yaw": 90.09611511230469
                    }
                },
                "velocity": {
                    "x": -0.006407863926142454,
                    "y": 5.513548374176025,
                    "z": 0.04044758528470993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034692135523073375,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00013838136510457844,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.83192443847656
                    }
                },
                "velocity": {
                    "x": 4.017129413114162e-06,
                    "y": 2.6215409889118746e-05,
                    "z": 0.0003459061263129115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036040134727954865,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.8229951567482203e-05,
                    "y": 8.756867828196846e-06,
                    "z": 0.00035918731009587646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.997023344039917,
                "transform": {
                    "location": {
                        "x": 2227.671630859375,
                        "y": 2524.26220703125,
                        "z": 366.2802734375
                    },
                    "rotation": {
                        "roll": 0.020135464146733284,
                        "pitch": -1.5406173467636108,
                        "yaw": 179.02867126464844
                    }
                },
                "velocity": {
                    "x": -0.9965795874595642,
                    "y": 0.002849656855687499,
                    "z": -0.029606884345412254
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9124536514282227,
                "transform": {
                    "location": {
                        "x": 2185.015869140625,
                        "y": 2492.089111328125,
                        "z": 365.033935546875
                    },
                    "rotation": {
                        "roll": 0.0008188324281945825,
                        "pitch": 0.2862463891506195,
                        "yaw": 90.23651123046875
                    }
                },
                "velocity": {
                    "x": -0.0027237548492848873,
                    "y": 2.9123964309692383,
                    "z": 0.018022822216153145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0560965538024902,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2505.1591796875,
                        "z": 365.10565185546875
                    },
                    "rotation": {
                        "roll": 0.0001816164149204269,
                        "pitch": 0.3160328269004822,
                        "yaw": 90.06875610351562
                    }
                },
                "velocity": {
                    "x": -0.002488915342837572,
                    "y": 3.0560531616210938,
                    "z": 0.016098976135253906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.0157246589660645,
                "transform": {
                    "location": {
                        "x": 2187.903564453125,
                        "y": 2548.465576171875,
                        "z": 365.15350341796875
                    },
                    "rotation": {
                        "roll": 0.005404974799603224,
                        "pitch": 0.6243065595626831,
                        "yaw": -89.79331970214844
                    }
                },
                "velocity": {
                    "x": 0.007688190322369337,
                    "y": -4.015714168548584,
                    "z": 0.005246772430837154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6318730115890503,
                "transform": {
                    "location": {
                        "x": 2212.296630859375,
                        "y": 2524.283203125,
                        "z": 365.8269958496094
                    },
                    "rotation": {
                        "roll": 0.0036719252821058035,
                        "pitch": -1.4909961223602295,
                        "yaw": 179.6868133544922
                    }
                },
                "velocity": {
                    "x": -1.6312578916549683,
                    "y": 0.003892324399203062,
                    "z": -0.04462999105453491
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5601269602775574,
        "expert_target_speed": 1.8031224225308633,
        "target_point": [
            29.361323557569253,
            11.541842895556265
        ],
        "target_point_next": [
            29.361323557569253,
            11.541842895556265
        ]
    },
    "315": {
        "acceleration": [
            4.077858924865723,
            -1.631925106048584,
            0.07382489740848541
        ],
        "angular_velocity": [
            0.6309839487075806,
            -0.949804425239563,
            18.245952606201172
        ],
        "forward_vector": [
            -0.9485758543014526,
            0.3154548406600952,
            -0.02630728669464588
        ],
        "right_vector": [
            -0.31558752059936523,
            -0.9488959908485413,
            0.000944561674259603
        ],
        "location": [
            2178.870361328125,
            2523.206787109375,
            365.0368347167969
        ],
        "rotation": [
            -0.05413814261555672,
            -1.5074704885482788,
            161.60513305664062
        ],
        "velocity": [
            -2.787625551223755,
            0.40994691848754883,
            -0.05694464594125748
        ],
        "speed": 2.8176076181422034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.226890563964844,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.615478515625,
                2527.32568359375,
                364.8721923828125
            ],
            "velocity": [
                -5.280226469039917e-05,
                4.191580046608578e-06,
                0.0008413124014623463
            ],
            "speed_kmh": 0.0030347214339027312,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7769344449043274,
                "transform": {
                    "location": {
                        "x": 2187.77734375,
                        "y": 2576.264892578125,
                        "z": 365.0393371582031
                    },
                    "rotation": {
                        "roll": -0.0034179724752902985,
                        "pitch": 0.44543758034706116,
                        "yaw": -89.8939208984375
                    }
                },
                "velocity": {
                    "x": 0.0129444794729352,
                    "y": -0.7725449204444885,
                    "z": 0.08144891262054443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156494140625,
                        "y": 2453.14404296875,
                        "z": 364.69873046875
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6539825201034546,
                "transform": {
                    "location": {
                        "x": 2148.611572265625,
                        "y": 2527.36279296875,
                        "z": 364.7554931640625
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.236146941781044,
                        "yaw": 0.16670262813568115
                    }
                },
                "velocity": {
                    "x": 1.6539673805236816,
                    "y": -0.0006858286797069013,
                    "z": -0.007035236340016127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5499460697174072,
                "transform": {
                    "location": {
                        "x": 2185.046630859375,
                        "y": 2465.7666015625,
                        "z": 364.830810546875
                    },
                    "rotation": {
                        "roll": -0.0009155523148365319,
                        "pitch": 0.439222127199173,
                        "yaw": 90.09507751464844
                    }
                },
                "velocity": {
                    "x": -0.0048186685889959335,
                    "y": 2.5498299598693848,
                    "z": 0.023850468918681145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3875010013580322,
                "transform": {
                    "location": {
                        "x": 2187.88427734375,
                        "y": 2560.13818359375,
                        "z": 365.12054443359375
                    },
                    "rotation": {
                        "roll": 0.004127105697989464,
                        "pitch": 0.22238411009311676,
                        "yaw": -89.62234497070312
                    }
                },
                "velocity": {
                    "x": 0.0004929154529236257,
                    "y": -1.3874942064285278,
                    "z": 0.004316883161664009
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009823725558817387,
                "transform": {
                    "location": {
                        "x": 2160.299072265625,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.0013213427737355232,
                        "pitch": 0.29104116559028625,
                        "yaw": 0.06881477683782578
                    }
                },
                "velocity": {
                    "x": -4.616566002368927e-06,
                    "y": 4.970275767846033e-05,
                    "z": 0.0009811035124585032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008429781883023679,
                "transform": {
                    "location": {
                        "x": 2170.615478515625,
                        "y": 2527.32568359375,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0025014858692884445,
                        "pitch": 0.9728101491928101,
                        "yaw": 0.011600066907703876
                    }
                },
                "velocity": {
                    "x": -5.280226469039917e-05,
                    "y": 4.191580046608578e-06,
                    "z": 0.0008413124014623463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010700040002120659,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03926683962345123,
                        "pitch": -1.4153995513916016,
                        "yaw": 178.359130859375
                    }
                },
                "velocity": {
                    "x": -4.145115599385463e-05,
                    "y": -4.5317356125451624e-06,
                    "z": 9.854110976448283e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3363685607910156,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2480.90673828125,
                        "z": 364.9547119140625
                    },
                    "rotation": {
                        "roll": 0.0004884825902990997,
                        "pitch": 0.7692158818244934,
                        "yaw": 90.08366394042969
                    }
                },
                "velocity": {
                    "x": -0.0017485724529251456,
                    "y": 1.336330533027649,
                    "z": 0.009926337748765945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008575170650146902,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": 0.21809475123882294,
                        "yaw": -179.8319091796875
                    }
                },
                "velocity": {
                    "x": 1.4461799764831085e-05,
                    "y": 1.3320328434929252e-05,
                    "z": 0.0008572916267439723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1563817411661148,
                "transform": {
                    "location": {
                        "x": 2130.132080078125,
                        "y": 2524.565185546875,
                        "z": 364.8304748535156
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.21345706284046173,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": -0.15636828541755676,
                    "y": -0.0012460724683478475,
                    "z": 0.0016289615305140615
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0048742294311523,
                "transform": {
                    "location": {
                        "x": 2227.4228515625,
                        "y": 2524.263427734375,
                        "z": 366.27349853515625
                    },
                    "rotation": {
                        "roll": 0.01960580050945282,
                        "pitch": -1.6611019372940063,
                        "yaw": 179.12539672851562
                    }
                },
                "velocity": {
                    "x": -1.0044283866882324,
                    "y": 0.0013840125175192952,
                    "z": -0.029899120330810547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.95184588432312,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2492.94580078125,
                        "z": 365.03948974609375
                    },
                    "rotation": {
                        "roll": 0.0005296115414239466,
                        "pitch": 0.25137144327163696,
                        "yaw": 90.17611694335938
                    }
                },
                "velocity": {
                    "x": -0.004244255367666483,
                    "y": 3.9517641067504883,
                    "z": 0.025064649060368538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1480917930603027,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2505.93798828125,
                        "z": 365.1091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2642258405685425,
                        "yaw": 90.06737518310547
                    }
                },
                "velocity": {
                    "x": -0.0036893971264362335,
                    "y": 3.148068428039551,
                    "z": 0.01157724391669035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.627276420593262,
                "transform": {
                    "location": {
                        "x": 2187.90576171875,
                        "y": 2547.328125,
                        "z": 365.1554260253906
                    },
                    "rotation": {
                        "roll": 0.004729761276394129,
                        "pitch": 0.529578685760498,
                        "yaw": -89.85165405273438
                    }
                },
                "velocity": {
                    "x": 0.007417867425829172,
                    "y": -4.627267360687256,
                    "z": 0.005144453141838312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.424741506576538,
                "transform": {
                    "location": {
                        "x": 2211.736572265625,
                        "y": 2524.28515625,
                        "z": 365.8100280761719
                    },
                    "rotation": {
                        "roll": 0.0028921240009367466,
                        "pitch": -1.2885150909423828,
                        "yaw": 179.71446228027344
                    }
                },
                "velocity": {
                    "x": -2.4238133430480957,
                    "y": 0.006375062745064497,
                    "z": -0.06677817553281784
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5089405179023743,
        "expert_target_speed": 0.0,
        "target_point": [
            29.548889185393495,
            8.436791594807051
        ],
        "target_point_next": [
            29.548889185393495,
            8.436791594807051
        ]
    },
    "320": {
        "acceleration": [
            23.440807342529297,
            -2.9630420207977295,
            0.4761574864387512
        ],
        "angular_velocity": [
            2.2622077465057373,
            -6.3310394287109375,
            -0.011750873178243637
        ],
        "forward_vector": [
            -0.9640219211578369,
            0.26364827156066895,
            -0.03393224626779556
        ],
        "right_vector": [
            -0.2635469138622284,
            -0.9646174311637878,
            -0.007505754940211773
        ],
        "location": [
            2178.404296875,
            2523.2802734375,
            365.02886962890625
        ],
        "rotation": [
            0.43029990792274475,
            -1.9445478916168213,
            164.70433044433594
        ],
        "velocity": [
            -0.0286899171769619,
            -0.015811821445822716,
            -0.001340952469035983
        ],
        "speed": 0.03275858734828949,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.771846771240234,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.62255859375,
                2527.32568359375,
                364.8723449707031
            ],
            "velocity": [
                0.08786444365978241,
                0.00014082809502724558,
                0.0010717486729845405
            ],
            "speed_kmh": 0.3163359338249112,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9408832788467407,
                "transform": {
                    "location": {
                        "x": 2187.781982421875,
                        "y": 2575.9033203125,
                        "z": 365.0509033203125
                    },
                    "rotation": {
                        "roll": 0.0011271352414041758,
                        "pitch": 0.5254942178726196,
                        "yaw": -89.75031280517578
                    }
                },
                "velocity": {
                    "x": 0.01618426851928234,
                    "y": -1.9406473636627197,
                    "z": 0.0255677979439497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.009424793533980846,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.9775390625,
                        "z": 364.7068176269531
                    },
                    "rotation": {
                        "roll": 0.0009683406096883118,
                        "pitch": 0.6084400415420532,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": -0.00015900337893981487,
                    "y": -3.88652097171871e-06,
                    "z": -0.009423451498150826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8556851744651794,
                "transform": {
                    "location": {
                        "x": 2148.7314453125,
                        "y": 2527.36279296875,
                        "z": 364.7548828125
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.28735285997390747,
                        "yaw": 0.19569124281406403
                    }
                },
                "velocity": {
                    "x": 0.8556797504425049,
                    "y": 0.0008657971629872918,
                    "z": -0.0029265498742461205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4795515537261963,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2466.52001953125,
                        "z": 364.8379211425781
                    },
                    "rotation": {
                        "roll": 0.0001872885914053768,
                        "pitch": 0.43238508701324463,
                        "yaw": 90.0940933227539
                    }
                },
                "velocity": {
                    "x": -0.0054598599672317505,
                    "y": 3.4794061183929443,
                    "z": 0.031351249665021896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.939993143081665,
                "transform": {
                    "location": {
                        "x": 2187.885986328125,
                        "y": 2559.779052734375,
                        "z": 365.1221008300781
                    },
                    "rotation": {
                        "roll": 0.0011969897896051407,
                        "pitch": 0.17886897921562195,
                        "yaw": -89.72982788085938
                    }
                },
                "velocity": {
                    "x": 0.01063773687928915,
                    "y": -0.9399281144142151,
                    "z": 0.0030135917477309704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010417582234367728,
                "transform": {
                    "location": {
                        "x": 2160.299072265625,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.0011501348344609141,
                        "pitch": 0.2907474637031555,
                        "yaw": 0.06883466988801956
                    }
                },
                "velocity": {
                    "x": -3.7096924643265083e-05,
                    "y": 2.6751025870908052e-05,
                    "z": 0.00104075379204005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08787109702825546,
                "transform": {
                    "location": {
                        "x": 2170.62255859375,
                        "y": 2527.32568359375,
                        "z": 364.8723449707031
                    },
                    "rotation": {
                        "roll": 0.003383742179721594,
                        "pitch": 0.9773180484771729,
                        "yaw": 0.006663194391876459
                    }
                },
                "velocity": {
                    "x": 0.08786444365978241,
                    "y": 0.00014082809502724558,
                    "z": 0.0010717486729845405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.421702760737389e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.1147766751237214e-05,
                    "y": -7.698998160776682e-06,
                    "z": -1.4238404219213407e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9976770281791687,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2481.0400390625,
                        "z": 364.9576721191406
                    },
                    "rotation": {
                        "roll": 0.0007679230184294283,
                        "pitch": 0.5369825959205627,
                        "yaw": 90.05327606201172
                    }
                },
                "velocity": {
                    "x": -0.0022784993052482605,
                    "y": 0.9976474046707153,
                    "z": 0.007342872675508261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9031658414169215e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00032707586069591343,
                        "pitch": 0.21798548102378845,
                        "yaw": -179.8319091796875
                    }
                },
                "velocity": {
                    "x": 8.260271897597704e-06,
                    "y": 2.4037808543653227e-06,
                    "z": 2.7727728593163192e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021314747573342174,
                "transform": {
                    "location": {
                        "x": 2130.079345703125,
                        "y": 2524.565673828125,
                        "z": 364.8305358886719
                    },
                    "rotation": {
                        "roll": 0.0009971848921850324,
                        "pitch": 0.23541611433029175,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": -8.041188266361132e-05,
                    "y": -7.636705413460732e-05,
                    "z": -0.0001820270554162562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8984034061431885,
                "transform": {
                    "location": {
                        "x": 2227.088623046875,
                        "y": 2524.264892578125,
                        "z": 366.2632751464844
                    },
                    "rotation": {
                        "roll": 0.015250569209456444,
                        "pitch": -1.6626591682434082,
                        "yaw": 179.25807189941406
                    }
                },
                "velocity": {
                    "x": -1.8974852561950684,
                    "y": 0.0038432246074080467,
                    "z": -0.058912262320518494
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.04422664642334,
                "transform": {
                    "location": {
                        "x": 2185.012451171875,
                        "y": 2494.07763671875,
                        "z": 365.0466613769531
                    },
                    "rotation": {
                        "roll": -0.0002441413525957614,
                        "pitch": 0.23797060549259186,
                        "yaw": 90.1240234375
                    }
                },
                "velocity": {
                    "x": -0.004740710835903883,
                    "y": 5.044101715087891,
                    "z": 0.035160742700099945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5807337760925293,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2506.647705078125,
                        "z": 365.1116027832031
                    },
                    "rotation": {
                        "roll": 0.00010186705185333267,
                        "pitch": 0.2770802676677704,
                        "yaw": 90.06754302978516
                    }
                },
                "velocity": {
                    "x": -0.003023593919351697,
                    "y": 2.580711841583252,
                    "z": 0.010174875147640705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.668809413909912,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2546.21533203125,
                        "z": 365.1576232910156
                    },
                    "rotation": {
                        "roll": 0.0027998872101306915,
                        "pitch": 0.19772712886333466,
                        "yaw": -89.88394165039062
                    }
                },
                "velocity": {
                    "x": 0.006340751424431801,
                    "y": -4.6688032150268555,
                    "z": 0.00443204864859581
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6736133694648743,
                "transform": {
                    "location": {
                        "x": 2211.583740234375,
                        "y": 2524.286376953125,
                        "z": 365.81109619140625
                    },
                    "rotation": {
                        "roll": 0.0029937410727143288,
                        "pitch": -1.9475668668746948,
                        "yaw": 179.80279541015625
                    }
                },
                "velocity": {
                    "x": -0.6733538508415222,
                    "y": 0.002150600776076317,
                    "z": -0.018572654575109482
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5681946873664856,
        "expert_target_speed": 0.0,
        "target_point": [
            29.492866248937673,
            6.774824674324329
        ],
        "target_point_next": [
            29.492866248937673,
            6.774824674324329
        ]
    },
    "325": {
        "acceleration": [
            -0.014061369001865387,
            -0.01361343078315258,
            -0.010351011529564857
        ],
        "angular_velocity": [
            0.03007669560611248,
            2.2049994468688965,
            0.009220617823302746
        ],
        "forward_vector": [
            -0.9641647338867188,
            0.26365965604782104,
            -0.02949441596865654
        ],
        "right_vector": [
            -0.263548344373703,
            -0.9646157026290894,
            -0.007670092862099409
        ],
        "location": [
            2178.40283203125,
            2523.28076171875,
            365.0278015136719
        ],
        "rotation": [
            0.4396595358848572,
            -1.6901507377624512,
            164.7058563232422
        ],
        "velocity": [
            0.007550900802016258,
            0.002684912411496043,
            -0.0014342311769723892
        ],
        "speed": 0.00801404127636583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.70309829711914,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.6982421875,
                2527.325439453125,
                364.87353515625
            ],
            "velocity": [
                0.5206055641174316,
                -0.0013696227688342333,
                0.009233416989445686
            ],
            "speed_kmh": 1.8744812660537138,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.39113187789917,
                "transform": {
                    "location": {
                        "x": 2187.787841796875,
                        "y": 2575.244384765625,
                        "z": 365.0565185546875
                    },
                    "rotation": {
                        "roll": 0.0007035702583380044,
                        "pitch": 0.564399003982544,
                        "yaw": -89.63839721679688
                    }
                },
                "velocity": {
                    "x": 0.03097536228597164,
                    "y": -3.3909056186676025,
                    "z": 0.024002542719244957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009802533313632011,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.9775390625,
                        "z": 364.7060546875
                    },
                    "rotation": {
                        "roll": 0.00031695523648522794,
                        "pitch": 0.618617057800293,
                        "yaw": 90.0604248046875
                    }
                },
                "velocity": {
                    "x": 0.00011920102406293154,
                    "y": -6.673358439002186e-05,
                    "z": -0.0009706876007840037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8329042196273804,
                "transform": {
                    "location": {
                        "x": 2149.0751953125,
                        "y": 2527.36279296875,
                        "z": 364.75384521484375
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.11413928866386414,
                        "yaw": 0.11277223378419876
                    }
                },
                "velocity": {
                    "x": 1.8328917026519775,
                    "y": 2.2056919988244772e-05,
                    "z": -0.006767082028090954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.592023849487305,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2467.53466796875,
                        "z": 364.8473205566406
                    },
                    "rotation": {
                        "roll": 0.0005645860219374299,
                        "pitch": 0.41634783148765564,
                        "yaw": 90.08946228027344
                    }
                },
                "velocity": {
                    "x": -0.007237652782350779,
                    "y": 4.591824531555176,
                    "z": 0.042154423892498016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.470482587814331,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2559.400634765625,
                        "z": 365.1228332519531
                    },
                    "rotation": {
                        "roll": 0.0026589292101562023,
                        "pitch": 0.24741676449775696,
                        "yaw": -89.7393798828125
                    }
                },
                "velocity": {
                    "x": 0.00804730411618948,
                    "y": -2.470456600189209,
                    "z": 0.007975644432008266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.010369978845119476,
                "transform": {
                    "location": {
                        "x": 2160.30078125,
                        "y": 2527.349365234375,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.000881189713254571,
                        "pitch": 0.29561740159988403,
                        "yaw": 0.06768079847097397
                    }
                },
                "velocity": {
                    "x": -0.010305468924343586,
                    "y": -0.0002421583776595071,
                    "z": 0.0011292170966044068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5206892490386963,
                "transform": {
                    "location": {
                        "x": 2170.6982421875,
                        "y": 2527.325439453125,
                        "z": 364.87353515625
                    },
                    "rotation": {
                        "roll": 0.0036806545685976744,
                        "pitch": 0.9904593229293823,
                        "yaw": 0.02310418151319027
                    }
                },
                "velocity": {
                    "x": 0.5206055641174316,
                    "y": -0.0013696227688342333,
                    "z": 0.009233416989445686
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001222845894517377,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.0888338844524696e-05,
                    "y": -1.119126500270795e-05,
                    "z": -0.00011470144090708345
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8396329879760742,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2481.40283203125,
                        "z": 364.9617919921875
                    },
                    "rotation": {
                        "roll": 0.0004728125059045851,
                        "pitch": 0.3475404977798462,
                        "yaw": 90.05270385742188
                    }
                },
                "velocity": {
                    "x": -0.0016167289577424526,
                    "y": 1.8395830392837524,
                    "z": 0.013457059860229492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010737170232459903,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 3.8041038351366296e-05,
                        "pitch": 0.21812890470027924,
                        "yaw": -179.8318634033203
                    }
                },
                "velocity": {
                    "x": 7.906593054940458e-06,
                    "y": 5.591902663582005e-06,
                    "z": 0.0010736733675003052
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000637325516436249,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306579589844
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": 0.22519132494926453,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 5.6296474213013425e-05,
                    "y": -5.183110260986723e-05,
                    "z": -0.0006327148294076324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009874176234006882,
                "transform": {
                    "location": {
                        "x": 2226.680908203125,
                        "y": 2524.26708984375,
                        "z": 366.2529296875
                    },
                    "rotation": {
                        "roll": 0.020566100254654884,
                        "pitch": -1.9542194604873657,
                        "yaw": 179.4397430419922
                    }
                },
                "velocity": {
                    "x": -0.009809751994907856,
                    "y": -0.000967837986536324,
                    "z": -0.0005756883765570819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3975510597229,
                "transform": {
                    "location": {
                        "x": 2185.012451171875,
                        "y": 2495.34130859375,
                        "z": 365.0533142089844
                    },
                    "rotation": {
                        "roll": 0.006796299014240503,
                        "pitch": 0.36879605054855347,
                        "yaw": 90.40130615234375
                    }
                },
                "velocity": {
                    "x": -0.03235394507646561,
                    "y": 4.397367000579834,
                    "z": 0.023948868736624718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.65215003490448,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2507.1845703125,
                        "z": 365.11346435546875
                    },
                    "rotation": {
                        "roll": 0.0007541590020991862,
                        "pitch": 0.29643020033836365,
                        "yaw": 90.06771087646484
                    }
                },
                "velocity": {
                    "x": -0.001967241056263447,
                    "y": 1.6521345376968384,
                    "z": 0.0068853567354381084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.342106342315674,
                "transform": {
                    "location": {
                        "x": 2187.909912109375,
                        "y": 2545.0546875,
                        "z": 365.1592102050781
                    },
                    "rotation": {
                        "roll": 0.0017345164669677615,
                        "pitch": 0.034424152225255966,
                        "yaw": -89.90642547607422
                    }
                },
                "velocity": {
                    "x": 0.0055882916785776615,
                    "y": -4.342099666595459,
                    "z": 0.004941644612699747
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.90938401222229,
                "transform": {
                    "location": {
                        "x": 2211.244873046875,
                        "y": 2524.286865234375,
                        "z": 365.7970886230469
                    },
                    "rotation": {
                        "roll": 0.0018843702273443341,
                        "pitch": -1.3643165826797485,
                        "yaw": 179.7591552734375
                    }
                },
                "velocity": {
                    "x": -1.9086697101593018,
                    "y": 0.00436793640255928,
                    "z": -0.052038248628377914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5790916681289673,
        "expert_target_speed": 0.0,
        "target_point": [
            29.49150538428759,
            6.77412172857704
        ],
        "target_point_next": [
            29.49150538428759,
            6.77412172857704
        ]
    },
    "330": {
        "acceleration": [
            -0.012094941921532154,
            0.0010018981993198395,
            0.009218918159604073
        ],
        "angular_velocity": [
            0.01470895204693079,
            0.8962278366088867,
            -0.0019100166391581297
        ],
        "forward_vector": [
            -0.9643394351005554,
            0.2636493444442749,
            -0.023205222561955452
        ],
        "right_vector": [
            -0.2635807991027832,
            -0.9646185636520386,
            -0.006019857246428728
        ],
        "location": [
            2178.400634765625,
            2523.281005859375,
            365.0263671875
        ],
        "rotation": [
            0.34500738978385925,
            -1.3296806812286377,
            164.70907592773438
        ],
        "velocity": [
            0.002819659421220422,
            -0.00020336188026703894,
            -0.0001284662721445784
        ],
        "speed": 0.0028269834286784967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.53184700012207,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2170.889404296875,
                2527.32470703125,
                364.87701416015625
            ],
            "velocity": [
                0.9487916827201843,
                -0.0012615449959412217,
                0.017466478049755096
            ],
            "speed_kmh": 3.4162318059656154,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.8718366622924805,
                "transform": {
                    "location": {
                        "x": 2187.798095703125,
                        "y": 2574.197021484375,
                        "z": 365.0632019042969
                    },
                    "rotation": {
                        "roll": -0.00045777938794344664,
                        "pitch": 0.5787492394447327,
                        "yaw": -89.518310546875
                    }
                },
                "velocity": {
                    "x": 0.048523347824811935,
                    "y": -4.871505260467529,
                    "z": 0.029579076915979385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00046754744835197926,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.9775390625,
                        "z": 364.70599365234375
                    },
                    "rotation": {
                        "roll": 0.00025289185578003526,
                        "pitch": 0.6200650334358215,
                        "yaw": 90.06044006347656
                    }
                },
                "velocity": {
                    "x": 9.289069566875696e-05,
                    "y": -3.3367574360454455e-05,
                    "z": -0.0004570104356389493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0451738834381104,
                "transform": {
                    "location": {
                        "x": 2149.5654296875,
                        "y": 2527.362548828125,
                        "z": 364.7518615722656
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.2537210285663605,
                        "yaw": 0.07599059492349625
                    }
                },
                "velocity": {
                    "x": 1.0451630353927612,
                    "y": -0.00022348614584188908,
                    "z": -0.004777173977345228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.182783603668213,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2468.796630859375,
                        "z": 364.85894775390625
                    },
                    "rotation": {
                        "roll": -0.0008544937591068447,
                        "pitch": 0.4510178565979004,
                        "yaw": 90.08931732177734
                    }
                },
                "velocity": {
                    "x": -0.005753917619585991,
                    "y": 5.182579040527344,
                    "z": 0.045721396803855896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9188812971115112,
                "transform": {
                    "location": {
                        "x": 2187.890625,
                        "y": 2558.9765625,
                        "z": 365.12445068359375
                    },
                    "rotation": {
                        "roll": 3.058930087718181e-05,
                        "pitch": 0.20549988746643066,
                        "yaw": -89.95822143554688
                    }
                },
                "velocity": {
                    "x": 0.00456360774114728,
                    "y": -1.9188669919967651,
                    "z": 0.005839671939611435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6721994876861572,
                "transform": {
                    "location": {
                        "x": 2160.37109375,
                        "y": 2527.349365234375,
                        "z": 364.75543212890625
                    },
                    "rotation": {
                        "roll": 0.0004942508530803025,
                        "pitch": 0.36920586228370667,
                        "yaw": 0.08269926905632019
                    }
                },
                "velocity": {
                    "x": 0.6721963286399841,
                    "y": 0.00013011274859309196,
                    "z": 0.00204435340128839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9489532709121704,
                "transform": {
                    "location": {
                        "x": 2170.889404296875,
                        "y": 2527.32470703125,
                        "z": 364.87701416015625
                    },
                    "rotation": {
                        "roll": 0.004614281468093395,
                        "pitch": 1.0053081512451172,
                        "yaw": 0.08606742322444916
                    }
                },
                "velocity": {
                    "x": 0.9487916827201843,
                    "y": -0.0012615449959412217,
                    "z": 0.017466478049755096
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.158562998985872e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.026189344585873e-05,
                    "y": -1.1957306014664937e-05,
                    "z": -2.9951292162877508e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7354226112365723,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2481.97998046875,
                        "z": 364.9662780761719
                    },
                    "rotation": {
                        "roll": 0.0009778932435438037,
                        "pitch": 0.3246456980705261,
                        "yaw": 90.0597152709961
                    }
                },
                "velocity": {
                    "x": -0.003967846278101206,
                    "y": 2.7353515625,
                    "z": 0.01932271011173725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006794162327423692,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00024589415988884866,
                        "pitch": 0.21795132756233215,
                        "yaw": -179.83184814453125
                    }
                },
                "velocity": {
                    "x": 9.10520520847058e-06,
                    "y": -1.0099813152919523e-05,
                    "z": 0.0006792801432311535
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004630607436411083,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 2.0862593373749405e-05,
                    "y": 1.7190101061714813e-05,
                    "z": -0.0004622710112016648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3556606769561768,
                "transform": {
                    "location": {
                        "x": 2226.505859375,
                        "y": 2524.267333984375,
                        "z": 366.24639892578125
                    },
                    "rotation": {
                        "roll": 0.012304107658565044,
                        "pitch": -1.8244868516921997,
                        "yaw": 179.45323181152344
                    }
                },
                "velocity": {
                    "x": -1.355004906654358,
                    "y": 0.0021718726493418217,
                    "z": -0.042103953659534454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.552353024482727,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2496.068603515625,
                        "z": 365.05584716796875
                    },
                    "rotation": {
                        "roll": 0.01001720130443573,
                        "pitch": 0.596295952796936,
                        "yaw": 92.13418579101562
                    }
                },
                "velocity": {
                    "x": -0.028583504259586334,
                    "y": 1.5520566701889038,
                    "z": 0.010154351592063904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9560691714286804,
                "transform": {
                    "location": {
                        "x": 2185.001220703125,
                        "y": 2507.352783203125,
                        "z": 365.1145324707031
                    },
                    "rotation": {
                        "roll": 1.334035282241075e-08,
                        "pitch": 0.2614459693431854,
                        "yaw": 90.10518646240234
                    }
                },
                "velocity": {
                    "x": 4.066174733452499e-05,
                    "y": 0.9560645818710327,
                    "z": 0.0029674337711185217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.334268569946289,
                "transform": {
                    "location": {
                        "x": 2187.911865234375,
                        "y": 2543.98779296875,
                        "z": 365.1601867675781
                    },
                    "rotation": {
                        "roll": 0.0008128666668199003,
                        "pitch": -0.012424113228917122,
                        "yaw": -89.91644287109375
                    }
                },
                "velocity": {
                    "x": 0.004682538099586964,
                    "y": -4.33426570892334,
                    "z": 0.0020774744916707277
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.155941367149353,
                "transform": {
                    "location": {
                        "x": 2210.686279296875,
                        "y": 2524.288330078125,
                        "z": 365.7820129394531
                    },
                    "rotation": {
                        "roll": 0.003803017782047391,
                        "pitch": -1.3898272514343262,
                        "yaw": 179.7432403564453
                    }
                },
                "velocity": {
                    "x": -1.155509114265442,
                    "y": 0.00079542730236426,
                    "z": -0.031598564237356186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5952176451683044,
        "expert_target_speed": 0.0,
        "target_point": [
            29.489702629886125,
            6.772118361735108
        ],
        "target_point_next": [
            29.489702629886125,
            6.772118361735108
        ]
    },
    "335": {
        "acceleration": [
            -0.005456968210637569,
            -0.00045055494410917163,
            0.0022270369809120893
        ],
        "angular_velocity": [
            0.007251807954162359,
            0.2862994372844696,
            -0.00044117021025158465
        ],
        "forward_vector": [
            -0.9643890261650085,
            0.26365476846694946,
            -0.020977746695280075
        ],
        "right_vector": [
            -0.26359909772872925,
            -0.964617133140564,
            -0.005426183342933655
        ],
        "location": [
            2178.3994140625,
            2523.281005859375,
            365.0258483886719
        ],
        "rotation": [
            0.310967355966568,
            -1.2020244598388672,
            164.7095184326172
        ],
        "velocity": [
            0.0008701549377292395,
            -9.768078598426655e-05,
            9.870567009784281e-05
        ],
        "speed": 0.0008756204380923738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.247706413269043,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2171.212158203125,
                2527.32421875,
                364.8828430175781
            ],
            "velocity": [
                1.5365798473358154,
                -0.00283074495382607,
                0.029284266754984856
            ],
            "speed_kmh": 5.532701327914663,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7063446044921875,
                "transform": {
                    "location": {
                        "x": 2187.811767578125,
                        "y": 2572.854248046875,
                        "z": 365.0714111328125
                    },
                    "rotation": {
                        "roll": 0.0018155403668060899,
                        "pitch": 0.5061579942703247,
                        "yaw": -89.47345733642578
                    }
                },
                "velocity": {
                    "x": 0.05916641652584076,
                    "y": -5.705944061279297,
                    "z": 0.03267845883965492
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3779497146606445,
                "transform": {
                    "location": {
                        "x": 2185.154052734375,
                        "y": 2454.12255859375,
                        "z": 364.707763671875
                    },
                    "rotation": {
                        "roll": -0.0026550060138106346,
                        "pitch": 0.7868787050247192,
                        "yaw": 90.12188720703125
                    }
                },
                "velocity": {
                    "x": -0.015614213421940804,
                    "y": 1.3777847290039062,
                    "z": 0.014521016739308834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7812168598175049,
                "transform": {
                    "location": {
                        "x": 2149.654052734375,
                        "y": 2527.362548828125,
                        "z": 364.7514343261719
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.2569243907928467,
                        "yaw": 0.06404852867126465
                    }
                },
                "velocity": {
                    "x": 0.7812105417251587,
                    "y": 0.0001816496514948085,
                    "z": -0.0031295870430767536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.815245151519775,
                "transform": {
                    "location": {
                        "x": 2185.037841796875,
                        "y": 2470.1826171875,
                        "z": 364.8708801269531
                    },
                    "rotation": {
                        "roll": -0.0001831133122323081,
                        "pitch": 0.44577911496162415,
                        "yaw": 89.99205780029297
                    }
                },
                "velocity": {
                    "x": -0.0043404060415923595,
                    "y": 5.815023899078369,
                    "z": 0.05052643641829491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6230673789978027,
                "transform": {
                    "location": {
                        "x": 2187.892822265625,
                        "y": 2558.24462890625,
                        "z": 365.1263732910156
                    },
                    "rotation": {
                        "roll": -0.0014953742502257228,
                        "pitch": 0.2691231071949005,
                        "yaw": -90.0140380859375
                    }
                },
                "velocity": {
                    "x": 0.00604493310675025,
                    "y": -3.6230435371398926,
                    "z": 0.011650877073407173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4900435209274292,
                "transform": {
                    "location": {
                        "x": 2160.646240234375,
                        "y": 2527.349365234375,
                        "z": 364.7569580078125
                    },
                    "rotation": {
                        "roll": 0.002796631073579192,
                        "pitch": 0.42415472865104675,
                        "yaw": 0.037374142557382584
                    }
                },
                "velocity": {
                    "x": 1.490007996559143,
                    "y": -0.0017033700132742524,
                    "z": 0.010159549303352833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.536861538887024,
                "transform": {
                    "location": {
                        "x": 2171.212158203125,
                        "y": 2527.32421875,
                        "z": 364.8828430175781
                    },
                    "rotation": {
                        "roll": 0.004305876791477203,
                        "pitch": 1.026317834854126,
                        "yaw": 0.072875015437603
                    }
                },
                "velocity": {
                    "x": 1.5365798473358154,
                    "y": -0.00283074495382607,
                    "z": 0.029284266754984856
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010226757876807824,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -3.767624366446398e-05,
                    "y": -1.3997663700138219e-05,
                    "z": -9.403841249877587e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7511167526245117,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2482.789794921875,
                        "z": 364.9723205566406
                    },
                    "rotation": {
                        "roll": 0.00010437529999762774,
                        "pitch": 0.3054528832435608,
                        "yaw": 90.059814453125
                    }
                },
                "velocity": {
                    "x": -0.0038918652571737766,
                    "y": 3.751021146774292,
                    "z": 0.02647719345986843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7786969187436625e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.21829965710639954,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 3.2544136274736957e-07,
                    "y": -2.6783516659634188e-05,
                    "z": 2.665318788785953e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9789139032363892,
                "transform": {
                    "location": {
                        "x": 2226.02001953125,
                        "y": 2524.2705078125,
                        "z": 366.228515625
                    },
                    "rotation": {
                        "roll": -0.005615233909338713,
                        "pitch": -1.4641056060791016,
                        "yaw": 179.7144012451172
                    }
                },
                "velocity": {
                    "x": -1.9779870510101318,
                    "y": 0.002901131520047784,
                    "z": -0.060491692274808884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9524705410003662,
                "transform": {
                    "location": {
                        "x": 2185.01513671875,
                        "y": 2496.21435546875,
                        "z": 365.0579528808594
                    },
                    "rotation": {
                        "roll": 0.004630162380635738,
                        "pitch": 0.43681105971336365,
                        "yaw": 92.2824935913086
                    }
                },
                "velocity": {
                    "x": -0.0011825226247310638,
                    "y": 0.952458381652832,
                    "z": 0.004662923514842987
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.631003737449646,
                "transform": {
                    "location": {
                        "x": 2185.001220703125,
                        "y": 2507.697509765625,
                        "z": 365.11669921875
                    },
                    "rotation": {
                        "roll": 0.0014648596988990903,
                        "pitch": 0.13801079988479614,
                        "yaw": 90.10774230957031
                    }
                },
                "velocity": {
                    "x": -0.002305978210642934,
                    "y": 1.6309914588928223,
                    "z": 0.005906390957534313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9399185180664062,
                "transform": {
                    "location": {
                        "x": 2187.913818359375,
                        "y": 2542.96337890625,
                        "z": 365.1608581542969
                    },
                    "rotation": {
                        "roll": 0.0008224750636145473,
                        "pitch": -0.08529539406299591,
                        "yaw": -89.92561340332031
                    }
                },
                "velocity": {
                    "x": 0.0036614639684557915,
                    "y": -3.9399163722991943,
                    "z": 0.0019645977299660444
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0024714600294828415,
                "transform": {
                    "location": {
                        "x": 2210.670166015625,
                        "y": 2524.2880859375,
                        "z": 365.78631591796875
                    },
                    "rotation": {
                        "roll": 0.007062255870550871,
                        "pitch": -1.973384976387024,
                        "yaw": 179.73451232910156
                    }
                },
                "velocity": {
                    "x": 0.0023683917243033648,
                    "y": 0.00022359083232004195,
                    "z": -0.0006699568475596607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6019871234893799,
        "expert_target_speed": 0.0,
        "target_point": [
            29.488576804225257,
            6.77157145870202
        ],
        "target_point_next": [
            29.488576804225257,
            6.77157145870202
        ]
    },
    "340": {
        "acceleration": [
            -0.0021764542907476425,
            -0.001875822781585157,
            -0.0014046108117327094
        ],
        "angular_velocity": [
            0.022086208686232567,
            0.1205945760011673,
            8.026826981222257e-05
        ],
        "forward_vector": [
            -0.9644007682800293,
            0.26365575194358826,
            -0.020416507497429848
        ],
        "right_vector": [
            -0.26360398530960083,
            -0.9646167755126953,
            -0.005234940908849239
        ],
        "location": [
            2178.39892578125,
            2523.281005859375,
            365.0257263183594
        ],
        "rotation": [
            0.30000391602516174,
            -1.169861078262329,
            164.7096405029297
        ],
        "velocity": [
            0.0003365872835274786,
            -0.00010342575114918873,
            0.00041415891610085964
        ],
        "speed": 0.0003521191352840416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.865429878234863,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2171.6533203125,
                2527.32373046875,
                364.89093017578125
            ],
            "velocity": [
                1.999967098236084,
                -0.0037482897751033306,
                0.03694635257124901
            ],
            "speed_kmh": 7.201122641481785,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.855227947235107,
                "transform": {
                    "location": {
                        "x": 2187.828125,
                        "y": 2571.356689453125,
                        "z": 365.0798645019531
                    },
                    "rotation": {
                        "roll": 0.0018121255561709404,
                        "pitch": 0.5077630877494812,
                        "yaw": -89.41341400146484
                    }
                },
                "velocity": {
                    "x": 0.07383658736944199,
                    "y": -6.854727745056152,
                    "z": 0.03744395077228546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4133899211883545,
                "transform": {
                    "location": {
                        "x": 2185.148681640625,
                        "y": 2454.58984375,
                        "z": 364.7129211425781
                    },
                    "rotation": {
                        "roll": -0.0021361836697906256,
                        "pitch": 0.7883608937263489,
                        "yaw": 90.31023406982422
                    }
                },
                "velocity": {
                    "x": -0.027786264196038246,
                    "y": 2.413093328475952,
                    "z": 0.025678548961877823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6753016710281372,
                "transform": {
                    "location": {
                        "x": 2149.9736328125,
                        "y": 2527.362548828125,
                        "z": 364.7504577636719
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": -0.11874283105134964,
                        "yaw": 0.06697086989879608
                    }
                },
                "velocity": {
                    "x": 1.6752889156341553,
                    "y": -0.0005427959258668125,
                    "z": -0.006517372094094753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4162635803222656,
                "transform": {
                    "location": {
                        "x": 2185.0361328125,
                        "y": 2471.45068359375,
                        "z": 364.8800048828125
                    },
                    "rotation": {
                        "roll": 0.008625092916190624,
                        "pitch": 0.6556708216667175,
                        "yaw": 90.21089172363281
                    }
                },
                "velocity": {
                    "x": -0.025168858468532562,
                    "y": 3.4160499572753906,
                    "z": 0.028746727854013443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.088352680206299,
                "transform": {
                    "location": {
                        "x": 2187.893798828125,
                        "y": 2557.1640625,
                        "z": 365.1297302246094
                    },
                    "rotation": {
                        "roll": 0.00040610789437778294,
                        "pitch": 0.288268119096756,
                        "yaw": -89.96514129638672
                    }
                },
                "velocity": {
                    "x": 0.0076516419649124146,
                    "y": -5.088326454162598,
                    "z": 0.014411753974854946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2634150981903076,
                "transform": {
                    "location": {
                        "x": 2161.14990234375,
                        "y": 2527.348388671875,
                        "z": 364.7609558105469
                    },
                    "rotation": {
                        "roll": 0.002621532417833805,
                        "pitch": 0.48827654123306274,
                        "yaw": 0.007456103339791298
                    }
                },
                "velocity": {
                    "x": 2.263343572616577,
                    "y": -0.00322942016646266,
                    "z": 0.01771369017660618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.000311851501465,
                "transform": {
                    "location": {
                        "x": 2171.6533203125,
                        "y": 2527.32373046875,
                        "z": 364.89093017578125
                    },
                    "rotation": {
                        "roll": 0.0024487124755978584,
                        "pitch": 1.0494039058685303,
                        "yaw": 0.02847060188651085
                    }
                },
                "velocity": {
                    "x": 1.999967098236084,
                    "y": -0.0037482897751033306,
                    "z": 0.03694635257124901
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019132164015900344,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.5887827582191676e-05,
                    "y": 6.966445198486326e-06,
                    "z": 0.00018560643366072327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.859321117401123,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2483.873779296875,
                        "z": 364.9801025390625
                    },
                    "rotation": {
                        "roll": -0.0002441425167489797,
                        "pitch": 0.29664191603660583,
                        "yaw": 90.06001281738281
                    }
                },
                "velocity": {
                    "x": -0.005059067625552416,
                    "y": 4.8592000007629395,
                    "z": 0.03397740423679352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009429805795662105,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.21820403635501862,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": -1.704432065707806e-06,
                    "y": -2.613159449538216e-05,
                    "z": 0.0009426168981008232
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008035068167373538,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.0102093256136868e-05,
                    "y": -5.960525413684081e-06,
                    "z": -0.0008034211932681501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9125076532363892,
                "transform": {
                    "location": {
                        "x": 2225.710205078125,
                        "y": 2524.27392578125,
                        "z": 366.22161865234375
                    },
                    "rotation": {
                        "roll": -0.00784301571547985,
                        "pitch": -1.787043809890747,
                        "yaw": 179.98033142089844
                    }
                },
                "velocity": {
                    "x": -1.911620020866394,
                    "y": 0.0011822760570794344,
                    "z": -0.058248672634363174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7651323080062866,
                "transform": {
                    "location": {
                        "x": 2185.012451171875,
                        "y": 2496.56005859375,
                        "z": 365.06109619140625
                    },
                    "rotation": {
                        "roll": 0.0017722269985824823,
                        "pitch": 0.2702978849411011,
                        "yaw": 91.9533462524414
                    }
                },
                "velocity": {
                    "x": -0.0018766956636682153,
                    "y": 1.7651052474975586,
                    "z": 0.009589528664946556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6800568699836731,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2507.82666015625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": 0.0008785805548541248,
                        "pitch": 0.23742419481277466,
                        "yaw": 90.0779037475586
                    }
                },
                "velocity": {
                    "x": -0.002061393577605486,
                    "y": 0.6800501346588135,
                    "z": 0.002216873224824667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8357059955596924,
                "transform": {
                    "location": {
                        "x": 2187.915283203125,
                        "y": 2541.97216796875,
                        "z": 365.160888671875
                    },
                    "rotation": {
                        "roll": 0.0006126227672211826,
                        "pitch": -0.04919102042913437,
                        "yaw": -89.93173217773438
                    }
                },
                "velocity": {
                    "x": 0.0035209842026233673,
                    "y": -3.8357043266296387,
                    "z": 0.0011546134483069181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0022982440423220396,
                "transform": {
                    "location": {
                        "x": 2210.666259765625,
                        "y": 2524.2880859375,
                        "z": 365.782958984375
                    },
                    "rotation": {
                        "roll": 0.0038378743920475245,
                        "pitch": -1.572780728340149,
                        "yaw": 179.73440551757812
                    }
                },
                "velocity": {
                    "x": 0.0022559354547411203,
                    "y": -1.544037695566658e-05,
                    "z": -0.0004386825021356344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6018354296684265,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48811872288742,
            6.771386448887398
        ],
        "target_point_next": [
            29.48811872288742,
            6.771386448887398
        ]
    },
    "345": {
        "acceleration": [
            0.0005931585910730064,
            0.0005582090234383941,
            0.005791057832539082
        ],
        "angular_velocity": [
            -0.016783054918050766,
            0.025436731055378914,
            -0.0005823000683449209
        ],
        "forward_vector": [
            -0.9644061326980591,
            0.26365748047828674,
            -0.0201384499669075
        ],
        "right_vector": [
            -0.2636076807975769,
            -0.9646163582801819,
            -0.0051351264119148254
        ],
        "location": [
            2178.39892578125,
            2523.281005859375,
            365.0256652832031
        ],
        "rotation": [
            0.29428204894065857,
            -1.1539262533187866,
            164.70962524414062
        ],
        "velocity": [
            2.965792918985244e-05,
            2.7910451535717584e-05,
            0.00028955290326848626
        ],
        "speed": 4.072574208971448e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.381285190582275,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2172.22412109375,
                2527.3232421875,
                364.9012451171875
            ],
            "velocity": [
                2.5405118465423584,
                -0.00531298341229558,
                0.0476643368601799
            ],
            "speed_kmh": 9.147472178013535,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.287115097045898,
                "transform": {
                    "location": {
                        "x": 2187.84423828125,
                        "y": 2569.490478515625,
                        "z": 365.0899658203125
                    },
                    "rotation": {
                        "roll": 0.009828360751271248,
                        "pitch": 0.38858991861343384,
                        "yaw": -89.43135070800781
                    }
                },
                "velocity": {
                    "x": 0.05320063605904579,
                    "y": -7.286816120147705,
                    "z": 0.03899656981229782
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.736203670501709,
                "transform": {
                    "location": {
                        "x": 2185.138427734375,
                        "y": 2455.38720703125,
                        "z": 364.7215270996094
                    },
                    "rotation": {
                        "roll": -0.0005798250786028802,
                        "pitch": 0.8204969167709351,
                        "yaw": 90.50718688964844
                    }
                },
                "velocity": {
                    "x": -0.048283375799655914,
                    "y": 3.735684633255005,
                    "z": 0.039323996752500534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3301162719726562,
                "transform": {
                    "location": {
                        "x": 2150.5205078125,
                        "y": 2527.362548828125,
                        "z": 364.7484436035156
                    },
                    "rotation": {
                        "roll": 5.3172363550402224e-05,
                        "pitch": -0.11237026751041412,
                        "yaw": 0.08646972477436066
                    }
                },
                "velocity": {
                    "x": 2.3301048278808594,
                    "y": 0.0008122517610900104,
                    "z": -0.007284240331500769
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.40668585896492004,
                "transform": {
                    "location": {
                        "x": 2185.034423828125,
                        "y": 2471.755615234375,
                        "z": 364.88128662109375
                    },
                    "rotation": {
                        "roll": 0.0031920585315674543,
                        "pitch": 0.8269924521446228,
                        "yaw": 90.2026596069336
                    }
                },
                "velocity": {
                    "x": -0.00028520930209197104,
                    "y": 0.4066697955131531,
                    "z": 0.0036055278033018112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.849224090576172,
                "transform": {
                    "location": {
                        "x": 2187.89599609375,
                        "y": 2555.74560546875,
                        "z": 365.13330078125
                    },
                    "rotation": {
                        "roll": -0.00042725226376205683,
                        "pitch": 0.2850989103317261,
                        "yaw": -89.9834213256836
                    }
                },
                "velocity": {
                    "x": 0.00949917547404766,
                    "y": -6.8491950035095215,
                    "z": 0.017415322363376617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3925730288028717,
                "transform": {
                    "location": {
                        "x": 2161.406005859375,
                        "y": 2527.34814453125,
                        "z": 364.7624816894531
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": 0.1734594702720642,
                        "yaw": 0.00017456478963140398
                    }
                },
                "velocity": {
                    "x": 0.3925580382347107,
                    "y": 0.00045977949048392475,
                    "z": 0.0033991241361945868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.540964365005493,
                "transform": {
                    "location": {
                        "x": 2172.22412109375,
                        "y": 2527.3232421875,
                        "z": 364.9012451171875
                    },
                    "rotation": {
                        "roll": 0.0022465831134468317,
                        "pitch": 1.083097219467163,
                        "yaw": -0.012359619140625
                    }
                },
                "velocity": {
                    "x": 2.5405118465423584,
                    "y": -0.00531298341229558,
                    "z": 0.0476643368601799
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.498899943428114e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.11307810281869e-05,
                    "y": 1.534811599412933e-05,
                    "z": 9.833830517891329e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.970530033111572,
                "transform": {
                    "location": {
                        "x": 2185.02294921875,
                        "y": 2485.156982421875,
                        "z": 364.98876953125
                    },
                    "rotation": {
                        "roll": -0.00021360798564273864,
                        "pitch": 0.3723955452442169,
                        "yaw": 90.0632553100586
                    }
                },
                "velocity": {
                    "x": -0.005576758645474911,
                    "y": 4.970418930053711,
                    "z": 0.032738637179136276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045292775030247867,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00023159856209531426,
                        "pitch": 0.21819721162319183,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 7.987134267750662e-06,
                    "y": 2.6779123800224625e-05,
                    "z": 0.000452064850833267
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020165834575891495,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.1016726602974813e-05,
                    "y": 8.914051250030752e-06,
                    "z": -0.00020115978259127587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4577772617340088,
                "transform": {
                    "location": {
                        "x": 2225.13330078125,
                        "y": 2524.2744140625,
                        "z": 366.2029724121094
                    },
                    "rotation": {
                        "roll": -0.006774901878088713,
                        "pitch": -1.6503580808639526,
                        "yaw": -179.9674835205078
                    }
                },
                "velocity": {
                    "x": -1.4571009874343872,
                    "y": 0.0012819436378777027,
                    "z": -0.04438009113073349
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1833527088165283,
                "transform": {
                    "location": {
                        "x": 2185.009033203125,
                        "y": 2497.09130859375,
                        "z": 365.06396484375
                    },
                    "rotation": {
                        "roll": 0.0030594400595873594,
                        "pitch": 0.27692317962646484,
                        "yaw": 91.51175689697266
                    }
                },
                "velocity": {
                    "x": 0.0007547923014499247,
                    "y": 2.183323860168457,
                    "z": 0.011197309009730816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4427777528762817,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2508.10205078125,
                        "z": 365.1183776855469
                    },
                    "rotation": {
                        "roll": 0.0011944783618673682,
                        "pitch": 0.1147676631808281,
                        "yaw": 90.08272552490234
                    }
                },
                "velocity": {
                    "x": -0.0015588141977787018,
                    "y": 1.4427682161331177,
                    "z": 0.004995269700884819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.731297254562378,
                "transform": {
                    "location": {
                        "x": 2187.915283203125,
                        "y": 2541.04248046875,
                        "z": 365.1609191894531
                    },
                    "rotation": {
                        "roll": -0.0001220730337081477,
                        "pitch": -0.06817211210727692,
                        "yaw": -89.94036102294922
                    }
                },
                "velocity": {
                    "x": 0.0038089370355010033,
                    "y": -3.731295347213745,
                    "z": -0.0006641959771513939
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005871841567568481,
                "transform": {
                    "location": {
                        "x": 2210.66552734375,
                        "y": 2524.2880859375,
                        "z": 365.7822570800781
                    },
                    "rotation": {
                        "roll": 0.002702264580875635,
                        "pitch": -1.48812735080719,
                        "yaw": 179.73439025878906
                    }
                },
                "velocity": {
                    "x": -0.0003321132098790258,
                    "y": 4.654900749301305e-06,
                    "z": -0.0004842152411583811
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.604060173034668,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48811872288742,
            6.771386448887398
        ],
        "target_point_next": [
            29.48811872288742,
            6.771386448887398
        ]
    },
    "350": {
        "acceleration": [
            -0.0009357988019473851,
            0.0021351093892008066,
            0.006744759157299995
        ],
        "angular_velocity": [
            -0.03612487018108368,
            0.02440832182765007,
            -0.0009653194574639201
        ],
        "forward_vector": [
            -0.9644070267677307,
            0.26365771889686584,
            -0.02009328082203865
        ],
        "right_vector": [
            -0.26360833644866943,
            -0.9646162390708923,
            -0.005114440340548754
        ],
        "location": [
            2178.39892578125,
            2523.281005859375,
            365.0256652832031
        ],
        "rotation": [
            0.29309630393981934,
            -1.1513376235961914,
            164.70962524414062
        ],
        "velocity": [
            2.8933882276760414e-05,
            8.266069926321507e-05,
            4.374460695544258e-05
        ],
        "speed": 8.757831207718675e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.803446292877197,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2172.9267578125,
                2527.322021484375,
                364.9140625
            ],
            "velocity": [
                3.068620443344116,
                -0.006659295875579119,
                0.05740805342793465
            ],
            "speed_kmh": 11.048992626997125,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.554380893707275,
                "transform": {
                    "location": {
                        "x": 2187.854736328125,
                        "y": 2567.89453125,
                        "z": 365.0974426269531
                    },
                    "rotation": {
                        "roll": 0.005632612854242325,
                        "pitch": -0.00525241531431675,
                        "yaw": -89.00508880615234
                    }
                },
                "velocity": {
                    "x": 0.020203091204166412,
                    "y": -4.554305076599121,
                    "z": 0.016772804781794548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0518405437469482,
                "transform": {
                    "location": {
                        "x": 2185.126708984375,
                        "y": 2456.225830078125,
                        "z": 364.73004150390625
                    },
                    "rotation": {
                        "roll": 0.004867433104664087,
                        "pitch": 0.5881612300872803,
                        "yaw": 90.65434265136719
                    }
                },
                "velocity": {
                    "x": -0.0431266687810421,
                    "y": 3.0513670444488525,
                    "z": 0.03210199251770973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.42217326164245605,
                "transform": {
                    "location": {
                        "x": 2150.822021484375,
                        "y": 2527.36279296875,
                        "z": 364.7472229003906
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.4440578818321228,
                        "yaw": 0.20391881465911865
                    }
                },
                "velocity": {
                    "x": 0.4221689999103546,
                    "y": -0.0007975801127031446,
                    "z": -0.0017166042234748602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.508072853088379,
                "transform": {
                    "location": {
                        "x": 2185.034423828125,
                        "y": 2472.013671875,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0011068182066082954,
                        "pitch": 0.4502323865890503,
                        "yaw": 90.18328094482422
                    }
                },
                "velocity": {
                    "x": -0.0011941707925871015,
                    "y": 1.5080245733261108,
                    "z": 0.012004680000245571
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.572655200958252,
                "transform": {
                    "location": {
                        "x": 2187.8974609375,
                        "y": 2554.016845703125,
                        "z": 365.13861083984375
                    },
                    "rotation": {
                        "roll": -0.0003967259544879198,
                        "pitch": 0.15119989216327667,
                        "yaw": -89.93989562988281
                    }
                },
                "velocity": {
                    "x": 0.009598948061466217,
                    "y": -6.572629928588867,
                    "z": 0.015548638999462128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4339324235916138,
                "transform": {
                    "location": {
                        "x": 2161.64599609375,
                        "y": 2527.347900390625,
                        "z": 364.7648010253906
                    },
                    "rotation": {
                        "roll": 0.0014042698312550783,
                        "pitch": 0.5009738802909851,
                        "yaw": 0.0205546822398901
                    }
                },
                "velocity": {
                    "x": 1.4338926076889038,
                    "y": -0.00149221729952842,
                    "z": 0.010596437379717827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.069164752960205,
                "transform": {
                    "location": {
                        "x": 2172.9267578125,
                        "y": 2527.322021484375,
                        "z": 364.9140625
                    },
                    "rotation": {
                        "roll": 0.002473230240866542,
                        "pitch": 1.1232860088348389,
                        "yaw": -0.0509948655962944
                    }
                },
                "velocity": {
                    "x": 3.068620443344116,
                    "y": -0.006659295875579119,
                    "z": 0.05740805342793465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000294653931632638,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -3.111734986305237e-05,
                    "y": -3.7247186810418498e-06,
                    "z": -0.0002929825568571687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.17041146755218506,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2485.780517578125,
                        "z": 364.98931884765625
                    },
                    "rotation": {
                        "roll": 0.0011910157045349479,
                        "pitch": 0.7728632092475891,
                        "yaw": 90.0843734741211
                    }
                },
                "velocity": {
                    "x": 0.0010387507500126958,
                    "y": 0.17039982974529266,
                    "z": 0.0016989326104521751
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000800846319179982,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0001788372901501134,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 1.3745166143053211e-05,
                    "y": 1.948544741026126e-05,
                    "z": 0.0008004912524484098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030076366965658963,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": -4.369802809378598e-06,
                    "y": -3.020793155883439e-05,
                    "z": -0.00029921092209406197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1046427488327026,
                "transform": {
                    "location": {
                        "x": 2224.9892578125,
                        "y": 2524.2744140625,
                        "z": 366.2013854980469
                    },
                    "rotation": {
                        "roll": -0.006652831099927425,
                        "pitch": -2.0049405097961426,
                        "yaw": -179.95046997070312
                    }
                },
                "velocity": {
                    "x": -1.1041072607040405,
                    "y": -0.0007100228103809059,
                    "z": -0.03438537195324898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3041233718395233,
                "transform": {
                    "location": {
                        "x": 2185.007568359375,
                        "y": 2497.366455078125,
                        "z": 365.0636291503906
                    },
                    "rotation": {
                        "roll": 0.015691520646214485,
                        "pitch": 0.5013495087623596,
                        "yaw": 91.269775390625
                    }
                },
                "velocity": {
                    "x": -0.0007533235475420952,
                    "y": 0.30411824584007263,
                    "z": 0.0015996360452845693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6651642918586731,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2508.24267578125,
                        "z": 365.1181945800781
                    },
                    "rotation": {
                        "roll": 0.00018106124480254948,
                        "pitch": 0.2093384563922882,
                        "yaw": 90.07981872558594
                    }
                },
                "velocity": {
                    "x": -0.001172162825241685,
                    "y": 0.6651625037193298,
                    "z": 0.0009999655885621905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7871592044830322,
                "transform": {
                    "location": {
                        "x": 2187.88330078125,
                        "y": 2540.209716796875,
                        "z": 365.16162109375
                    },
                    "rotation": {
                        "roll": 0.12260127812623978,
                        "pitch": -0.2627573609352112,
                        "yaw": -91.08477020263672
                    }
                },
                "velocity": {
                    "x": -0.15423832833766937,
                    "y": -2.7828876972198486,
                    "z": -0.001811561523936689
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00036814564373344183,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.78253173828125
                    },
                    "rotation": {
                        "roll": 0.003463151166215539,
                        "pitch": -1.5214860439300537,
                        "yaw": 179.73426818847656
                    }
                },
                "velocity": {
                    "x": -0.00034212766331620514,
                    "y": 2.9362701752688736e-05,
                    "z": -0.0001327317877439782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6059303283691406,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48811872288742,
            6.771386448887398
        ],
        "target_point_next": [
            29.48811872288742,
            6.771386448887398
        ]
    },
    "355": {
        "acceleration": [
            -0.0007389276870526373,
            -0.00018734447075985372,
            -0.009124064818024635
        ],
        "angular_velocity": [
            0.0015542740002274513,
            -0.01227615401148796,
            -0.0001881837088149041
        ],
        "forward_vector": [
            -0.9644085764884949,
            0.26366010308265686,
            -0.019989468157291412
        ],
        "right_vector": [
            -0.2636117935180664,
            -0.9646156430244446,
            -0.005062444135546684
        ],
        "location": [
            2178.39892578125,
            2523.28076171875,
            365.0256652832031
        ],
        "rotation": [
            0.2901158928871155,
            -1.1453884840011597,
            164.7095184326172
        ],
        "velocity": [
            -7.268667104654014e-05,
            -1.2125018656661268e-05,
            -0.0004414949216879904
        ],
        "speed": 7.369103219016763e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.1562089920043945,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2173.75439453125,
                2527.3203125,
                364.9294128417969
            ],
            "velocity": [
                3.3224947452545166,
                -0.007387593388557434,
                0.06470347940921783
            ],
            "speed_kmh": 11.963278536396192,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4929717779159546,
                "transform": {
                    "location": {
                        "x": 2187.856201171875,
                        "y": 2567.529541015625,
                        "z": 365.0986328125
                    },
                    "rotation": {
                        "roll": -0.018157953396439552,
                        "pitch": -0.3054187297821045,
                        "yaw": -88.83892059326172
                    }
                },
                "velocity": {
                    "x": 0.005877004005014896,
                    "y": -0.49292823672294617,
                    "z": 0.0028936767484992743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5106308460235596,
                "transform": {
                    "location": {
                        "x": 2185.118896484375,
                        "y": 2457.03564453125,
                        "z": 364.7387390136719
                    },
                    "rotation": {
                        "roll": 0.010113753378391266,
                        "pitch": 0.6604245901107788,
                        "yaw": 90.58715057373047
                    }
                },
                "velocity": {
                    "x": -0.03170988708734512,
                    "y": 3.510296583175659,
                    "z": 0.03663969039916992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4589349031448364,
                "transform": {
                    "location": {
                        "x": 2151.069091796875,
                        "y": 2527.36279296875,
                        "z": 364.74700927734375
                    },
                    "rotation": {
                        "roll": 0.0013075977331027389,
                        "pitch": -0.12002690881490707,
                        "yaw": 0.18291711807250977
                    }
                },
                "velocity": {
                    "x": 1.458931565284729,
                    "y": -0.00016649013559799641,
                    "z": -0.0031357097905129194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2082817554473877,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2472.504638671875,
                        "z": 364.89105224609375
                    },
                    "rotation": {
                        "roll": 0.0017028821166604757,
                        "pitch": 0.41166913509368896,
                        "yaw": 90.15290832519531
                    }
                },
                "velocity": {
                    "x": -0.0014623122988268733,
                    "y": 2.2082107067108154,
                    "z": 0.01765361800789833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5411688089370728,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2552.900146484375,
                        "z": 365.1431884765625
                    },
                    "rotation": {
                        "roll": 0.0002562527370173484,
                        "pitch": -0.123052679002285,
                        "yaw": -89.92696380615234
                    }
                },
                "velocity": {
                    "x": 0.0021621224004775286,
                    "y": -1.5411630868911743,
                    "z": 0.0035837457980960608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5030598640441895,
                "transform": {
                    "location": {
                        "x": 2162.15234375,
                        "y": 2527.346923828125,
                        "z": 364.76885986328125
                    },
                    "rotation": {
                        "roll": 0.002007685834541917,
                        "pitch": 0.6309182047843933,
                        "yaw": 0.041845496743917465
                    }
                },
                "velocity": {
                    "x": 2.502992868423462,
                    "y": -0.0033819638192653656,
                    "z": 0.017995262518525124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3231327533721924,
                "transform": {
                    "location": {
                        "x": 2173.75439453125,
                        "y": 2527.3203125,
                        "z": 364.9294128417969
                    },
                    "rotation": {
                        "roll": 0.0014637738931924105,
                        "pitch": 1.1581063270568848,
                        "yaw": -0.0812988132238388
                    }
                },
                "velocity": {
                    "x": 3.3224947452545166,
                    "y": -0.007387593388557434,
                    "z": 0.06470347940921783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012471865920815617,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.7045348765095696e-05,
                    "y": -5.174993930268101e-06,
                    "z": 0.00011538933904375881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0308178663253784,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2485.903076171875,
                        "z": 364.9929504394531
                    },
                    "rotation": {
                        "roll": 0.0010586020071059465,
                        "pitch": 0.42804792523384094,
                        "yaw": 90.08307647705078
                    }
                },
                "velocity": {
                    "x": -0.0007802575710229576,
                    "y": 1.0307942628860474,
                    "z": 0.006943569052964449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000320685125188902,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0001788372901501134,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 9.480007065576501e-06,
                    "y": 2.5075021767406724e-05,
                    "z": 0.00031956270686350763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005711417179554701,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.4233030015020631e-05,
                    "y": 6.025004040566273e-06,
                    "z": -0.0005709325196221471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.283024549484253,
                "transform": {
                    "location": {
                        "x": 2224.54248046875,
                        "y": 2524.274169921875,
                        "z": 366.1834411621094
                    },
                    "rotation": {
                        "roll": -0.0029907221905887127,
                        "pitch": -1.4826290607452393,
                        "yaw": -179.99049377441406
                    }
                },
                "velocity": {
                    "x": -2.281972646713257,
                    "y": -0.00035260349977761507,
                    "z": -0.06929834932088852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3662275075912476,
                "transform": {
                    "location": {
                        "x": 2185.006103515625,
                        "y": 2497.59521484375,
                        "z": 365.06683349609375
                    },
                    "rotation": {
                        "roll": 0.003585156286135316,
                        "pitch": 0.27354905009269714,
                        "yaw": 91.1572036743164
                    }
                },
                "velocity": {
                    "x": -0.0005943513242527843,
                    "y": 1.3662105798721313,
                    "z": 0.0067632864229381084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.47048917412757874,
                "transform": {
                    "location": {
                        "x": 2185.001220703125,
                        "y": 2508.39501953125,
                        "z": 365.11846923828125
                    },
                    "rotation": {
                        "roll": 0.000482319068396464,
                        "pitch": 0.22385260462760925,
                        "yaw": 90.15906524658203
                    }
                },
                "velocity": {
                    "x": -0.0024520084261894226,
                    "y": 0.47048160433769226,
                    "z": 0.0010570335434749722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005484632682055235,
                "transform": {
                    "location": {
                        "x": 2187.86474609375,
                        "y": 2539.834228515625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.027465784922242165,
                        "pitch": -0.9237625598907471,
                        "yaw": -91.57571411132812
                    }
                },
                "velocity": {
                    "x": -0.003208715468645096,
                    "y": -0.004302194807678461,
                    "z": -0.001129805576056242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003728063020389527,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.003805722575634718,
                        "pitch": -1.5436978340148926,
                        "yaw": 179.73419189453125
                    }
                },
                "velocity": {
                    "x": -0.00011714040738297626,
                    "y": 4.1232000512536615e-05,
                    "z": 0.0003515146963763982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6049398183822632,
        "expert_target_speed": 0.0,
        "target_point": [
            29.488170190291104,
            6.771207194604932
        ],
        "target_point_next": [
            29.488170190291104,
            6.771207194604932
        ]
    },
    "360": {
        "acceleration": [
            0.0003208488051313907,
            0.00018769968301057816,
            0.0006474167457781732
        ],
        "angular_velocity": [
            -0.0005101839196868241,
            0.018336711451411247,
            -0.0002534859231673181
        ],
        "forward_vector": [
            -0.9644089341163635,
            0.2636602222919464,
            -0.01996646635234356
        ],
        "right_vector": [
            -0.2636120617389679,
            -0.9646156430244446,
            -0.005054622422903776
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2896675169467926,
            -1.1440702676773071,
            164.7095184326172
        ],
        "velocity": [
            1.4913826817064546e-05,
            -1.0746531415861682e-06,
            0.00020611207582987845
        ],
        "speed": 1.4952495099618479e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.5914130210876465,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2174.53173828125,
                2527.318603515625,
                364.9450988769531
            ],
            "velocity": [
                2.977304697036743,
                -0.006874334067106247,
                0.060335978865623474
            ],
            "speed_kmh": 10.720526155824547,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7145130634307861,
                "transform": {
                    "location": {
                        "x": 2187.859130859375,
                        "y": 2567.2236328125,
                        "z": 365.1009826660156
                    },
                    "rotation": {
                        "roll": 0.0024423704016953707,
                        "pitch": 0.2885071635246277,
                        "yaw": -88.97968292236328
                    }
                },
                "velocity": {
                    "x": 0.016807420179247856,
                    "y": -1.714417815208435,
                    "z": 0.00664457306265831
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0760068893432617,
                "transform": {
                    "location": {
                        "x": 2185.111572265625,
                        "y": 2457.845947265625,
                        "z": 364.7471008300781
                    },
                    "rotation": {
                        "roll": 0.007234677206724882,
                        "pitch": 0.5715296864509583,
                        "yaw": 90.55233764648438
                    }
                },
                "velocity": {
                    "x": -0.02726900205016136,
                    "y": 3.0757172107696533,
                    "z": 0.03222031518816948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.247288465499878,
                "transform": {
                    "location": {
                        "x": 2151.5693359375,
                        "y": 2527.36279296875,
                        "z": 364.7459716796875
                    },
                    "rotation": {
                        "roll": 0.0007532176095992327,
                        "pitch": -0.037204038351774216,
                        "yaw": 0.11279695481061935
                    }
                },
                "velocity": {
                    "x": 2.247281074523926,
                    "y": -0.0003605704696383327,
                    "z": -0.0057554529048502445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7388513088226318,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2472.984375,
                        "z": 364.8942565917969
                    },
                    "rotation": {
                        "roll": 0.00034712612978182733,
                        "pitch": 0.510966420173645,
                        "yaw": 90.12964630126953
                    }
                },
                "velocity": {
                    "x": -0.001268137013539672,
                    "y": 1.7387806177139282,
                    "z": 0.015627421438694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1763654947280884,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2552.756103515625,
                        "z": 365.14215087890625
                    },
                    "rotation": {
                        "roll": -0.0007934560999274254,
                        "pitch": 0.04376785084605217,
                        "yaw": -89.88165283203125
                    }
                },
                "velocity": {
                    "x": 0.005937792360782623,
                    "y": -1.1763211488723755,
                    "z": 0.008316116407513618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8405535221099854,
                "transform": {
                    "location": {
                        "x": 2162.939208984375,
                        "y": 2527.345947265625,
                        "z": 364.77490234375
                    },
                    "rotation": {
                        "roll": 0.0029474946204572916,
                        "pitch": 0.7805471420288086,
                        "yaw": -0.013916014693677425
                    }
                },
                "velocity": {
                    "x": 3.840432643890381,
                    "y": -0.005897677503526211,
                    "z": 0.029902581125497818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.977924108505249,
                "transform": {
                    "location": {
                        "x": 2174.53173828125,
                        "y": 2527.318603515625,
                        "z": 364.9450988769531
                    },
                    "rotation": {
                        "roll": 0.0011467102449387312,
                        "pitch": 1.1318988800048828,
                        "yaw": -0.100189208984375
                    }
                },
                "velocity": {
                    "x": 2.977304697036743,
                    "y": -0.006874334067106247,
                    "z": 0.060335978865623474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.3058953451691195e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.091069058631547e-05,
                    "y": 9.13664644031087e-06,
                    "z": -9.844312444329262e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2570161819458008,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.80487060546875
                    },
                    "rotation": {
                        "roll": 0.0004763086326420307,
                        "pitch": -0.22030773758888245,
                        "yaw": -0.12591552734375
                    }
                },
                "velocity": {
                    "x": -0.004717009142041206,
                    "y": 0.00025257878587581217,
                    "z": -1.257007360458374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9513530731201172,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2486.28955078125,
                        "z": 364.99652099609375
                    },
                    "rotation": {
                        "roll": 0.0014072386547923088,
                        "pitch": 0.3029666841030121,
                        "yaw": 90.07047271728516
                    }
                },
                "velocity": {
                    "x": -0.002372997347265482,
                    "y": 1.9513064622879028,
                    "z": 0.013272600248456001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1628809665562585e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0001788372901501134,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 2.3049115043249913e-06,
                    "y": 7.32587886886904e-06,
                    "z": -3.0682251235703006e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010550859151408076,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 7.058679898364062e-07,
                    "y": -1.6779931684141047e-05,
                    "z": -0.0010549522703513503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6363732814788818,
                "transform": {
                    "location": {
                        "x": 2224.2275390625,
                        "y": 2524.274169921875,
                        "z": 366.1785583496094
                    },
                    "rotation": {
                        "roll": -0.0025634765625,
                        "pitch": -2.059295177459717,
                        "yaw": -179.99761962890625
                    }
                },
                "velocity": {
                    "x": -0.6360975503921509,
                    "y": 0.0015666641993448138,
                    "z": -0.018665794283151627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.119098663330078,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2498.03564453125,
                        "z": 365.06951904296875
                    },
                    "rotation": {
                        "roll": 0.0022716564126312733,
                        "pitch": 0.23055985569953918,
                        "yaw": 90.93844604492188
                    }
                },
                "velocity": {
                    "x": -0.00038341752951964736,
                    "y": 2.1190719604492188,
                    "z": 0.010602492839097977
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1261727660894394,
                "transform": {
                    "location": {
                        "x": 2185.000732421875,
                        "y": 2508.569091796875,
                        "z": 365.1189270019531
                    },
                    "rotation": {
                        "roll": -0.0002441411779727787,
                        "pitch": 0.23023883998394012,
                        "yaw": 90.11575317382812
                    }
                },
                "velocity": {
                    "x": -8.90376977622509e-05,
                    "y": 0.126172736287117,
                    "z": -4.4250486098462716e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0061560263857245445,
                "transform": {
                    "location": {
                        "x": 2187.86474609375,
                        "y": 2539.83154296875,
                        "z": 365.1623229980469
                    },
                    "rotation": {
                        "roll": -0.020294204354286194,
                        "pitch": -0.49359041452407837,
                        "yaw": -91.57623291015625
                    }
                },
                "velocity": {
                    "x": 0.0009039875585585833,
                    "y": 0.00603632302954793,
                    "z": -0.0008014198974706233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003069074882660061,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.003805722575634718,
                        "pitch": -1.5436978340148926,
                        "yaw": 179.73419189453125
                    }
                },
                "velocity": {
                    "x": -2.4753211619099602e-05,
                    "y": -1.1750277735700365e-05,
                    "z": 0.0003056818968616426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6060152649879456,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48793146316217,
            6.771156872695137
        ],
        "target_point_next": [
            29.48793146316217,
            6.771156872695137
        ]
    },
    "365": {
        "acceleration": [
            0.002414005808532238,
            0.0022052298299968243,
            0.007877564989030361
        ],
        "angular_velocity": [
            -0.005733656696975231,
            0.01157457660883665,
            -0.00034107526880688965
        ],
        "forward_vector": [
            -0.9644090533256531,
            0.2636604905128479,
            -0.019956931471824646
        ],
        "right_vector": [
            -0.2636120915412903,
            -0.9646154642105103,
            -0.0050659868866205215
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.29031872749328613,
            -1.1435238122940063,
            164.70950317382812
        ],
        "velocity": [
            -1.276671900996007e-05,
            1.5381867342512123e-05,
            0.00046560433111153543
        ],
        "speed": 1.9989771314897946e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.103989124298096,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2175.27490234375,
                2527.31689453125,
                364.9599609375
            ],
            "velocity": [
                2.9438159465789795,
                -0.007179303094744682,
                0.05909380689263344
            ],
            "speed_kmh": 10.59990393742761,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16796875,
                        "y": 2442.78271484375,
                        "z": 364.8864440917969
                    },
                    "rotation": {
                        "roll": -2.668230791869064e-08,
                        "pitch": 0.6808263659477234,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.225301742553711,
                "transform": {
                    "location": {
                        "x": 2187.86328125,
                        "y": 2566.68994140625,
                        "z": 365.1034240722656
                    },
                    "rotation": {
                        "roll": 0.005201002582907677,
                        "pitch": 0.34376341104507446,
                        "yaw": -89.27587890625
                    }
                },
                "velocity": {
                    "x": 0.019028617069125175,
                    "y": -2.225200653076172,
                    "z": 0.009389391168951988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.338226318359375,
                "transform": {
                    "location": {
                        "x": 2185.10400390625,
                        "y": 2458.672607421875,
                        "z": 364.7557067871094
                    },
                    "rotation": {
                        "roll": 0.0058771828189492226,
                        "pitch": 0.6154136657714844,
                        "yaw": 90.51766204833984
                    }
                },
                "velocity": {
                    "x": -0.02825811132788658,
                    "y": 3.3379464149475098,
                    "z": 0.03270837664604187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3741950988769531,
                "transform": {
                    "location": {
                        "x": 2151.82177734375,
                        "y": 2527.36279296875,
                        "z": 364.7448425292969
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": -0.35628998279571533,
                        "yaw": 0.10346244275569916
                    }
                },
                "velocity": {
                    "x": 0.3741888999938965,
                    "y": -0.00039240563637576997,
                    "z": -0.0021174049470573664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1914291381835938,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2473.48388671875,
                        "z": 364.8990783691406
                    },
                    "rotation": {
                        "roll": 0.0007998510263860226,
                        "pitch": 0.45484277606010437,
                        "yaw": 90.11275482177734
                    }
                },
                "velocity": {
                    "x": -0.001770497765392065,
                    "y": 2.1913557052612305,
                    "z": 0.01785116083920002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6284664869308472,
                "transform": {
                    "location": {
                        "x": 2187.898193359375,
                        "y": 2552.431884765625,
                        "z": 365.1423645019531
                    },
                    "rotation": {
                        "roll": -3.0515833714162e-05,
                        "pitch": 0.1450527161359787,
                        "yaw": -89.75933837890625
                    }
                },
                "velocity": {
                    "x": 0.0035222338046878576,
                    "y": -1.6284606456756592,
                    "z": 0.002566537819802761
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9834766387939453,
                "transform": {
                    "location": {
                        "x": 2163.993896484375,
                        "y": 2527.34375,
                        "z": 364.7844543457031
                    },
                    "rotation": {
                        "roll": 0.0025832836981862783,
                        "pitch": 0.7187680602073669,
                        "yaw": -0.0697631761431694
                    }
                },
                "velocity": {
                    "x": 3.983220100402832,
                    "y": -0.007933320477604866,
                    "z": 0.04451056197285652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.944417715072632,
                "transform": {
                    "location": {
                        "x": 2175.27490234375,
                        "y": 2527.31689453125,
                        "z": 364.9599609375
                    },
                    "rotation": {
                        "roll": 0.001126877497881651,
                        "pitch": 1.1369190216064453,
                        "yaw": -0.114654541015625
                    }
                },
                "velocity": {
                    "x": 2.9438159465789795,
                    "y": -0.007179303094744682,
                    "z": 0.05909380689263344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.285000977688469e-05,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.1858402255456895e-05,
                    "y": -6.015236522216583e-06,
                    "z": 6.91480454406701e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.13936105370521545,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.75018310546875
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.22225435078144073,
                        "yaw": -0.1259460300207138
                    }
                },
                "velocity": {
                    "x": 0.0005414960905909538,
                    "y": 6.657963240286335e-05,
                    "z": 0.1393599808216095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.047645092010498,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2486.83349609375,
                        "z": 364.9997253417969
                    },
                    "rotation": {
                        "roll": 0.00030744439573027194,
                        "pitch": 0.35361936688423157,
                        "yaw": 90.07063293457031
                    }
                },
                "velocity": {
                    "x": -0.0025268541648983955,
                    "y": 2.047595262527466,
                    "z": 0.014066075906157494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008911574259400368,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0001788372901501134,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.8318328857422
                    }
                },
                "velocity": {
                    "x": 5.6912749641924165e-06,
                    "y": 4.271652869647369e-05,
                    "z": 0.0008901148685254157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003938025620300323,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 3.2077728064905386e-06,
                    "y": 4.784454631590052e-06,
                    "z": -0.0003937604196835309
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.128652572631836,
                "transform": {
                    "location": {
                        "x": 2223.848876953125,
                        "y": 2524.274658203125,
                        "z": 366.1634826660156
                    },
                    "rotation": {
                        "roll": -0.0032653806265443563,
                        "pitch": -1.6192874908447266,
                        "yaw": -179.95269775390625
                    }
                },
                "velocity": {
                    "x": -2.127662420272827,
                    "y": -0.00013579463120549917,
                    "z": -0.06491997092962265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3808553218841553,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.5205078125,
                        "z": 365.0711975097656
                    },
                    "rotation": {
                        "roll": 0.004848369397222996,
                        "pitch": 0.333688884973526,
                        "yaw": 90.66266632080078
                    }
                },
                "velocity": {
                    "x": 0.006163848098367453,
                    "y": 1.3808181285858154,
                    "z": 0.008056316524744034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001550307497382164,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2508.690185546875,
                        "z": 365.11956787109375
                    },
                    "rotation": {
                        "roll": 0.0006055894191376865,
                        "pitch": 0.20278146862983704,
                        "yaw": 90.10492706298828
                    }
                },
                "velocity": {
                    "x": -9.873386443359777e-05,
                    "y": 0.0015468993224203587,
                    "z": 2.841306741174776e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002408563159406185,
                "transform": {
                    "location": {
                        "x": 2187.864501953125,
                        "y": 2539.82958984375,
                        "z": 365.1611633300781
                    },
                    "rotation": {
                        "roll": -0.007202149834483862,
                        "pitch": -0.18118441104888916,
                        "yaw": -91.57649993896484
                    }
                },
                "velocity": {
                    "x": 0.00011678949522320181,
                    "y": 0.002363990293815732,
                    "z": 0.00044619120308198035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010878743341891095,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -5.6236982345581055e-05,
                    "y": 1.622442141524516e-06,
                    "z": 9.311001485912129e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.606564998626709,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487867080197873,
            6.771392371057517
        ],
        "target_point_next": [
            29.487867080197873,
            6.771392371057517
        ]
    },
    "370": {
        "acceleration": [
            0.0005062132840976119,
            -0.00029947434086352587,
            -0.002444801852107048
        ],
        "angular_velocity": [
            0.030314328148961067,
            0.01350724883377552,
            0.00036213945713825524
        ],
        "forward_vector": [
            -0.9644086956977844,
            0.26366209983825684,
            -0.019952641800045967
        ],
        "right_vector": [
            -0.26361387968063354,
            -0.9646150469779968,
            -0.005057417321950197
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2898276150226593,
            -1.1432780027389526,
            164.70941162109375
        ],
        "velocity": [
            7.301568683004689e-09,
            -0.00010135734191862866,
            0.00018826495215762407
        ],
        "speed": 0.00010135734218162345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 4.701716899871826,
        "front_vehicle_info": {
            "id": 82361,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2175.984375,
                2527.31494140625,
                364.9740295410156
            ],
            "velocity": [
                2.75467586517334,
                -0.0068963393568992615,
                0.05607382580637932
            ],
            "speed_kmh": 9.918918549148808,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.166259765625,
                        "y": 2444.4111328125,
                        "z": 364.75885009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.33361122012138367,
                "transform": {
                    "location": {
                        "x": 2187.864990234375,
                        "y": 2566.4892578125,
                        "z": 365.10400390625
                    },
                    "rotation": {
                        "roll": 0.0009879099670797586,
                        "pitch": 0.05710037797689438,
                        "yaw": -89.41986083984375
                    }
                },
                "velocity": {
                    "x": 0.0027417486999183893,
                    "y": -0.3335930109024048,
                    "z": 0.0021542739123106003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.007276773452759,
                "transform": {
                    "location": {
                        "x": 2185.09765625,
                        "y": 2459.429443359375,
                        "z": 364.7633972167969
                    },
                    "rotation": {
                        "roll": 0.003250839188694954,
                        "pitch": 0.5495638251304626,
                        "yaw": 90.5068588256836
                    }
                },
                "velocity": {
                    "x": -0.025517022237181664,
                    "y": 3.0070228576660156,
                    "z": 0.029581736773252487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4100278615951538,
                "transform": {
                    "location": {
                        "x": 2152.056884765625,
                        "y": 2527.36279296875,
                        "z": 364.74456787109375
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.04824162274599075,
                        "yaw": 0.06424868106842041
                    }
                },
                "velocity": {
                    "x": 1.410025715827942,
                    "y": -0.0009470420773141086,
                    "z": -0.0022910023108124733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7170943021774292,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2473.958740234375,
                        "z": 364.9025573730469
                    },
                    "rotation": {
                        "roll": 0.0010891391430050135,
                        "pitch": 0.5158705115318298,
                        "yaw": 90.09846496582031
                    }
                },
                "velocity": {
                    "x": -0.001515503041446209,
                    "y": 1.717029333114624,
                    "z": 0.014857158064842224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2062894105911255,
                "transform": {
                    "location": {
                        "x": 2187.906005859375,
                        "y": 2551.991455078125,
                        "z": 365.143310546875
                    },
                    "rotation": {
                        "roll": -0.0013427779776975513,
                        "pitch": 0.10185860842466354,
                        "yaw": -90.4854736328125
                    }
                },
                "velocity": {
                    "x": 0.033303152769804,
                    "y": -1.205823540687561,
                    "z": -0.003822879632934928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.564678192138672,
                "transform": {
                    "location": {
                        "x": 2164.799560546875,
                        "y": 2527.341796875,
                        "z": 364.7933654785156
                    },
                    "rotation": {
                        "roll": 0.0012447008630260825,
                        "pitch": 0.48265528678894043,
                        "yaw": -0.0984802171587944
                    }
                },
                "velocity": {
                    "x": 2.564497232437134,
                    "y": -0.005766589660197496,
                    "z": 0.02991064079105854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82361,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7552552223205566,
                "transform": {
                    "location": {
                        "x": 2175.984375,
                        "y": 2527.31494140625,
                        "z": 364.9740295410156
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": 1.1374108791351318,
                        "yaw": -0.12289426475763321
                    }
                },
                "velocity": {
                    "x": 2.75467586517334,
                    "y": -0.0068963393568992615,
                    "z": 0.05607382580637932
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010892815043916926,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.562973845168017e-05,
                    "y": 1.142487008110038e-06,
                    "z": 9.890380897559226e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1259891986846924,
                "transform": {
                    "location": {
                        "x": 2136.09521484375,
                        "y": 2527.303466796875,
                        "z": 364.7808837890625
                    },
                    "rotation": {
                        "roll": -0.011871338821947575,
                        "pitch": 0.06110969930887222,
                        "yaw": -0.078521728515625
                    }
                },
                "velocity": {
                    "x": 1.122715950012207,
                    "y": 0.013246499001979828,
                    "z": 0.08476486057043076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7947701811790466,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2487.088623046875,
                        "z": 365.0002746582031
                    },
                    "rotation": {
                        "roll": 0.0005727700190618634,
                        "pitch": 0.4940548837184906,
                        "yaw": 90.07844543457031
                    }
                },
                "velocity": {
                    "x": -0.0015843657311052084,
                    "y": 0.794754147529602,
                    "z": 0.004791879560798407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038583535933867097,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.0001960297377081588,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 6.582885816897033e-06,
                    "y": -3.989397100667702e-06,
                    "z": 0.0003857585834339261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.641735282959417e-05,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.0755173207144253e-05,
                    "y": 1.9382268874323927e-05,
                    "z": -7.313183596124873e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.017443198710680008,
                "transform": {
                    "location": {
                        "x": 2223.40185546875,
                        "y": 2524.2744140625,
                        "z": 366.1521301269531
                    },
                    "rotation": {
                        "roll": -0.004608153365552425,
                        "pitch": -1.9052674770355225,
                        "yaw": -179.986083984375
                    }
                },
                "velocity": {
                    "x": -0.017429810017347336,
                    "y": -0.00032919179648160934,
                    "z": -0.0005988150951452553
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018762601539492607,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.5546875,
                        "z": 365.07080078125
                    },
                    "rotation": {
                        "roll": 0.005771244410425425,
                        "pitch": 0.411109060049057,
                        "yaw": 90.60202026367188
                    }
                },
                "velocity": {
                    "x": 0.00015497926506213844,
                    "y": -0.0008912080083973706,
                    "z": 0.0016438009915873408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12343288958072662,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12017822265625
                    },
                    "rotation": {
                        "roll": -0.00036621716571971774,
                        "pitch": 0.17081619799137115,
                        "yaw": 90.01031494140625
                    }
                },
                "velocity": {
                    "x": -0.0034674517810344696,
                    "y": 0.1233840361237526,
                    "z": 0.00018668174743652344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010615794453769922,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.82861328125,
                        "z": 365.1607666015625
                    },
                    "rotation": {
                        "roll": -0.0032958989031612873,
                        "pitch": -0.07354747503995895,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 2.5393394025741145e-05,
                    "y": 0.0007302024750970304,
                    "z": 0.0007701367139816284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003695131163112819,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -6.071656753192656e-05,
                    "y": 2.096155185427051e-05,
                    "z": 0.00036388743319548666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6053736209869385,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487921776914398,
            6.77119905551253
        ],
        "target_point_next": [
            29.487921776914398,
            6.77119905551253
        ]
    },
    "375": {
        "acceleration": [
            -0.0007620602264069021,
            0.00029837581678293645,
            -0.0059886593371629715
        ],
        "angular_velocity": [
            0.009739195927977562,
            -0.004780835472047329,
            -2.4445314920740202e-05
        ],
        "forward_vector": [
            -0.9644087553024292,
            0.263663113117218,
            -0.019937146455049515
        ],
        "right_vector": [
            -0.26361483335494995,
            -0.964614748954773,
            -0.005059773102402687
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.289962500333786,
            -1.1423900127410889,
            164.7093505859375
        ],
        "velocity": [
            -5.9357880672905594e-05,
            -3.6547164199873805e-05,
            0.00012789512402378023
        ],
        "speed": 6.970690933495357e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.89389419555664,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2165.11328125,
                2527.34130859375,
                364.7967224121094
            ],
            "velocity": [
                0.36297300457954407,
                -0.00034853193210437894,
                0.0042144013568758965
            ],
            "speed_kmh": 1.306791494386235,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1650390625,
                        "y": 2445.309814453125,
                        "z": 364.6884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.310683250427246,
                "transform": {
                    "location": {
                        "x": 2187.8662109375,
                        "y": 2566.2724609375,
                        "z": 365.1053771972656
                    },
                    "rotation": {
                        "roll": 0.0030624030623584986,
                        "pitch": 0.3299117684364319,
                        "yaw": -89.43124389648438
                    }
                },
                "velocity": {
                    "x": 0.008253702893853188,
                    "y": -1.3106420040130615,
                    "z": 0.006316079758107662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.2881388664245605,
                "transform": {
                    "location": {
                        "x": 2185.09033203125,
                        "y": 2460.334716796875,
                        "z": 364.77288818359375
                    },
                    "rotation": {
                        "roll": 0.0045934985391795635,
                        "pitch": 0.7139459848403931,
                        "yaw": 90.49474334716797
                    }
                },
                "velocity": {
                    "x": -0.03713969513773918,
                    "y": 4.287764072418213,
                    "z": 0.042867012321949005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4272570610046387,
                "transform": {
                    "location": {
                        "x": 2152.53173828125,
                        "y": 2527.36279296875,
                        "z": 364.74365234375
                    },
                    "rotation": {
                        "roll": 0.00016201262769754976,
                        "pitch": 0.047661058604717255,
                        "yaw": 0.029754500836133957
                    }
                },
                "velocity": {
                    "x": 2.427250385284424,
                    "y": -0.0017383891390636563,
                    "z": -0.005396928638219833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.176875591278076,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2474.4541015625,
                        "z": 364.9070739746094
                    },
                    "rotation": {
                        "roll": 0.0014201757730916142,
                        "pitch": 0.4479511082172394,
                        "yaw": 90.09369659423828
                    }
                },
                "velocity": {
                    "x": -0.002027695532888174,
                    "y": 2.1768033504486084,
                    "z": 0.01761217974126339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.959429144859314,
                "transform": {
                    "location": {
                        "x": 2187.91015625,
                        "y": 2551.5517578125,
                        "z": 365.1440124511719
                    },
                    "rotation": {
                        "roll": 0.0007127356948330998,
                        "pitch": 0.11801200360059738,
                        "yaw": -90.67789459228516
                    }
                },
                "velocity": {
                    "x": 0.0021447630133479834,
                    "y": -1.9594224691390991,
                    "z": 0.004641685169190168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3629976511001587,
                "transform": {
                    "location": {
                        "x": 2165.11328125,
                        "y": 2527.34130859375,
                        "z": 364.7967224121094
                    },
                    "rotation": {
                        "roll": 0.0007195143844000995,
                        "pitch": 0.28684744238853455,
                        "yaw": -0.0550231859087944
                    }
                },
                "velocity": {
                    "x": 0.36297300457954407,
                    "y": -0.00034853193210437894,
                    "z": 0.0042144013568758965
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011987099424004555,
                "transform": {
                    "location": {
                        "x": 2200.43359375,
                        "y": 2524.3505859375,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.03855789080262184,
                        "pitch": -1.415249228477478,
                        "yaw": 178.35903930664062
                    }
                },
                "velocity": {
                    "x": -4.51926862297114e-05,
                    "y": -2.46209680199172e-07,
                    "z": 0.00011102529242634773
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.189162015914917,
                "transform": {
                    "location": {
                        "x": 2136.519287109375,
                        "y": 2527.307373046875,
                        "z": 364.7918395996094
                    },
                    "rotation": {
                        "roll": -0.018768310546875,
                        "pitch": 0.20649026334285736,
                        "yaw": 0.10826858878135681
                    }
                },
                "velocity": {
                    "x": 2.1889398097991943,
                    "y": 0.02458459883928299,
                    "z": 0.019173793494701385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6802901029586792,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2487.41064453125,
                        "z": 365.0039367675781
                    },
                    "rotation": {
                        "roll": -3.050951454497408e-05,
                        "pitch": 0.3110399544239044,
                        "yaw": 90.05615234375
                    }
                },
                "velocity": {
                    "x": -0.0018967522773891687,
                    "y": 1.6802520751953125,
                    "z": 0.011147584766149521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009794930228963494,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.2221560155012412e-06,
                    "y": -1.158477971330285e-05,
                    "z": 0.0009794237557798624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004036835744045675,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 8.76583180797752e-06,
                    "y": 1.6893941392481793e-06,
                    "z": -0.00040358485421165824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1890687942504883,
                "transform": {
                    "location": {
                        "x": 2223.252685546875,
                        "y": 2524.2744140625,
                        "z": 366.1473083496094
                    },
                    "rotation": {
                        "roll": -0.00335693359375,
                        "pitch": -1.8756654262542725,
                        "yaw": 179.99806213378906
                    }
                },
                "velocity": {
                    "x": -1.1884957551956177,
                    "y": -0.0004922858788631856,
                    "z": -0.036908119916915894
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008830935112200677,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.55419921875,
                        "z": 365.0716247558594
                    },
                    "rotation": {
                        "roll": 0.00366525212302804,
                        "pitch": 0.3151448965072632,
                        "yaw": 90.60202026367188
                    }
                },
                "velocity": {
                    "x": 5.4625470511382446e-05,
                    "y": -0.00021521790768019855,
                    "z": 0.0008547230390831828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003281972312834114,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.119873046875
                    },
                    "rotation": {
                        "roll": -0.0017395018367096782,
                        "pitch": 0.20856665074825287,
                        "yaw": 90.01013946533203
                    }
                },
                "velocity": {
                    "x": -1.8706638002186082e-05,
                    "y": -0.0002382015809416771,
                    "z": 0.0002249966491945088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002552855294197798,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828369140625,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": -0.001678469474427402,
                        "pitch": -0.04708732292056084,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 0.00013240386033430696,
                    "y": 0.00015375706425402313,
                    "z": 0.00015491509111598134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013926980318501592,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -5.887478619115427e-05,
                    "y": 1.9256529412814416e-05,
                    "z": 0.0001247358159162104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6048380732536316,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487850935856585,
            6.771462675591971
        ],
        "target_point_next": [
            29.487850935856585,
            6.771462675591971
        ]
    },
    "380": {
        "acceleration": [
            0.0005931972991675138,
            0.003815822070464492,
            -0.002432446461170912
        ],
        "angular_velocity": [
            -0.02490594983100891,
            -0.001229198882356286,
            -0.0007095379987731576
        ],
        "forward_vector": [
            -0.9644083976745605,
            0.26366448402404785,
            -0.019937625154852867
        ],
        "right_vector": [
            -0.26361626386642456,
            -0.9646143913269043,
            -0.005056292749941349
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.28976306319236755,
            -1.1424174308776855,
            164.7092742919922
        ],
        "velocity": [
            -5.1745621021836996e-05,
            6.905109330546111e-05,
            0.00019782196613959968
        ],
        "speed": 8.628825401881229e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.668505668640137,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2165.34912109375,
                2527.341064453125,
                364.7998352050781
            ],
            "velocity": [
                1.3597091436386108,
                -0.0020863180980086327,
                0.014464044012129307
            ],
            "speed_kmh": 4.895235624049714,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.163818359375,
                        "y": 2446.5234375,
                        "z": 364.6278381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.196830987930298,
                "transform": {
                    "location": {
                        "x": 2187.868408203125,
                        "y": 2565.8408203125,
                        "z": 365.1074523925781
                    },
                    "rotation": {
                        "roll": 0.0034361425787210464,
                        "pitch": 0.38459426164627075,
                        "yaw": -89.4884033203125
                    }
                },
                "velocity": {
                    "x": 0.011282120831310749,
                    "y": -2.1967780590057373,
                    "z": 0.010246114805340767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.344926357269287,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2461.5751953125,
                        "z": 364.7855529785156
                    },
                    "rotation": {
                        "roll": 0.007716733496636152,
                        "pitch": 0.742605447769165,
                        "yaw": 90.46318054199219
                    }
                },
                "velocity": {
                    "x": -0.0349242277443409,
                    "y": 5.344546794891357,
                    "z": 0.05324849858880043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.002976894378662,
                "transform": {
                    "location": {
                        "x": 2153.3408203125,
                        "y": 2527.361572265625,
                        "z": 364.74169921875
                    },
                    "rotation": {
                        "roll": 0.0017019332153722644,
                        "pitch": 0.1801462322473526,
                        "yaw": -0.015228274278342724
                    }
                },
                "velocity": {
                    "x": 4.002964496612549,
                    "y": -0.004956082906574011,
                    "z": -0.008549184538424015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6995882987976074,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2474.925048828125,
                        "z": 364.91046142578125
                    },
                    "rotation": {
                        "roll": 5.54974285478238e-05,
                        "pitch": 0.5031048655509949,
                        "yaw": 90.08605194091797
                    }
                },
                "velocity": {
                    "x": -0.0019858914893120527,
                    "y": 1.6995307207107544,
                    "z": 0.013842620886862278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.993086338043213,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2551.165771484375,
                        "z": 365.14453125
                    },
                    "rotation": {
                        "roll": -0.0005493114003911614,
                        "pitch": 0.1311669498682022,
                        "yaw": -90.46234130859375
                    }
                },
                "velocity": {
                    "x": -0.005373729392886162,
                    "y": -1.99307119846344,
                    "z": 0.005635499954223633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3597877025604248,
                "transform": {
                    "location": {
                        "x": 2165.34912109375,
                        "y": 2527.341064453125,
                        "z": 364.7998352050781
                    },
                    "rotation": {
                        "roll": 0.0021737210918217897,
                        "pitch": 0.6622892618179321,
                        "yaw": -0.0485839806497097
                    }
                },
                "velocity": {
                    "x": 1.3597091436386108,
                    "y": -0.0020863180980086327,
                    "z": 0.014464044012129307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2795991897583008,
                "transform": {
                    "location": {
                        "x": 2200.406005859375,
                        "y": 2524.352294921875,
                        "z": 365.5057678222656
                    },
                    "rotation": {
                        "roll": 0.03855186328291893,
                        "pitch": -1.4089654684066772,
                        "yaw": 178.36253356933594
                    }
                },
                "velocity": {
                    "x": -0.2789941430091858,
                    "y": 0.01754387654364109,
                    "z": -0.005493650212883949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.270301103591919,
                "transform": {
                    "location": {
                        "x": 2137.197998046875,
                        "y": 2527.314208984375,
                        "z": 364.7928161621094
                    },
                    "rotation": {
                        "roll": -0.0194702111184597,
                        "pitch": 0.24241022765636444,
                        "yaw": 0.3284365236759186
                    }
                },
                "velocity": {
                    "x": 3.2700600624084473,
                    "y": 0.039339032024145126,
                    "z": -0.005373573396354914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0614378452301025,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2487.912353515625,
                        "z": 365.0071716308594
                    },
                    "rotation": {
                        "roll": -0.0003661944647319615,
                        "pitch": 0.31785649061203003,
                        "yaw": 90.04398345947266
                    }
                },
                "velocity": {
                    "x": -0.0026425509713590145,
                    "y": 2.0613951683044434,
                    "z": 0.012983922846615314
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020757270976901054,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 8.796937436272856e-06,
                    "y": -8.239336239057593e-06,
                    "z": 0.0002072224742732942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014724061475135386,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.9807181161013432e-05,
                    "y": 1.9511780919856392e-05,
                    "z": -0.000144591715070419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.427168607711792,
                "transform": {
                    "location": {
                        "x": 2222.78955078125,
                        "y": 2524.2744140625,
                        "z": 366.1295471191406
                    },
                    "rotation": {
                        "roll": -0.005889891646802425,
                        "pitch": -1.4369146823883057,
                        "yaw": -179.96878051757812
                    }
                },
                "velocity": {
                    "x": -2.4260401725769043,
                    "y": -0.0008626909111626446,
                    "z": -0.07399321347475052
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030540942680090666,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.553955078125,
                        "z": 365.07171630859375
                    },
                    "rotation": {
                        "roll": 0.004199719522148371,
                        "pitch": 0.3075019419193268,
                        "yaw": 90.60202026367188
                    }
                },
                "velocity": {
                    "x": -1.0113736607308965e-05,
                    "y": -2.66926726908423e-05,
                    "z": 0.00030407257145270705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017119842232204974,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1200256347656
                    },
                    "rotation": {
                        "roll": -0.00039673340506851673,
                        "pitch": 0.1884312480688095,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 3.162206485285424e-05,
                    "y": -2.6767253075377084e-05,
                    "z": 0.00016610977763775736
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008614336256869137,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828369140625,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -0.0007324211183004081,
                        "pitch": -0.03085196204483509,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 3.261415258748457e-05,
                    "y": 0.00012279899965506047,
                    "z": 0.000852012075483799
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005295156734064221,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -7.374941924354061e-05,
                    "y": 2.891780786740128e-05,
                    "z": 0.0005235567223280668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6030306816101074,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487905633034014,
            6.771269360177391
        ],
        "target_point_next": [
            29.487905633034014,
            6.771269360177391
        ]
    },
    "385": {
        "acceleration": [
            0.0001233458169735968,
            -0.0012821664568036795,
            -0.002053924836218357
        ],
        "angular_velocity": [
            0.008701091632246971,
            0.009315653704106808,
            -5.417814463726245e-05
        ],
        "forward_vector": [
            -0.9644082188606262,
            0.26366496086120605,
            -0.019938219338655472
        ],
        "right_vector": [
            -0.26361677050590515,
            -0.9646142721176147,
            -0.00505550904199481
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2897181510925293,
            -1.142451524734497,
            164.70924377441406
        ],
        "velocity": [
            -2.8833299438701943e-05,
            -5.2531715482473373e-05,
            0.0006151427514851093
        ],
        "speed": 5.9924454841520104e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.225040435791016,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2165.81396484375,
                2527.340087890625,
                364.805419921875
            ],
            "velocity": [
                2.344707489013672,
                -0.005007998086512089,
                0.0310552679002285
            ],
            "speed_kmh": 8.441706559395914,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.161865234375,
                        "y": 2448.12353515625,
                        "z": 364.6446533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3933095932006836,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2565.114013671875,
                        "z": 365.11090087890625
                    },
                    "rotation": {
                        "roll": 0.005233537405729294,
                        "pitch": 0.42756298184394836,
                        "yaw": -89.60169219970703
                    }
                },
                "velocity": {
                    "x": 0.015336128883063793,
                    "y": -3.393235206604004,
                    "z": 0.016420431435108185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.364928245544434,
                "transform": {
                    "location": {
                        "x": 2185.072509765625,
                        "y": 2462.9306640625,
                        "z": 364.7986755371094
                    },
                    "rotation": {
                        "roll": 0.007486874237656593,
                        "pitch": 0.6115682721138,
                        "yaw": 90.34133911132812
                    }
                },
                "velocity": {
                    "x": -0.02788715995848179,
                    "y": 5.364595890045166,
                    "z": 0.05279432237148285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.675058364868164,
                "transform": {
                    "location": {
                        "x": 2154.487548828125,
                        "y": 2527.35986328125,
                        "z": 364.74053955078125
                    },
                    "rotation": {
                        "roll": 0.000501582573633641,
                        "pitch": 0.09898992627859116,
                        "yaw": -0.0568542443215847
                    }
                },
                "velocity": {
                    "x": 4.675051212310791,
                    "y": -0.007193376310169697,
                    "z": -0.0035456083714962006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.377793788909912,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2475.4228515625,
                        "z": 364.9150695800781
                    },
                    "rotation": {
                        "roll": 0.000992738758213818,
                        "pitch": 0.42173001170158386,
                        "yaw": 90.08421325683594
                    }
                },
                "velocity": {
                    "x": -0.002496947068721056,
                    "y": 2.377720832824707,
                    "z": 0.018469085916876793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.232405424118042,
                "transform": {
                    "location": {
                        "x": 2187.9013671875,
                        "y": 2550.711181640625,
                        "z": 365.1453857421875
                    },
                    "rotation": {
                        "roll": -9.154743020189926e-05,
                        "pitch": 0.12567546963691711,
                        "yaw": -89.82665252685547
                    }
                },
                "velocity": {
                    "x": 0.00010284738527843729,
                    "y": -2.2324001789093018,
                    "z": 0.004773864522576332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3449184894561768,
                "transform": {
                    "location": {
                        "x": 2165.81396484375,
                        "y": 2527.340087890625,
                        "z": 364.805419921875
                    },
                    "rotation": {
                        "roll": 0.0011920392280444503,
                        "pitch": 0.7801373600959778,
                        "yaw": -0.075958251953125
                    }
                },
                "velocity": {
                    "x": 2.344707489013672,
                    "y": -0.005007998086512089,
                    "z": 0.0310552679002285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8601647615432739,
                "transform": {
                    "location": {
                        "x": 2200.26220703125,
                        "y": 2524.360595703125,
                        "z": 365.5021667480469
                    },
                    "rotation": {
                        "roll": 0.04199519380927086,
                        "pitch": -1.3984060287475586,
                        "yaw": 178.26116943359375
                    }
                },
                "velocity": {
                    "x": -0.8581093549728394,
                    "y": 0.05567565932869911,
                    "z": -0.020783577114343643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.640402317047119,
                "transform": {
                    "location": {
                        "x": 2138.19873046875,
                        "y": 2527.323486328125,
                        "z": 364.78948974609375
                    },
                    "rotation": {
                        "roll": 0.009751986712217331,
                        "pitch": 0.34196707606315613,
                        "yaw": 0.4211283028125763
                    }
                },
                "velocity": {
                    "x": 4.640286445617676,
                    "y": 0.028781291097402573,
                    "z": -0.01567854918539524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7724229097366333,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2488.36279296875,
                        "z": 365.0095520019531
                    },
                    "rotation": {
                        "roll": 0.001285158796235919,
                        "pitch": 0.38753125071525574,
                        "yaw": 90.06214904785156
                    }
                },
                "velocity": {
                    "x": -0.00269887107424438,
                    "y": 1.7723922729492188,
                    "z": 0.010070161893963814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019331544172018766,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 7.65997901908122e-06,
                    "y": -1.4642762835137546e-05,
                    "z": -0.00019260782573837787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005219714948907495,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.042570875142701e-05,
                    "y": 3.7520654586842284e-05,
                    "z": -0.000520516827236861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5802775025367737,
                "transform": {
                    "location": {
                        "x": 2222.5859375,
                        "y": 2524.271728515625,
                        "z": 366.1287841796875
                    },
                    "rotation": {
                        "roll": 0.01393059454858303,
                        "pitch": -2.110159397125244,
                        "yaw": 179.76058959960938
                    }
                },
                "velocity": {
                    "x": -0.580016553401947,
                    "y": 0.000332836207235232,
                    "z": -0.017396315932273865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.833551090792753e-05,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.553955078125,
                        "z": 365.0717468261719
                    },
                    "rotation": {
                        "roll": 0.0036818969529122114,
                        "pitch": 0.3030623197555542,
                        "yaw": 90.60202026367188
                    }
                },
                "velocity": {
                    "x": 9.276372111344244e-06,
                    "y": -3.907046902895672e-06,
                    "z": -3.699047738336958e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.125525007722899e-05,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12005615234375
                    },
                    "rotation": {
                        "roll": -0.0011901933467015624,
                        "pitch": 0.18575380742549896,
                        "yaw": 90.01013946533203
                    }
                },
                "velocity": {
                    "x": -3.0960778531152755e-05,
                    "y": -1.837998570408672e-05,
                    "z": 6.148916145320982e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00018934128456749022,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.027252452448010445,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 0.00010012937127612531,
                    "y": 3.599433330236934e-05,
                    "z": 0.00015661621000617743
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002980824210681021,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -5.991786747472361e-05,
                    "y": 7.646347512491047e-06,
                    "z": 0.0002918981190305203
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6041373014450073,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48790240423782,
            6.771283421105744
        ],
        "target_point_next": [
            29.48790240423782,
            6.771283421105744
        ]
    },
    "390": {
        "acceleration": [
            0.0005448609590530396,
            -0.0004892513388767838,
            0.006861410103738308
        ],
        "angular_velocity": [
            0.014123212546110153,
            0.00571024464443326,
            5.409351797425188e-05
        ],
        "forward_vector": [
            -0.9644082188606262,
            0.26366496086120605,
            -0.019938219338655472
        ],
        "right_vector": [
            -0.26361677050590515,
            -0.9646142721176147,
            -0.00505550904199481
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2897181510925293,
            -1.142451524734497,
            164.70924377441406
        ],
        "velocity": [
            -3.464490146143362e-05,
            -6.121787737356499e-05,
            0.0004512823361437768
        ],
        "speed": 7.034129446773982e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.478946685791016,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2166.599609375,
                2527.338134765625,
                364.81646728515625
            ],
            "velocity": [
                3.915884017944336,
                -0.00877014733850956,
                0.05287281051278114
            ],
            "speed_kmh": 14.098502771100124,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16064453125,
                        "y": 2449.34033203125,
                        "z": 364.6574401855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.366706132888794,
                "transform": {
                    "location": {
                        "x": 2187.875244140625,
                        "y": 2564.38330078125,
                        "z": 365.1138610839844
                    },
                    "rotation": {
                        "roll": 0.0024641547352075577,
                        "pitch": 0.16867151856422424,
                        "yaw": -89.66912841796875
                    }
                },
                "velocity": {
                    "x": 0.009464719332754612,
                    "y": -2.3666696548461914,
                    "z": 0.00907803513109684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1115622520446777,
                "transform": {
                    "location": {
                        "x": 2185.066162109375,
                        "y": 2464.20654296875,
                        "z": 364.8101501464844
                    },
                    "rotation": {
                        "roll": 0.005212326534092426,
                        "pitch": 0.28649911284446716,
                        "yaw": 90.53852081298828
                    }
                },
                "velocity": {
                    "x": -0.010727874003350735,
                    "y": 3.111414670944214,
                    "z": 0.02834547869861126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1710145473480225,
                "transform": {
                    "location": {
                        "x": 2155.462646484375,
                        "y": 2527.358154296875,
                        "z": 364.7394714355469
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.1907876580953598,
                        "yaw": -0.0853881686925888
                    }
                },
                "velocity": {
                    "x": 3.1710095405578613,
                    "y": -0.005037964321672916,
                    "z": -0.002377366879954934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2704060077667236,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2476.127685546875,
                        "z": 364.92120361328125
                    },
                    "rotation": {
                        "roll": 0.00019389070803299546,
                        "pitch": 0.3710773289203644,
                        "yaw": 90.07723236083984
                    }
                },
                "velocity": {
                    "x": -0.004701973870396614,
                    "y": 3.270294666290283,
                    "z": 0.026586493477225304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2462116479873657,
                "transform": {
                    "location": {
                        "x": 2187.89697265625,
                        "y": 2550.438720703125,
                        "z": 365.1461486816406
                    },
                    "rotation": {
                        "roll": -0.0027160656172782183,
                        "pitch": 0.06205909699201584,
                        "yaw": -89.47394561767578
                    }
                },
                "velocity": {
                    "x": 0.004190491046756506,
                    "y": -1.2461820840835571,
                    "z": 0.007489337585866451
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.916250705718994,
                "transform": {
                    "location": {
                        "x": 2166.599609375,
                        "y": 2527.338134765625,
                        "z": 364.81646728515625
                    },
                    "rotation": {
                        "roll": 0.00280724186450243,
                        "pitch": 0.9769560694694519,
                        "yaw": -0.1016845554113388
                    }
                },
                "velocity": {
                    "x": 3.915884017944336,
                    "y": -0.00877014733850956,
                    "z": 0.05287281051278114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4152469635009766,
                "transform": {
                    "location": {
                        "x": 2199.973388671875,
                        "y": 2524.376953125,
                        "z": 365.4949645996094
                    },
                    "rotation": {
                        "roll": 0.04788500443100929,
                        "pitch": -1.3960837125778198,
                        "yaw": 178.02542114257812
                    }
                },
                "velocity": {
                    "x": -1.411953091621399,
                    "y": 0.09017979353666306,
                    "z": -0.03435030207037926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.5623297691345215,
                "transform": {
                    "location": {
                        "x": 2139.5009765625,
                        "y": 2527.331298828125,
                        "z": 364.7853088378906
                    },
                    "rotation": {
                        "roll": 0.003220992162823677,
                        "pitch": 0.275516152381897,
                        "yaw": 0.45954370498657227
                    }
                },
                "velocity": {
                    "x": 5.562195777893066,
                    "y": 0.03300773352384567,
                    "z": -0.02007031813263893
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018873496446758509,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2488.708984375,
                        "z": 365.0106506347656
                    },
                    "rotation": {
                        "roll": -0.000244162481976673,
                        "pitch": 0.5162393450737,
                        "yaw": 89.98978424072266
                    }
                },
                "velocity": {
                    "x": -0.00010379742889199406,
                    "y": 0.0018791195470839739,
                    "z": 0.0001422132772859186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005990315112285316,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 6.463900263042888e-06,
                    "y": 1.6792130281828577e-06,
                    "z": 0.000598994258325547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005152812809683383,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.7029567970894277e-05,
                    "y": -1.601402800588403e-05,
                    "z": -0.0005147507763467729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8158539533615112,
                "transform": {
                    "location": {
                        "x": 2222.272705078125,
                        "y": 2524.272216796875,
                        "z": 366.115234375
                    },
                    "rotation": {
                        "roll": 0.0037748911418020725,
                        "pitch": -1.6151416301727295,
                        "yaw": 179.8007049560547
                    }
                },
                "velocity": {
                    "x": -1.8150140047073364,
                    "y": 0.0023458332289010286,
                    "z": -0.055176377296447754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.21673251688480377,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2498.56591796875,
                        "z": 365.0718688964844
                    },
                    "rotation": {
                        "roll": 0.0034332145005464554,
                        "pitch": 0.29039913415908813,
                        "yaw": 90.60804748535156
                    }
                },
                "velocity": {
                    "x": 0.0008005928248167038,
                    "y": 0.21672219038009644,
                    "z": 0.0019588852301239967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.303488044068217e-05,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": 0.0001430678239557892,
                        "pitch": 0.1813415139913559,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 2.3250284357345663e-05,
                    "y": -2.611093077575788e-05,
                    "z": 5.2450355724431574e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.027252452448010445,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.760643686400726e-05,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.0038547879084944725,
                        "pitch": -1.5408905744552612,
                        "yaw": 179.73411560058594
                    }
                },
                "velocity": {
                    "x": -5.4093299695523456e-05,
                    "y": 3.7758604776172433e-06,
                    "z": 6.88080326654017e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6044616103172302,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48790240423782,
            6.771283421105744
        ],
        "target_point_next": [
            29.48790240423782,
            6.771283421105744
        ]
    },
    "395": {
        "acceleration": [
            -0.0004447877290658653,
            -0.001293871784582734,
            -0.017163949087262154
        ],
        "angular_velocity": [
            0.008052868768572807,
            -0.0024837057571858168,
            -7.238148828037083e-05
        ],
        "forward_vector": [
            -0.9644076824188232,
            0.2636670172214508,
            -0.019938219338655472
        ],
        "right_vector": [
            -0.26361873745918274,
            -0.964613676071167,
            -0.005059963557869196
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.2899734079837799,
            -1.142451524734497,
            164.70912170410156
        ],
        "velocity": [
            -4.836484731640667e-05,
            -2.7298536224407144e-05,
            4.801414888788713e-06
        ],
        "speed": 5.553709153290797e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.410674095153809,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2167.734375,
                2527.33544921875,
                364.8319091796875
            ],
            "velocity": [
                4.705120086669922,
                -0.012491784058511257,
                0.06343673914670944
            ],
            "speed_kmh": 16.940031446755757,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.159912109375,
                        "y": 2450.173583984375,
                        "z": 364.66619873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6328244805335999,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2564.17333984375,
                        "z": 365.1144714355469
                    },
                    "rotation": {
                        "roll": 0.00016993432654999197,
                        "pitch": 0.029130754992365837,
                        "yaw": -89.74453735351562
                    }
                },
                "velocity": {
                    "x": 0.0017275502905249596,
                    "y": -0.6328157782554626,
                    "z": 0.0028333186637610197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004988894797861576,
                "transform": {
                    "location": {
                        "x": 2185.065673828125,
                        "y": 2464.364990234375,
                        "z": 364.8114013671875
                    },
                    "rotation": {
                        "roll": -0.0022277790121734142,
                        "pitch": 0.10010324418544769,
                        "yaw": 90.57511138916016
                    }
                },
                "velocity": {
                    "x": -0.0005998876877129078,
                    "y": -0.004777054768055677,
                    "z": 0.001307270023971796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7861711978912354,
                "transform": {
                    "location": {
                        "x": 2156.0458984375,
                        "y": 2527.357421875,
                        "z": 364.7400207519531
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": -0.2905562222003937,
                        "yaw": -0.239288330078125
                    }
                },
                "velocity": {
                    "x": 0.786170482635498,
                    "y": 0.0004159173695370555,
                    "z": 0.0009406852768734097
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.390209197998047,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2477.090576171875,
                        "z": 364.9291687011719
                    },
                    "rotation": {
                        "roll": -0.00045776396291330457,
                        "pitch": 0.33663269877433777,
                        "yaw": 90.07408142089844
                    }
                },
                "velocity": {
                    "x": -0.00393668795004487,
                    "y": 4.390071392059326,
                    "z": 0.0345831960439682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.963231086730957,
                "transform": {
                    "location": {
                        "x": 2187.897705078125,
                        "y": 2550.072265625,
                        "z": 365.1466064453125
                    },
                    "rotation": {
                        "roll": 0.0008701974293217063,
                        "pitch": 0.1232234388589859,
                        "yaw": -89.52780151367188
                    }
                },
                "velocity": {
                    "x": 0.0033744629472494125,
                    "y": -1.963226079940796,
                    "z": 0.002870578784495592
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.705564498901367,
                "transform": {
                    "location": {
                        "x": 2167.734375,
                        "y": 2527.33544921875,
                        "z": 364.8319091796875
                    },
                    "rotation": {
                        "roll": 0.002865488175302744,
                        "pitch": 1.051084041595459,
                        "yaw": -0.1270141452550888
                    }
                },
                "velocity": {
                    "x": 4.705120086669922,
                    "y": -0.012491784058511257,
                    "z": 0.06343673914670944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 3.5715855273288355e-10,
                    "y": -7.851569329593577e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9929267168045044,
                "transform": {
                    "location": {
                        "x": 2199.544677734375,
                        "y": 2524.40185546875,
                        "z": 365.4844055175781
                    },
                    "rotation": {
                        "roll": 0.05747126415371895,
                        "pitch": -1.3958719968795776,
                        "yaw": 177.6599578857422
                    }
                },
                "velocity": {
                    "x": -1.9878058433532715,
                    "y": 0.13381047546863556,
                    "z": -0.04979567974805832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.474579811096191,
                "transform": {
                    "location": {
                        "x": 2140.951171875,
                        "y": 2527.340087890625,
                        "z": 364.7800598144531
                    },
                    "rotation": {
                        "roll": 0.0007406334043480456,
                        "pitch": 0.20277464389801025,
                        "yaw": 0.40961262583732605
                    }
                },
                "velocity": {
                    "x": 6.474417686462402,
                    "y": 0.03844870626926422,
                    "z": -0.02494880184531212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001642243005335331,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2488.70849609375,
                        "z": 365.0113525390625
                    },
                    "rotation": {
                        "roll": 0.0007070910651236773,
                        "pitch": 0.4290929436683655,
                        "yaw": 89.98979949951172
                    }
                },
                "velocity": {
                    "x": 0.00014315660519059747,
                    "y": -0.0006270661833696067,
                    "z": 0.0015110448002815247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027315254556015134,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.2383423381834291e-05,
                    "y": -2.8732883947668597e-06,
                    "z": 0.00027285655960440636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003304097044747323,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.6092955775093287e-05,
                    "y": -2.933304313046392e-05,
                    "z": -0.0003287113504484296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.773229718208313,
                "transform": {
                    "location": {
                        "x": 2221.771240234375,
                        "y": 2524.2724609375,
                        "z": 366.100341796875
                    },
                    "rotation": {
                        "roll": 0.0046756514348089695,
                        "pitch": -1.670192837715149,
                        "yaw": 179.78106689453125
                    }
                },
                "velocity": {
                    "x": -0.772855818271637,
                    "y": 0.00043647969141602516,
                    "z": -0.024040427058935165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9873062968254089,
                "transform": {
                    "location": {
                        "x": 2185.002197265625,
                        "y": 2498.7197265625,
                        "z": 365.0732421875
                    },
                    "rotation": {
                        "roll": 0.0017943793209269643,
                        "pitch": 0.22665981948375702,
                        "yaw": 90.56268310546875
                    }
                },
                "velocity": {
                    "x": 0.0001709491916699335,
                    "y": 0.9872949719429016,
                    "z": 0.004729290027171373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047943645040504634,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12005615234375
                    },
                    "rotation": {
                        "roll": -0.00024414711515419185,
                        "pitch": 0.18148495256900787,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -1.8704694184634718e-06,
                    "y": -9.627453437133227e-06,
                    "z": 0.0004793361003976315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010565841803327203,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.027252452448010445,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 1.5970967069733888e-05,
                    "y": 5.696943844668567e-05,
                    "z": 0.001054926309734583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002114709932357073,
                "transform": {
                    "location": {
                        "x": 2210.665771484375,
                        "y": 2524.2880859375,
                        "z": 365.7826843261719
                    },
                    "rotation": {
                        "roll": 0.003329178085550666,
                        "pitch": -1.5401939153671265,
                        "yaw": 179.7335968017578
                    }
                },
                "velocity": {
                    "x": 0.002052473137155175,
                    "y": 5.707445598090999e-05,
                    "z": 0.0005060577532276511
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6041655540466309,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487825104561885,
            6.771575162767036
        ],
        "target_point_next": [
            29.487825104561885,
            6.771575162767036
        ]
    },
    "400": {
        "acceleration": [
            0.001002988195978105,
            -0.0014582443982362747,
            0.004714778624475002
        ],
        "angular_velocity": [
            0.01572197489440441,
            0.003255895571783185,
            9.613102884031832e-05
        ],
        "forward_vector": [
            -0.9644075632095337,
            0.2636669874191284,
            -0.019944773986935616
        ],
        "right_vector": [
            -0.26361846923828125,
            -0.9646137356758118,
            -0.005070905201137066
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.2906005084514618,
            -1.1428271532058716,
            164.70912170410156
        ],
        "velocity": [
            -3.940507667721249e-05,
            -6.383591971825808e-05,
            0.00033232837449759245
        ],
        "speed": 7.50185624643187e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.428032875061035,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2168.791748046875,
                2527.3330078125,
                364.8468017578125
            ],
            "velocity": [
                4.025656700134277,
                -0.009312829934060574,
                0.06718633323907852
            ],
            "speed_kmh": 14.494421109160204,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15869140625,
                        "y": 2451.423583984375,
                        "z": 364.67962646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6092729568481445,
                "transform": {
                    "location": {
                        "x": 2187.876708984375,
                        "y": 2563.881103515625,
                        "z": 365.1160583496094
                    },
                    "rotation": {
                        "roll": 0.00047553214244544506,
                        "pitch": 0.30989933013916016,
                        "yaw": -89.75194549560547
                    }
                },
                "velocity": {
                    "x": 0.005273225251585245,
                    "y": -1.609254002571106,
                    "z": 0.005766315385699272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0646233558654785,
                "transform": {
                    "location": {
                        "x": 2185.065185546875,
                        "y": 2464.525146484375,
                        "z": 364.81365966796875
                    },
                    "rotation": {
                        "roll": 0.0054588355123996735,
                        "pitch": 0.5599798560142517,
                        "yaw": 90.57856750488281
                    }
                },
                "velocity": {
                    "x": -0.005645433906465769,
                    "y": 1.064552903175354,
                    "z": 0.010868482291698456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6825190186500549,
                "transform": {
                    "location": {
                        "x": 2156.115966796875,
                        "y": 2527.357177734375,
                        "z": 364.7405700683594
                    },
                    "rotation": {
                        "roll": 0.00018401254783384502,
                        "pitch": -0.08166173845529556,
                        "yaw": -0.23388671875
                    }
                },
                "velocity": {
                    "x": 0.6825093030929565,
                    "y": -0.0026592824142426252,
                    "z": 0.002490997314453125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.289773464202881,
                "transform": {
                    "location": {
                        "x": 2185.029296875,
                        "y": 2478.243896484375,
                        "z": 364.93743896484375
                    },
                    "rotation": {
                        "roll": 0.0005338502232916653,
                        "pitch": 0.42900416254997253,
                        "yaw": 90.07167053222656
                    }
                },
                "velocity": {
                    "x": -0.005378200672566891,
                    "y": 4.289638996124268,
                    "z": 0.03353269398212433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007106918492354453,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.842041015625,
                        "z": 365.14752197265625
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.009220754727721214,
                        "yaw": -89.5509033203125
                    }
                },
                "velocity": {
                    "x": 0.00010551846935413778,
                    "y": 0.0001296575355809182,
                    "z": -0.0006907515344209969
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.026227951049805,
                "transform": {
                    "location": {
                        "x": 2168.791748046875,
                        "y": 2527.3330078125,
                        "z": 364.8468017578125
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": 0.9463294744491577,
                        "yaw": -0.1305541843175888
                    }
                },
                "velocity": {
                    "x": 4.025656700134277,
                    "y": -0.009312829934060574,
                    "z": 0.06718633323907852
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.308945894241333,
                "transform": {
                    "location": {
                        "x": 2236.937744140625,
                        "y": 2524.330322265625,
                        "z": 366.5516052246094
                    },
                    "rotation": {
                        "roll": 0.0005990730714984238,
                        "pitch": -1.7437403202056885,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.03964691236615181,
                    "y": -8.033692574827e-05,
                    "z": -1.3083453178405762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5850014686584473,
                "transform": {
                    "location": {
                        "x": 2198.970947265625,
                        "y": 2524.4365234375,
                        "z": 365.47021484375
                    },
                    "rotation": {
                        "roll": 0.06607045978307724,
                        "pitch": -1.3949294090270996,
                        "yaw": 177.21920776367188
                    }
                },
                "velocity": {
                    "x": -2.5781753063201904,
                    "y": 0.1762860268354416,
                    "z": -0.06455571204423904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.988114356994629,
                "transform": {
                    "location": {
                        "x": 2142.69677734375,
                        "y": 2527.350341796875,
                        "z": 364.7734680175781
                    },
                    "rotation": {
                        "roll": 0.0020714292768388987,
                        "pitch": 0.14295585453510284,
                        "yaw": 0.3467788100242615
                    }
                },
                "velocity": {
                    "x": 6.987954616546631,
                    "y": 0.03971095383167267,
                    "z": -0.025655383244156837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002878760569728911,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2488.708251953125,
                        "z": 365.01177978515625
                    },
                    "rotation": {
                        "roll": -0.0005493219941854477,
                        "pitch": 0.3797585070133209,
                        "yaw": 89.98978424072266
                    }
                },
                "velocity": {
                    "x": -0.00013227079762145877,
                    "y": -9.931861859513447e-05,
                    "z": -0.0002356117038289085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011647904757410288,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.6588717699050903e-05,
                    "y": -1.1829260984086432e-05,
                    "z": 0.0011646122438833117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004453790024854243,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.7113425201387145e-05,
                    "y": 3.450220901868306e-05,
                    "z": -0.00044371068361215293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9425610303878784,
                "transform": {
                    "location": {
                        "x": 2221.671142578125,
                        "y": 2524.272705078125,
                        "z": 366.0997619628906
                    },
                    "rotation": {
                        "roll": 0.0047210524789988995,
                        "pitch": -1.9833980798721313,
                        "yaw": 179.78993225097656
                    }
                },
                "velocity": {
                    "x": -0.9421171545982361,
                    "y": 0.002882655244320631,
                    "z": -0.02877943404018879
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8784863948822021,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2499.081298828125,
                        "z": 365.0753479003906
                    },
                    "rotation": {
                        "roll": 0.0002562204608693719,
                        "pitch": 0.20649026334285736,
                        "yaw": 90.48453521728516
                    }
                },
                "velocity": {
                    "x": 0.0003962432383559644,
                    "y": 1.8784582614898682,
                    "z": 0.010275783017277718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029454752802848816,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -3.0515888283844106e-05,
                        "pitch": 0.18119807541370392,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -5.282619440549752e-06,
                    "y": -1.1271685252722818e-05,
                    "z": 0.0002942843711934984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030381286516786e-05,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.027252452448010445,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 7.449479016941041e-05,
                    "y": -2.7370027964934707e-05,
                    "z": -1.2251937732798979e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.07411954551935196,
                "transform": {
                    "location": {
                        "x": 2210.65673828125,
                        "y": 2524.2880859375,
                        "z": 365.7823486328125
                    },
                    "rotation": {
                        "roll": 0.0037647623103111982,
                        "pitch": -1.5288695096969604,
                        "yaw": 179.7349395751953
                    }
                },
                "velocity": {
                    "x": -0.07407941669225693,
                    "y": 5.528366091311909e-05,
                    "z": -0.002438068389892578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6033863425254822,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487821875619876,
            6.77158922365699
        ],
        "target_point_next": [
            29.487821875619876,
            6.77158922365699
        ]
    },
    "405": {
        "acceleration": [
            -0.0007190376054495573,
            -0.0008941245032474399,
            0.002337540965527296
        ],
        "angular_velocity": [
            0.04282708838582039,
            -0.01676630787551403,
            0.0006345266010612249
        ],
        "forward_vector": [
            -0.9644075632095337,
            0.2636669874191284,
            -0.019944773986935616
        ],
        "right_vector": [
            -0.26361846923828125,
            -0.9646137356758118,
            -0.005070905201137066
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.2906005084514618,
            -1.1428271532058716,
            164.70912170410156
        ],
        "velocity": [
            -9.453147504245862e-05,
            -0.0001516915945103392,
            -0.00013730238424614072
        ],
        "speed": 0.00017873594943041579,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.494601249694824,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2169.8125,
                2527.33056640625,
                364.8643798828125
            ],
            "velocity": [
                3.8754231929779053,
                -0.009223652072250843,
                0.06615537405014038
            ],
            "speed_kmh": 13.953595603998222,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2452.257080078125,
                        "z": 364.68865966796875
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3872268199920654,
                "transform": {
                    "location": {
                        "x": 2187.878662109375,
                        "y": 2563.361083984375,
                        "z": 365.1181945800781
                    },
                    "rotation": {
                        "roll": 0.0014121958520263433,
                        "pitch": 0.35812729597091675,
                        "yaw": -89.76966857910156
                    }
                },
                "velocity": {
                    "x": 0.007623243611305952,
                    "y": -2.387195110321045,
                    "z": 0.009637183509767056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.128138303756714,
                "transform": {
                    "location": {
                        "x": 2185.06298828125,
                        "y": 2464.93798828125,
                        "z": 364.81781005859375
                    },
                    "rotation": {
                        "roll": 0.005069275386631489,
                        "pitch": 0.6648369431495667,
                        "yaw": 90.47811889648438
                    }
                },
                "velocity": {
                    "x": -0.01189503539353609,
                    "y": 2.1280229091644287,
                    "z": 0.018684091046452522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.638313889503479,
                "transform": {
                    "location": {
                        "x": 2156.39990234375,
                        "y": 2527.3564453125,
                        "z": 364.74151611328125
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.15667086839675903,
                        "yaw": -0.2054748386144638
                    }
                },
                "velocity": {
                    "x": 1.6383070945739746,
                    "y": -0.00401440029963851,
                    "z": 0.0025028609670698643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.883267879486084,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2479.12890625,
                        "z": 364.9432678222656
                    },
                    "rotation": {
                        "roll": 6.328903691610321e-05,
                        "pitch": 0.5645082592964172,
                        "yaw": 90.072998046875
                    }
                },
                "velocity": {
                    "x": -0.0033637043088674545,
                    "y": 2.883171558380127,
                    "z": 0.023337755352258682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008931944612413645,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.841796875,
                        "z": 365.1470642089844
                    },
                    "rotation": {
                        "roll": 4.2715382733149454e-05,
                        "pitch": 0.05871230363845825,
                        "yaw": -89.55087280273438
                    }
                },
                "velocity": {
                    "x": 7.241543789859861e-05,
                    "y": 9.535500430501997e-05,
                    "z": 0.0008851325837895274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8759987354278564,
                "transform": {
                    "location": {
                        "x": 2169.8125,
                        "y": 2527.33056640625,
                        "z": 364.8643798828125
                    },
                    "rotation": {
                        "roll": 5.9787125792354345e-05,
                        "pitch": 0.9475657343864441,
                        "yaw": -0.1390685737133026
                    }
                },
                "velocity": {
                    "x": 3.8754231929779053,
                    "y": -0.009223652072250843,
                    "z": 0.06615537405014038
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15702004730701447,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5227355957031
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": -1.7593063116073608,
                        "yaw": 179.873779296875
                    }
                },
                "velocity": {
                    "x": -0.00486754160374403,
                    "y": 0.00011513675417518243,
                    "z": 0.15694454312324524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1843786239624023,
                "transform": {
                    "location": {
                        "x": 2198.246826171875,
                        "y": 2524.482666015625,
                        "z": 365.45233154296875
                    },
                    "rotation": {
                        "roll": 0.0755840465426445,
                        "pitch": -1.3929760456085205,
                        "yaw": 176.79209899902344
                    }
                },
                "velocity": {
                    "x": -3.175605297088623,
                    "y": 0.22327502071857452,
                    "z": -0.07712037861347198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.676851749420166,
                "transform": {
                    "location": {
                        "x": 2144.162841796875,
                        "y": 2527.355712890625,
                        "z": 364.77154541015625
                    },
                    "rotation": {
                        "roll": 0.010890103876590729,
                        "pitch": -0.8559865951538086,
                        "yaw": 0.22132958471775055
                    }
                },
                "velocity": {
                    "x": 3.6767992973327637,
                    "y": 0.009883960708975792,
                    "z": -0.016958065330982208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3681170344352722,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2488.736328125,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 0.0002032684424193576,
                        "pitch": 0.34202852845191956,
                        "yaw": 89.99882507324219
                    }
                },
                "velocity": {
                    "x": 0.0027356110513210297,
                    "y": 0.36809542775154114,
                    "z": 0.00290508265607059
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037153781158849597,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.923836680362001e-05,
                    "y": 2.4675828171893954e-05,
                    "z": 0.0003702179528772831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011954904039157555,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.9885002984665334e-05,
                    "y": -1.1935162547160871e-05,
                    "z": -0.00011727792298188433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9083888530731201,
                "transform": {
                    "location": {
                        "x": 2221.330810546875,
                        "y": 2524.2734375,
                        "z": 366.0859680175781
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -1.5194369554519653,
                        "yaw": 179.80938720703125
                    }
                },
                "velocity": {
                    "x": -1.9075661897659302,
                    "y": 0.0027998134028166533,
                    "z": -0.05595928058028221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.234173536300659,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2499.6328125,
                        "z": 365.0779724121094
                    },
                    "rotation": {
                        "roll": -0.00012206401152070612,
                        "pitch": 0.23991037905216217,
                        "yaw": 90.3622055053711
                    }
                },
                "velocity": {
                    "x": 0.0007870817789807916,
                    "y": 2.2341527938842773,
                    "z": 0.009578637778759003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023332364798989147,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.00021362456027418375,
                        "pitch": 0.18132784962654114,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 1.1114407243439928e-05,
                    "y": -6.6492148107499816e-06,
                    "z": -0.000232963910093531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000574622128624469,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.02304505743086338,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": -4.690061177825555e-05,
                    "y": 1.1113434993603732e-05,
                    "z": 0.0005725970841012895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.35253995656967163,
                "transform": {
                    "location": {
                        "x": 2210.625,
                        "y": 2524.288330078125,
                        "z": 365.7812805175781
                    },
                    "rotation": {
                        "roll": 0.002850945806130767,
                        "pitch": -1.504997968673706,
                        "yaw": 179.76048278808594
                    }
                },
                "velocity": {
                    "x": -0.3524281978607178,
                    "y": 0.0009608595864847302,
                    "z": -0.008824663236737251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6053356528282166,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487821875619876,
            6.77158922365699
        ],
        "target_point_next": [
            29.487821875619876,
            6.77158922365699
        ]
    },
    "410": {
        "acceleration": [
            0.00036015809746459126,
            -0.003309930907562375,
            0.010064160451292992
        ],
        "angular_velocity": [
            0.018598854541778564,
            0.0020525201689451933,
            0.00014618037675973028
        ],
        "forward_vector": [
            -0.9644068479537964,
            0.26366952061653137,
            -0.01994417980313301
        ],
        "right_vector": [
            -0.26362115144729614,
            -0.9646130204200745,
            -0.0050652846693992615
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.29027843475341797,
            -1.14279305934906,
            164.70896911621094
        ],
        "velocity": [
            -3.854945316561498e-05,
            -6.569694232894108e-05,
            0.00020295294234529138
        ],
        "speed": 7.617183581048938e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.78158950805664,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.60693359375,
                2527.32861328125,
                364.8777770996094
            ],
            "velocity": [
                2.5042378902435303,
                -0.006080839317291975,
                0.04248043894767761
            ],
            "speed_kmh": 9.016579990162478,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15625,
                        "y": 2453.507080078125,
                        "z": 364.7022705078125
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016538889613002539,
                "transform": {
                    "location": {
                        "x": 2187.879638671875,
                        "y": 2563.037841796875,
                        "z": 365.1190185546875
                    },
                    "rotation": {
                        "roll": 5.202351530897431e-05,
                        "pitch": -0.050475094467401505,
                        "yaw": -89.78203582763672
                    }
                },
                "velocity": {
                    "x": 4.133982656640001e-06,
                    "y": 0.00018660347268451005,
                    "z": 0.0016433231066912413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.349799394607544,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2465.619873046875,
                        "z": 364.82440185546875
                    },
                    "rotation": {
                        "roll": 0.004839293193072081,
                        "pitch": 0.7097659111022949,
                        "yaw": 90.38014221191406
                    }
                },
                "velocity": {
                    "x": -0.01673717051744461,
                    "y": 3.3496103286743164,
                    "z": 0.03140312060713768
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7250993251800537,
                "transform": {
                    "location": {
                        "x": 2156.94775390625,
                        "y": 2527.355224609375,
                        "z": 364.7425842285156
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.2850237786769867,
                        "yaw": -0.1334838718175888
                    }
                },
                "velocity": {
                    "x": 2.7250888347625732,
                    "y": -0.0063421837985515594,
                    "z": 0.004123430233448744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1686124801635742,
                "transform": {
                    "location": {
                        "x": 2185.028564453125,
                        "y": 2479.68310546875,
                        "z": 364.9473876953125
                    },
                    "rotation": {
                        "roll": -0.0011901420075446367,
                        "pitch": 0.5832093358039856,
                        "yaw": 90.01964569091797
                    }
                },
                "velocity": {
                    "x": 0.006706406828016043,
                    "y": 1.1685655117034912,
                    "z": 0.008042030036449432
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010667151072993875,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.841552734375,
                        "z": 365.14691162109375
                    },
                    "rotation": {
                        "roll": 0.0016667242161929607,
                        "pitch": 0.075849249958992,
                        "yaw": -89.55089569091797
                    }
                },
                "velocity": {
                    "x": -0.00019629881717264652,
                    "y": 3.197491241735406e-05,
                    "z": 0.0010480103082954884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.504605531692505,
                "transform": {
                    "location": {
                        "x": 2170.60693359375,
                        "y": 2527.32861328125,
                        "z": 364.8777770996094
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.8037834763526917,
                        "yaw": -0.1349792331457138
                    }
                },
                "velocity": {
                    "x": 2.5042378902435303,
                    "y": -0.006080839317291975,
                    "z": 0.04248043894767761
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2520297765731812,
                "transform": {
                    "location": {
                        "x": 2236.781982421875,
                        "y": 2524.328369140625,
                        "z": 366.54156494140625
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -1.6854857206344604,
                        "yaw": 179.93116760253906
                    }
                },
                "velocity": {
                    "x": -1.2519901990890503,
                    "y": -0.007967593148350716,
                    "z": 0.005954551510512829
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8793272972106934,
                "transform": {
                    "location": {
                        "x": 2197.48388671875,
                        "y": 2524.533935546875,
                        "z": 365.4339904785156
                    },
                    "rotation": {
                        "roll": 0.08010900020599365,
                        "pitch": -1.405393362045288,
                        "yaw": 176.4574737548828
                    }
                },
                "velocity": {
                    "x": -2.8711190223693848,
                    "y": 0.2060755342245102,
                    "z": -0.06880206614732742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.33722177147865295,
                "transform": {
                    "location": {
                        "x": 2144.40673828125,
                        "y": 2527.3564453125,
                        "z": 364.7735900878906
                    },
                    "rotation": {
                        "roll": 0.004361302591860294,
                        "pitch": -1.6941190958023071,
                        "yaw": 0.23117491602897644
                    }
                },
                "velocity": {
                    "x": 0.33721035718917847,
                    "y": 0.0020613393280655146,
                    "z": -0.0018554878188297153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2133004665374756,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2488.933349609375,
                        "z": 365.01397705078125
                    },
                    "rotation": {
                        "roll": 0.0009348139283247292,
                        "pitch": 0.28968197107315063,
                        "yaw": 90.00907135009766
                    }
                },
                "velocity": {
                    "x": -0.0029764953069388866,
                    "y": 1.2132736444473267,
                    "z": 0.007501840591430664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4202912502223626e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 8.886307114153169e-06,
                    "y": -3.828546368822572e-07,
                    "z": 3.3026142773451284e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008008488803170621,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": -5.811452865600586e-07,
                    "y": 2.4896271497709677e-06,
                    "z": -0.0008008448057807982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004080415237694979,
                "transform": {
                    "location": {
                        "x": 2221.102783203125,
                        "y": 2524.2763671875,
                        "z": 366.0834045410156
                    },
                    "rotation": {
                        "roll": -0.01300048828125,
                        "pitch": -2.0314619541168213,
                        "yaw": -179.904296875
                    }
                },
                "velocity": {
                    "x": -0.003920820076018572,
                    "y": 0.00013430436956696212,
                    "z": 0.0011220162268728018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000918041099794209,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.950927734375,
                        "z": 365.07745361328125
                    },
                    "rotation": {
                        "roll": 0.0034146339166909456,
                        "pitch": 0.493371844291687,
                        "yaw": 90.31778717041016
                    }
                },
                "velocity": {
                    "x": -2.663051418494433e-05,
                    "y": 0.0003809158515650779,
                    "z": 0.0008348612464033067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004316263075452298,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.0005493126809597015,
                        "pitch": 0.18126638233661652,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 1.3745760043093469e-05,
                    "y": -2.4192406726797344e-06,
                    "z": 0.00043140057823620737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00020724722708109766,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.0006103523191995919,
                        "pitch": -0.02319532074034214,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 7.906670361990109e-05,
                    "y": -3.590076448745094e-05,
                    "z": 0.0001881781208794564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2046500444412231,
                "transform": {
                    "location": {
                        "x": 2210.427490234375,
                        "y": 2524.288818359375,
                        "z": 365.7748718261719
                    },
                    "rotation": {
                        "roll": 0.0007947597187012434,
                        "pitch": -1.3533951044082642,
                        "yaw": 179.76742553710938
                    }
                },
                "velocity": {
                    "x": -1.2042176723480225,
                    "y": 0.0026098457165062428,
                    "z": -0.03216663375496864
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6041639447212219,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487805730809256,
            6.77165952808367
        ],
        "target_point_next": [
            29.487805730809256,
            6.77165952808367
        ]
    },
    "415": {
        "acceleration": [
            0.0002052485797321424,
            0.0016311162617057562,
            -0.007811904884874821
        ],
        "angular_velocity": [
            -0.039890170097351074,
            0.012151459231972694,
            -0.001036100322380662
        ],
        "forward_vector": [
            -0.9644067287445068,
            0.2636699974536896,
            -0.01994417980313301
        ],
        "right_vector": [
            -0.2636216878890991,
            -0.9646129012107849,
            -0.005060804542154074
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2900216579437256,
            -1.14279305934906,
            164.70895385742188
        ],
        "velocity": [
            -1.0657309985617758e-06,
            0.00011648248619167134,
            -0.00016775676340330392
        ],
        "speed": 0.00011648736142583967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.585973739624023,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.827880859375,
                2527.328125,
                364.8814697265625
            ],
            "velocity": [
                -0.0032403587829321623,
                -0.0002276900049764663,
                0.001139185857027769
            ],
            "speed_kmh": 0.012392323352688014,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005044447258114815,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.923583984375,
                        "z": 364.7060546875
                    },
                    "rotation": {
                        "roll": 0.0005221391911618412,
                        "pitch": 0.6136173605918884,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": -0.000182732313987799,
                    "y": -7.041252683848143e-05,
                    "z": -0.00504064466804266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1235917806625366,
                "transform": {
                    "location": {
                        "x": 2187.8798828125,
                        "y": 2562.869384765625,
                        "z": 365.1202392578125
                    },
                    "rotation": {
                        "roll": 0.000990108703263104,
                        "pitch": 0.2756732404232025,
                        "yaw": -89.79862976074219
                    }
                },
                "velocity": {
                    "x": 0.00303572416305542,
                    "y": -1.1235803365707397,
                    "z": 0.004051141440868378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.819221019744873,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2466.6552734375,
                        "z": 364.8340148925781
                    },
                    "rotation": {
                        "roll": 0.006144524086266756,
                        "pitch": 0.7518330216407776,
                        "yaw": 90.2974853515625
                    }
                },
                "velocity": {
                    "x": -0.01694508083164692,
                    "y": 4.8189921379089355,
                    "z": 0.04378020018339157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.134836196899414,
                "transform": {
                    "location": {
                        "x": 2157.802001953125,
                        "y": 2527.353271484375,
                        "z": 364.7442626953125
                    },
                    "rotation": {
                        "roll": 0.0002202715550083667,
                        "pitch": 0.4425962269306183,
                        "yaw": -0.1236572191119194
                    }
                },
                "velocity": {
                    "x": 4.134822368621826,
                    "y": -0.008869726210832596,
                    "z": 0.005955810192972422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016418345039710402,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2479.704833984375,
                        "z": 364.9477233886719
                    },
                    "rotation": {
                        "roll": -0.0005492962663993239,
                        "pitch": 0.5614961385726929,
                        "yaw": 90.02251434326172
                    }
                },
                "velocity": {
                    "x": 3.078406734857708e-05,
                    "y": -0.001035262132063508,
                    "z": -0.0012739329831674695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.472101004968863e-05,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.841552734375,
                        "z": 365.1469421386719
                    },
                    "rotation": {
                        "roll": 0.0007995864725671709,
                        "pitch": 0.08143634349107742,
                        "yaw": -89.55089569091797
                    }
                },
                "velocity": {
                    "x": -2.5385577373526758e-06,
                    "y": 4.185456873528892e-06,
                    "z": 2.423150908725802e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0034423121251165867,
                "transform": {
                    "location": {
                        "x": 2170.827880859375,
                        "y": 2527.328125,
                        "z": 364.8814697265625
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.6308909058570862,
                        "yaw": -0.2059326022863388
                    }
                },
                "velocity": {
                    "x": -0.0032403587829321623,
                    "y": -0.0002276900049764663,
                    "z": 0.001139185857027769
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.026388645172119,
                "transform": {
                    "location": {
                        "x": 2236.388916015625,
                        "y": 2524.326171875,
                        "z": 366.5340881347656
                    },
                    "rotation": {
                        "roll": -0.006408691871911287,
                        "pitch": -1.7040979862213135,
                        "yaw": -179.92347717285156
                    }
                },
                "velocity": {
                    "x": -2.025550603866577,
                    "y": -0.0155024453997612,
                    "z": -0.05617325007915497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82362,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7811553478240967,
                "transform": {
                    "location": {
                        "x": 2196.78564453125,
                        "y": 2524.58251953125,
                        "z": 365.4168701171875
                    },
                    "rotation": {
                        "roll": 0.15723618865013123,
                        "pitch": -1.4035627841949463,
                        "yaw": 176.23313903808594
                    }
                },
                "velocity": {
                    "x": -2.7731142044067383,
                    "y": 0.2003588080406189,
                    "z": -0.06722913682460785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.42593514919281,
                "transform": {
                    "location": {
                        "x": 2144.6572265625,
                        "y": 2527.35693359375,
                        "z": 364.76812744140625
                    },
                    "rotation": {
                        "roll": 0.0021744389086961746,
                        "pitch": -0.49240195751190186,
                        "yaw": 0.22725644707679749
                    }
                },
                "velocity": {
                    "x": 1.425927996635437,
                    "y": 0.002081400016322732,
                    "z": -0.004015273880213499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.069270133972168,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2489.343505859375,
                        "z": 365.01666259765625
                    },
                    "rotation": {
                        "roll": 0.0007267302717082202,
                        "pitch": 0.282735675573349,
                        "yaw": 90.02543640136719
                    }
                },
                "velocity": {
                    "x": -0.003119907109066844,
                    "y": 2.069227457046509,
                    "z": 0.012909851036965847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005761305801570415,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.6649029930704273e-05,
                    "y": 2.415487506368663e-05,
                    "z": 0.0005753831937909126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001563115365570411,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.0468065738677979e-06,
                    "y": 1.3176403399484116e-06,
                    "z": -0.00015630247071385384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0629955381155014,
                "transform": {
                    "location": {
                        "x": 2221.098388671875,
                        "y": 2524.276611328125,
                        "z": 366.0823669433594
                    },
                    "rotation": {
                        "roll": -0.008148190565407276,
                        "pitch": -1.9053289890289307,
                        "yaw": -179.90469360351562
                    }
                },
                "velocity": {
                    "x": -0.06299228221178055,
                    "y": -0.000294152123387903,
                    "z": -0.0005692386766895652
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001372718601487577,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.949951171875,
                        "z": 365.0787048339844
                    },
                    "rotation": {
                        "roll": 0.002299720887094736,
                        "pitch": 0.34516358375549316,
                        "yaw": 90.31780242919922
                    }
                },
                "velocity": {
                    "x": 4.727684790850617e-05,
                    "y": -0.0005809467402286828,
                    "z": 0.0012428283225744963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.499239341588691e-05,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.0005493126809597015,
                        "pitch": 0.18126638233661652,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 4.018311301479116e-05,
                    "y": 4.676990101870615e-06,
                    "z": 3.725058923009783e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010190570028498769,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.828125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": 0.000271479191724211,
                        "pitch": -0.0231065284460783,
                        "yaw": -91.57647705078125
                    }
                },
                "velocity": {
                    "x": 7.955624460009858e-05,
                    "y": 1.472269332225551e-06,
                    "z": 0.001015945803374052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.259538173675537,
                "transform": {
                    "location": {
                        "x": 2209.990966796875,
                        "y": 2524.289794921875,
                        "z": 365.7626953125
                    },
                    "rotation": {
                        "roll": 0.002719871699810028,
                        "pitch": -1.2935148477554321,
                        "yaw": 179.76502990722656
                    }
                },
                "velocity": {
                    "x": -2.2587127685546875,
                    "y": 0.005381329450756311,
                    "z": -0.060834500938653946
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6053282022476196,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878668870372,
            6.7714380912160195
        ],
        "target_point_next": [
            29.4878668870372,
            6.7714380912160195
        ]
    },
    "420": {
        "acceleration": [
            0.0008922963752411306,
            -0.0002358154597459361,
            -0.009266961365938187
        ],
        "angular_velocity": [
            0.016632596030831337,
            0.0031615886837244034,
            9.738105291035026e-05
        ],
        "forward_vector": [
            -0.9644066691398621,
            0.2636704444885254,
            -0.019940363243222237
        ],
        "right_vector": [
            -0.2636221945285797,
            -0.9646127820014954,
            -0.00506006833165884
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2899794578552246,
            -1.142574429512024,
            164.70892333984375
        ],
        "velocity": [
            -2.994537317135837e-05,
            -6.356798985507339e-05,
            -9.441580186830834e-05
        ],
        "speed": 7.026816283770782e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.584245681762695,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.829833984375,
                2527.328125,
                364.8818664550781
            ],
            "velocity": [
                -0.0012744758278131485,
                0.0001136906212195754,
                0.0008038809173740447
            ],
            "speed_kmh": 0.005439978478052524,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019675702787935734,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.923828125,
                        "z": 364.70550537109375
                    },
                    "rotation": {
                        "roll": 0.000477153982501477,
                        "pitch": 0.6203245520591736,
                        "yaw": 90.06044006347656
                    }
                },
                "velocity": {
                    "x": -0.00018779750098474324,
                    "y": 1.9364804302313132e-06,
                    "z": -0.001958586508408189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1699583530426025,
                "transform": {
                    "location": {
                        "x": 2187.8818359375,
                        "y": 2562.447265625,
                        "z": 365.1220703125
                    },
                    "rotation": {
                        "roll": 0.0015946828061714768,
                        "pitch": 0.373181015253067,
                        "yaw": -89.80023193359375
                    }
                },
                "velocity": {
                    "x": 0.006539824418723583,
                    "y": -2.1699376106262207,
                    "z": 0.006836757529526949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.53502893447876,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2467.939453125,
                        "z": 364.845703125
                    },
                    "rotation": {
                        "roll": 0.0027359689120203257,
                        "pitch": 0.5620971918106079,
                        "yaw": 90.21322631835938
                    }
                },
                "velocity": {
                    "x": -0.013515857048332691,
                    "y": 4.534862041473389,
                    "z": 0.03648962825536728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.304444313049316,
                "transform": {
                    "location": {
                        "x": 2159.013427734375,
                        "y": 2527.3505859375,
                        "z": 364.7482604980469
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.5110552310943604,
                        "yaw": -0.12051389366388321
                    }
                },
                "velocity": {
                    "x": 5.304355144500732,
                    "y": -0.010547754354774952,
                    "z": 0.028915757313370705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030213131685741246,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2479.704345703125,
                        "z": 364.94842529296875
                    },
                    "rotation": {
                        "roll": -0.0007934750174172223,
                        "pitch": 0.46245160698890686,
                        "yaw": 90.02251434326172
                    }
                },
                "velocity": {
                    "x": -8.514585351804271e-05,
                    "y": -9.745835996000096e-05,
                    "z": 0.00027301168302074075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007785789202898741,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.841552734375,
                        "z": 365.1469421386719
                    },
                    "rotation": {
                        "roll": 0.0007826643995940685,
                        "pitch": 0.08232426643371582,
                        "yaw": -89.5509033203125
                    }
                },
                "velocity": {
                    "x": 9.106509537559759e-07,
                    "y": -1.179818013952172e-06,
                    "z": 0.0007785774650983512
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001511105103418231,
                "transform": {
                    "location": {
                        "x": 2170.829833984375,
                        "y": 2527.328125,
                        "z": 364.8818664550781
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.8985522985458374,
                        "yaw": -0.2059020698070526
                    }
                },
                "velocity": {
                    "x": -0.0012744758278131485,
                    "y": 0.0001136906212195754,
                    "z": 0.0008038809173740447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.130767583847046,
                "transform": {
                    "location": {
                        "x": 2235.73876953125,
                        "y": 2524.322021484375,
                        "z": 366.5146484375
                    },
                    "rotation": {
                        "roll": -0.0115966796875,
                        "pitch": -1.6758073568344116,
                        "yaw": -179.8094940185547
                    }
                },
                "velocity": {
                    "x": -3.1292738914489746,
                    "y": -0.02288282848894596,
                    "z": -0.09395068138837814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2844371795654297,
                "transform": {
                    "location": {
                        "x": 2145.12939453125,
                        "y": 2527.357666015625,
                        "z": 364.7647705078125
                    },
                    "rotation": {
                        "roll": 0.002101282821968198,
                        "pitch": -0.034451473504304886,
                        "yaw": 0.22230485081672668
                    }
                },
                "velocity": {
                    "x": 2.284418821334839,
                    "y": 0.0037496869917958975,
                    "z": -0.00838268268853426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9215235710144043,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2489.968017578125,
                        "z": 365.0207214355469
                    },
                    "rotation": {
                        "roll": 0.0006027180352248251,
                        "pitch": 0.28046122193336487,
                        "yaw": 90.04193115234375
                    }
                },
                "velocity": {
                    "x": -0.0045212130062282085,
                    "y": 2.9214634895324707,
                    "z": 0.018152503296732903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.864394213655032e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.6194991985685192e-05,
                    "y": -1.791776048776228e-05,
                    "z": 4.222451025270857e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005294783622957766,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 2.786137156363111e-05,
                    "y": -1.2604778930835892e-05,
                    "z": -0.0005285945953801274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4318443238735199,
                "transform": {
                    "location": {
                        "x": 2221.048095703125,
                        "y": 2524.27685546875,
                        "z": 366.078857421875
                    },
                    "rotation": {
                        "roll": -0.004486083518713713,
                        "pitch": -1.6440401077270508,
                        "yaw": -179.89036560058594
                    }
                },
                "velocity": {
                    "x": -0.43164363503456116,
                    "y": 0.000779139983933419,
                    "z": -0.013140478171408176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019421723845880479,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0790100097656
                    },
                    "rotation": {
                        "roll": 0.0014561580028384924,
                        "pitch": 0.30352675914764404,
                        "yaw": 90.31779479980469
                    }
                },
                "velocity": {
                    "x": -1.6522633814020082e-05,
                    "y": -0.00010503634257474914,
                    "z": 0.00016252600471489131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00040537581662647426,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12005615234375
                    },
                    "rotation": {
                        "roll": -0.001159663894213736,
                        "pitch": 0.1814098209142685,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -4.4031722268300655e-07,
                    "y": -1.6320495888066944e-06,
                    "z": 0.000405372295062989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.019799908623099327,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2539.826904296875,
                        "z": 365.1605529785156
                    },
                    "rotation": {
                        "roll": 0.00013237410166766495,
                        "pitch": -0.016966188326478004,
                        "yaw": -91.58697509765625
                    }
                },
                "velocity": {
                    "x": -0.0006561605259776115,
                    "y": -0.01978466846048832,
                    "z": 0.00041563986451365054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.108269691467285,
                "transform": {
                    "location": {
                        "x": 2209.19970703125,
                        "y": 2524.291748046875,
                        "z": 365.7404479980469
                    },
                    "rotation": {
                        "roll": 0.00029642615118063986,
                        "pitch": -1.157716989517212,
                        "yaw": 179.79763793945312
                    }
                },
                "velocity": {
                    "x": -4.106797695159912,
                    "y": 0.009302803315222263,
                    "z": -0.10957185178995132
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6030811071395874,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487863658160553,
            6.771452152125899
        ],
        "target_point_next": [
            29.487863658160553,
            6.771452152125899
        ]
    },
    "425": {
        "acceleration": [
            0.00010861756891245022,
            0.0016734916716814041,
            -0.002724227961152792
        ],
        "angular_velocity": [
            -0.02963360771536827,
            0.0033940267749130726,
            -0.0008178901043720543
        ],
        "forward_vector": [
            -0.9644063711166382,
            0.2636716067790985,
            -0.019940363243222237
        ],
        "right_vector": [
            -0.26362344622612,
            -0.9646124839782715,
            -0.005054989363998175
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.289688378572464,
            -1.142574429512024,
            164.70884704589844
        ],
        "velocity": [
            -2.7307718482916243e-05,
            8.23969385237433e-05,
            -0.0002804339164867997
        ],
        "speed": 8.68041874959252e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.58381175994873,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.830322265625,
                2527.328125,
                364.8819885253906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3136655390262604,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.9296875,
                        "z": 364.70556640625
                    },
                    "rotation": {
                        "roll": -0.00039673634455539286,
                        "pitch": 0.6442370414733887,
                        "yaw": 90.06127166748047
                    }
                },
                "velocity": {
                    "x": -0.002934982068836689,
                    "y": 0.31364327669143677,
                    "z": 0.0023143005091696978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1838996261358261,
                "transform": {
                    "location": {
                        "x": 2187.88330078125,
                        "y": 2561.99365234375,
                        "z": 365.12322998046875
                    },
                    "rotation": {
                        "roll": 6.71529705869034e-05,
                        "pitch": 0.03078366070985794,
                        "yaw": -89.81330871582031
                    }
                },
                "velocity": {
                    "x": 0.0003325242141727358,
                    "y": -0.18389616906642914,
                    "z": 0.001076707849279046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.008673757314682007,
                "transform": {
                    "location": {
                        "x": 2185.049560546875,
                        "y": 2468.530517578125,
                        "z": 364.85015869140625
                    },
                    "rotation": {
                        "roll": -0.0014648432843387127,
                        "pitch": -0.011112716980278492,
                        "yaw": 90.13041687011719
                    }
                },
                "velocity": {
                    "x": -6.084449341869913e-05,
                    "y": 0.008659477345645428,
                    "z": 0.0004937684279866517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0094046825543046,
                "transform": {
                    "location": {
                        "x": 2159.753662109375,
                        "y": 2527.348876953125,
                        "z": 364.7510986328125
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.29977014660835266,
                        "yaw": 0.1583174467086792
                    }
                },
                "velocity": {
                    "x": 0.009370536543428898,
                    "y": -0.0004978373763151467,
                    "z": 0.0006271048332564533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.08654817193746567,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2479.71044921875,
                        "z": 364.9486389160156
                    },
                    "rotation": {
                        "roll": -0.0007019424228928983,
                        "pitch": 0.43776729702949524,
                        "yaw": 90.02251434326172
                    }
                },
                "velocity": {
                    "x": 1.6285418951156316e-06,
                    "y": 0.08654332906007767,
                    "z": 0.0009152221609838307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3921725440013688e-05,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.841552734375,
                        "z": 365.1469421386719
                    },
                    "rotation": {
                        "roll": 0.0007826643995940685,
                        "pitch": 0.08232426643371582,
                        "yaw": -89.5509033203125
                    }
                },
                "velocity": {
                    "x": -1.787376788797701e-07,
                    "y": -3.0573085041396553e-06,
                    "z": 1.3580697668658104e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.830322265625,
                        "y": 2527.328125,
                        "z": 364.8819885253906
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": 0.9611168503761292,
                        "yaw": -0.20587158203125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.791475296020508,
                "transform": {
                    "location": {
                        "x": 2234.73779296875,
                        "y": 2524.315185546875,
                        "z": 366.4839782714844
                    },
                    "rotation": {
                        "roll": -0.013427735306322575,
                        "pitch": -1.6562457084655762,
                        "yaw": -179.69546508789062
                    }
                },
                "velocity": {
                    "x": -4.789106845855713,
                    "y": -0.036426763981580734,
                    "z": -0.14615949988365173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.026143815368413925,
                "transform": {
                    "location": {
                        "x": 2145.55908203125,
                        "y": 2527.359375,
                        "z": 364.7652893066406
                    },
                    "rotation": {
                        "roll": -0.0033264157827943563,
                        "pitch": -0.6003053188323975,
                        "yaw": 0.06830934435129166
                    }
                },
                "velocity": {
                    "x": 0.026075171306729317,
                    "y": 0.0016141807427629828,
                    "z": -0.0009893958922475576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5576937198638916,
                "transform": {
                    "location": {
                        "x": 2185.02001953125,
                        "y": 2490.69873046875,
                        "z": 365.02447509765625
                    },
                    "rotation": {
                        "roll": -0.0009155186708085239,
                        "pitch": 0.3779006898403168,
                        "yaw": 90.05441284179688
                    }
                },
                "velocity": {
                    "x": -0.004091321025043726,
                    "y": 2.5576391220092773,
                    "z": 0.016196155920624733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009658122435212135,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 7.300376637431327e-06,
                    "y": 1.0959881365124602e-05,
                    "z": 0.000965722487308085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027265376411378384,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 9.470097211305983e-06,
                    "y": 1.3933080253991648e-06,
                    "z": -0.0002724856894928962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8729283213615417,
                "transform": {
                    "location": {
                        "x": 2220.888916015625,
                        "y": 2524.2763671875,
                        "z": 366.07379150390625
                    },
                    "rotation": {
                        "roll": -0.00537109375,
                        "pitch": -1.6076693534851074,
                        "yaw": -179.93148803710938
                    }
                },
                "velocity": {
                    "x": -0.87254399061203,
                    "y": -0.0007843134226277471,
                    "z": -0.025890950113534927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006221316289156675,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791015625
                    },
                    "rotation": {
                        "roll": 0.0016990855801850557,
                        "pitch": 0.29629358649253845,
                        "yaw": 90.31778717041016
                    }
                },
                "velocity": {
                    "x": 4.566854840959422e-05,
                    "y": -2.6284045816282742e-05,
                    "z": 0.0006198962219059467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017599361308384687,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.0003967398952227086,
                        "pitch": 0.18131418526172638,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -2.7791114916908555e-05,
                    "y": -1.1595263458730187e-05,
                    "z": 0.0001733982644509524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5026354193687439,
                "transform": {
                    "location": {
                        "x": 2187.862060546875,
                        "y": 2539.78271484375,
                        "z": 365.16015625
                    },
                    "rotation": {
                        "roll": 0.01285066083073616,
                        "pitch": 0.0933481901884079,
                        "yaw": -91.65270233154297
                    }
                },
                "velocity": {
                    "x": -0.02965400367975235,
                    "y": -0.5017592906951904,
                    "z": 0.0008177757263183594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.201857566833496,
                "transform": {
                    "location": {
                        "x": 2208.007080078125,
                        "y": 2524.29443359375,
                        "z": 365.7099914550781
                    },
                    "rotation": {
                        "roll": 0.004351886920630932,
                        "pitch": -1.2969708442687988,
                        "yaw": 179.7711639404297
                    }
                },
                "velocity": {
                    "x": -4.200341701507568,
                    "y": 0.008679619990289211,
                    "z": -0.11251787841320038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6041926741600037,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487853971490377,
            6.771494334846294
        ],
        "target_point_next": [
            29.487853971490377,
            6.771494334846294
        ]
    },
    "430": {
        "acceleration": [
            -0.00025606455164961517,
            -0.0020162526052445173,
            0.009026316925883293
        ],
        "angular_velocity": [
            -0.014182810671627522,
            0.011563927866518497,
            -0.0005132640362717211
        ],
        "forward_vector": [
            -0.9644063711166382,
            0.2636716067790985,
            -0.019940363243222237
        ],
        "right_vector": [
            -0.26362344622612,
            -0.9646124839782715,
            -0.005054989363998175
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.289688378572464,
            -1.142574429512024,
            164.70884704589844
        ],
        "velocity": [
            -1.439556490367977e-05,
            3.766329973586835e-05,
            0.00046483613550662994
        ],
        "speed": 4.032067008235252e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583596229553223,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.88201904296875
            ],
            "velocity": [
                -0.0001261539728147909,
                3.8116206269478425e-05,
                0.0012586485827341676
            ],
            "speed_kmh": 0.004555904791162185,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.800582766532898,
                "transform": {
                    "location": {
                        "x": 2185.152587890625,
                        "y": 2454.229736328125,
                        "z": 364.7090148925781
                    },
                    "rotation": {
                        "roll": -0.0034484625793993473,
                        "pitch": 0.8022124767303467,
                        "yaw": 90.15068817138672
                    }
                },
                "velocity": {
                    "x": -0.018717486411333084,
                    "y": 1.8003891706466675,
                    "z": 0.018619690090417862
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0484957695007324,
                "transform": {
                    "location": {
                        "x": 2187.88330078125,
                        "y": 2561.869140625,
                        "z": 365.1240234375
                    },
                    "rotation": {
                        "roll": 0.0019420168828219175,
                        "pitch": 0.22906404733657837,
                        "yaw": -89.7824935913086
                    }
                },
                "velocity": {
                    "x": 0.0021585067734122276,
                    "y": -1.0484873056411743,
                    "z": 0.003605146426707506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2155486345291138,
                "transform": {
                    "location": {
                        "x": 2185.049560546875,
                        "y": 2468.684814453125,
                        "z": 364.8522033691406
                    },
                    "rotation": {
                        "roll": 0.0013022107305005193,
                        "pitch": 0.4808931052684784,
                        "yaw": 90.17554473876953
                    }
                },
                "velocity": {
                    "x": -0.002555627143010497,
                    "y": 1.2154994010925293,
                    "z": 0.010632123798131943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5379397869110107,
                "transform": {
                    "location": {
                        "x": 2159.9482421875,
                        "y": 2527.348388671875,
                        "z": 364.7530517578125
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.2653118669986725,
                        "yaw": 0.11924434453248978
                    }
                },
                "velocity": {
                    "x": 1.5379254817962646,
                    "y": -0.000942051992751658,
                    "z": 0.006546087097376585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7690750360488892,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2479.821533203125,
                        "z": 364.9498596191406
                    },
                    "rotation": {
                        "roll": -0.001098657725378871,
                        "pitch": 0.38251104950904846,
                        "yaw": 90.00615692138672
                    }
                },
                "velocity": {
                    "x": -0.0005961799179203808,
                    "y": 0.7690553069114685,
                    "z": 0.005477380473166704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.06186765059828758,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2549.838134765625,
                        "z": 365.14691162109375
                    },
                    "rotation": {
                        "roll": 0.0008032817859202623,
                        "pitch": 0.08617649227380753,
                        "yaw": -89.55271911621094
                    }
                },
                "velocity": {
                    "x": 0.0003361040726304054,
                    "y": -0.06185178458690643,
                    "z": 0.001360130263492465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012655291939154267,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.88201904296875
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.9733428955078125,
                        "yaw": -0.2058105617761612
                    }
                },
                "velocity": {
                    "x": -0.0001261539728147909,
                    "y": 3.8116206269478425e-05,
                    "z": 0.0012586485827341676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7081828117370605,
                "transform": {
                    "location": {
                        "x": 2233.4130859375,
                        "y": 2524.30615234375,
                        "z": 366.4436950683594
                    },
                    "rotation": {
                        "roll": -0.0179443359375,
                        "pitch": -1.689180850982666,
                        "yaw": -179.55865478515625
                    }
                },
                "velocity": {
                    "x": -5.705361366271973,
                    "y": -0.042508166283369064,
                    "z": -0.17433913052082062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8985220193862915,
                "transform": {
                    "location": {
                        "x": 2145.666259765625,
                        "y": 2527.359375,
                        "z": 364.76385498046875
                    },
                    "rotation": {
                        "roll": 0.0019931525457650423,
                        "pitch": -0.3712480962276459,
                        "yaw": 0.062075164169073105
                    }
                },
                "velocity": {
                    "x": 0.8985176682472229,
                    "y": -0.000539437576662749,
                    "z": -0.0027431296184659004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.008211533538997173,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13427734375,
                        "z": 365.0257873535156
                    },
                    "rotation": {
                        "roll": -0.0007934868335723877,
                        "pitch": 0.5584840178489685,
                        "yaw": 90.05973815917969
                    }
                },
                "velocity": {
                    "x": -8.213732508011162e-05,
                    "y": 0.008093604817986488,
                    "z": 0.00138423265889287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002103151782648638,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 8.373334821953904e-06,
                    "y": 2.5253095373045653e-05,
                    "z": 0.0002086255990434438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000255056016612798,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.0435693184263073e-05,
                    "y": 2.4804146505630342e-06,
                    "z": 0.0002548303746152669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9136686325073242,
                "transform": {
                    "location": {
                        "x": 2220.538330078125,
                        "y": 2524.2763671875,
                        "z": 366.0627746582031
                    },
                    "rotation": {
                        "roll": -0.004516599699854851,
                        "pitch": -1.5229476690292358,
                        "yaw": -179.9349365234375
                    }
                },
                "velocity": {
                    "x": -1.9128437042236328,
                    "y": 0.001130182878114283,
                    "z": -0.056172966957092285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014694542915094644,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": -2.3750770196784288e-05,
                    "y": -1.2042075468343683e-05,
                    "z": 0.0001445124507881701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001333942636847496,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.00024414045037701726,
                        "pitch": 0.1813346892595291,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -1.160843294201186e-05,
                    "y": -1.2412685464369133e-05,
                    "z": -0.00013230722106527537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3166320323944092,
                "transform": {
                    "location": {
                        "x": 2187.849365234375,
                        "y": 2539.550537109375,
                        "z": 365.1595153808594
                    },
                    "rotation": {
                        "roll": 0.026574257761240005,
                        "pitch": 0.25969743728637695,
                        "yaw": -91.8724365234375
                    }
                },
                "velocity": {
                    "x": -0.07635731995105743,
                    "y": -1.3144160509109497,
                    "z": -9.702682291390374e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.59874153137207,
                "transform": {
                    "location": {
                        "x": 2206.83056640625,
                        "y": 2524.29736328125,
                        "z": 365.6806945800781
                    },
                    "rotation": {
                        "roll": 0.003171618329361081,
                        "pitch": -1.5598375797271729,
                        "yaw": 179.81053161621094
                    }
                },
                "velocity": {
                    "x": -4.597102642059326,
                    "y": 0.011179112829267979,
                    "z": -0.12225710600614548
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6057239770889282,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487853971490377,
            6.771494334846294
        ],
        "target_point_next": [
            29.487853971490377,
            6.771494334846294
        ]
    },
    "435": {
        "acceleration": [
            -2.7009809855371714e-05,
            -9.582698112353683e-05,
            0.0009615055751055479
        ],
        "angular_velocity": [
            0.01364848017692566,
            -0.0016298304544761777,
            7.339930743910372e-05
        ],
        "forward_vector": [
            -0.9644063711166382,
            0.2636716067790985,
            -0.019940363243222237
        ],
        "right_vector": [
            -0.26362344622612,
            -0.9646124839782715,
            -0.005054989363998175
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.289688378572464,
            -1.142574429512024,
            164.70884704589844
        ],
        "velocity": [
            -6.510302046081051e-05,
            -5.600450458587147e-05,
            0.0008162863086909056
        ],
        "speed": 8.587728341668483e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -5.83578621444758e-05,
                -5.302747740643099e-05,
                0.0002720043994486332
            ],
            "speed_kmh": 0.0010195308479522967,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2962839603424072,
                "transform": {
                    "location": {
                        "x": 2185.146240234375,
                        "y": 2454.77783203125,
                        "z": 364.7148742675781
                    },
                    "rotation": {
                        "roll": -0.0003051683306694031,
                        "pitch": 0.7229822874069214,
                        "yaw": 90.32732391357422
                    }
                },
                "velocity": {
                    "x": -0.02689155749976635,
                    "y": 2.295987844467163,
                    "z": 0.025226887315511703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9727238416671753,
                "transform": {
                    "location": {
                        "x": 2187.885009765625,
                        "y": 2561.48681640625,
                        "z": 365.1256103515625
                    },
                    "rotation": {
                        "roll": 0.0009612992289476097,
                        "pitch": 0.3397608995437622,
                        "yaw": -89.81377410888672
                    }
                },
                "velocity": {
                    "x": 0.005210800562053919,
                    "y": -1.9727076292037964,
                    "z": 0.006065530702471733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1685116291046143,
                "transform": {
                    "location": {
                        "x": 2185.0478515625,
                        "y": 2469.1298828125,
                        "z": 364.8564453125
                    },
                    "rotation": {
                        "roll": 0.0006258008070290089,
                        "pitch": 0.6323115825653076,
                        "yaw": 90.19874572753906
                    }
                },
                "velocity": {
                    "x": -0.006089423317462206,
                    "y": 2.168426275253296,
                    "z": 0.0182332806289196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3168208599090576,
                "transform": {
                    "location": {
                        "x": 2160.460693359375,
                        "y": 2527.348388671875,
                        "z": 364.75579833984375
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": 0.39073461294174194,
                        "yaw": 0.10910960286855698
                    }
                },
                "velocity": {
                    "x": 2.3167941570281982,
                    "y": -0.0009891685331240296,
                    "z": 0.011097345501184464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6630518436431885,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2480.137451171875,
                        "z": 364.9524841308594
                    },
                    "rotation": {
                        "roll": -0.0008239870658144355,
                        "pitch": 0.3518981635570526,
                        "yaw": 90.01995849609375
                    }
                },
                "velocity": {
                    "x": -0.0016600920353084803,
                    "y": 1.6630043983459473,
                    "z": 0.0124620720744133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9242120385169983,
                "transform": {
                    "location": {
                        "x": 2187.899169921875,
                        "y": 2549.735595703125,
                        "z": 365.1468200683594
                    },
                    "rotation": {
                        "roll": 0.000736014568246901,
                        "pitch": 0.12422747164964676,
                        "yaw": -89.59262084960938
                    }
                },
                "velocity": {
                    "x": 0.0013218116946518421,
                    "y": -0.924209475517273,
                    "z": 0.0017435455229133368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00028320300043560565,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.9850361943244934,
                        "yaw": -0.20574951171875
                    }
                },
                "velocity": {
                    "x": -5.83578621444758e-05,
                    "y": -5.302747740643099e-05,
                    "z": 0.0002720043994486332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.922381401062012,
                "transform": {
                    "location": {
                        "x": 2231.86865234375,
                        "y": 2524.2939453125,
                        "z": 366.3968200683594
                    },
                    "rotation": {
                        "roll": -0.01788329891860485,
                        "pitch": -1.7307766675949097,
                        "yaw": -179.5481719970703
                    }
                },
                "velocity": {
                    "x": -5.919432163238525,
                    "y": -0.046609800308942795,
                    "z": -0.18096265196800232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7140476703643799,
                "transform": {
                    "location": {
                        "x": 2146.00146484375,
                        "y": 2527.359130859375,
                        "z": 364.7613830566406
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.024165207520127296,
                        "yaw": 0.10640906542539597
                    }
                },
                "velocity": {
                    "x": 1.7140358686447144,
                    "y": 0.0015717889182269573,
                    "z": -0.006173295900225639
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014582104049623013,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.1337890625,
                        "z": 365.0267028808594
                    },
                    "rotation": {
                        "roll": -0.00030515313846990466,
                        "pitch": 0.4429923892021179,
                        "yaw": 90.05976867675781
                    }
                },
                "velocity": {
                    "x": -0.0001690308708930388,
                    "y": -0.0008219092851504683,
                    "z": 0.0011925902217626572
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012681908265221864,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 3.27143811773567e-06,
                    "y": 3.7534068724198733e-06,
                    "z": -0.00012672129378188401
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6310558319091797,
                "transform": {
                    "location": {
                        "x": 2219.8447265625,
                        "y": 2524.277099609375,
                        "z": 366.0408630371094
                    },
                    "rotation": {
                        "roll": -0.003387450473383069,
                        "pitch": -1.3335260152816772,
                        "yaw": -179.94786071777344
                    }
                },
                "velocity": {
                    "x": -3.629490852355957,
                    "y": 0.0027564007323235273,
                    "z": -0.10656186193227768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016406357462983578,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": 1.812256596167572e-05,
                    "y": -2.103846418322064e-05,
                    "z": 0.00016169666196219623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006342036067508161,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.00024414045037701726,
                        "pitch": 0.1813346892595291,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -2.6487371087569045e-06,
                    "y": -1.6959011190920137e-06,
                    "z": 0.0006341958069242537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.165034532546997,
                "transform": {
                    "location": {
                        "x": 2187.82568359375,
                        "y": 2539.123779296875,
                        "z": 365.1591796875
                    },
                    "rotation": {
                        "roll": 0.030638525262475014,
                        "pitch": 0.31893566250801086,
                        "yaw": -92.22659301757812
                    }
                },
                "velocity": {
                    "x": -0.12867483496665955,
                    "y": -2.1612064838409424,
                    "z": -0.0019491194980219007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.7186665534973145,
                "transform": {
                    "location": {
                        "x": 2205.747314453125,
                        "y": 2524.30029296875,
                        "z": 365.65228271484375
                    },
                    "rotation": {
                        "roll": 0.0005865325219929218,
                        "pitch": -1.5961536169052124,
                        "yaw": 179.85452270507812
                    }
                },
                "velocity": {
                    "x": -4.717081069946289,
                    "y": 0.010172848589718342,
                    "z": -0.12189652770757675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6056160926818848,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487853971490377,
            6.771494334846294
        ],
        "target_point_next": [
            29.487853971490377,
            6.771494334846294
        ]
    },
    "440": {
        "acceleration": [
            0.0006179452175274491,
            0.0007924647652544081,
            0.003422045847401023
        ],
        "angular_velocity": [
            0.006563571281731129,
            0.001722328132018447,
            -9.320827666670084e-05
        ],
        "forward_vector": [
            -0.9644054770469666,
            0.2636743187904358,
            -0.01994680054485798
        ],
        "right_vector": [
            -0.26362594962120056,
            -0.9646117091178894,
            -0.0050653922371566296
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.2902846038341522,
            -1.142943263053894,
            164.7086944580078
        ],
        "velocity": [
            -3.9008111343719065e-05,
            -3.339847535244189e-05,
            7.365325291175395e-05
        ],
        "speed": 5.1352613433706106e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583479881286621,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -7.502541120629758e-05,
                -3.4313728974666446e-05,
                0.000544773240108043
            ],
            "speed_kmh": 0.0019835448802308074,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3604203760623932,
                "transform": {
                    "location": {
                        "x": 2185.14404296875,
                        "y": 2454.994384765625,
                        "z": 364.71673583984375
                    },
                    "rotation": {
                        "roll": 0.006736086681485176,
                        "pitch": 0.3947029411792755,
                        "yaw": 90.47489166259766
                    }
                },
                "velocity": {
                    "x": -0.005811650771647692,
                    "y": 0.3603544235229492,
                    "z": 0.003709344891831279
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0047495365142822,
                "transform": {
                    "location": {
                        "x": 2187.886962890625,
                        "y": 2560.93408203125,
                        "z": 365.12744140625
                    },
                    "rotation": {
                        "roll": 0.0019221825059503317,
                        "pitch": 0.24816125631332397,
                        "yaw": -89.8258285522461
                    }
                },
                "velocity": {
                    "x": 0.0043460652232170105,
                    "y": -2.004730224609375,
                    "z": 0.007653503213077784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004399528261274099,
                "transform": {
                    "location": {
                        "x": 2185.046142578125,
                        "y": 2469.517822265625,
                        "z": 364.859375
                    },
                    "rotation": {
                        "roll": -1.3340360816016528e-08,
                        "pitch": 0.2693758010864258,
                        "yaw": 90.34573364257812
                    }
                },
                "velocity": {
                    "x": -7.205555448308587e-05,
                    "y": 0.004355712328106165,
                    "z": 0.000615163124166429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001645689713768661,
                "transform": {
                    "location": {
                        "x": 2160.792236328125,
                        "y": 2527.3486328125,
                        "z": 364.7574157714844
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.029991358518600464,
                        "yaw": 0.2276165783405304
                    }
                },
                "velocity": {
                    "x": 0.0005493025528267026,
                    "y": 0.0001501263031968847,
                    "z": 0.0015440282877534628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0928778648376465,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2480.64599609375,
                        "z": 364.9560852050781
                    },
                    "rotation": {
                        "roll": -0.0002746675454545766,
                        "pitch": 0.3761453330516815,
                        "yaw": 90.03221130371094
                    }
                },
                "velocity": {
                    "x": -0.0017767545068636537,
                    "y": 2.092825174331665,
                    "z": 0.01473670918494463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.106388807296753,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2549.460205078125,
                        "z": 365.1477355957031
                    },
                    "rotation": {
                        "roll": 0.0018978650914505124,
                        "pitch": 0.10202252864837646,
                        "yaw": -89.67271423339844
                    }
                },
                "velocity": {
                    "x": -0.002695088041946292,
                    "y": -1.10638427734375,
                    "z": 0.0016525363316759467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00055098463781178,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.9850361943244934,
                        "yaw": -0.20574951171875
                    }
                },
                "velocity": {
                    "x": -7.502541120629758e-05,
                    "y": -3.4313728974666446e-05,
                    "z": 0.000544773240108043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0030972387176007032,
                "transform": {
                    "location": {
                        "x": 2231.214599609375,
                        "y": 2524.28857421875,
                        "z": 366.3789367675781
                    },
                    "rotation": {
                        "roll": -0.01678466796875,
                        "pitch": -2.04779314994812,
                        "yaw": -179.6214599609375
                    }
                },
                "velocity": {
                    "x": -0.00010942160588456318,
                    "y": 2.4202865461120382e-05,
                    "z": -0.0030952105298638344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3340148925781
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2841861248016357,
                "transform": {
                    "location": {
                        "x": 2146.552978515625,
                        "y": 2527.360107421875,
                        "z": 364.75909423828125
                    },
                    "rotation": {
                        "roll": 0.0054907663725316525,
                        "pitch": 0.06209324672818184,
                        "yaw": -0.000946044921875
                    }
                },
                "velocity": {
                    "x": 2.2841665744781494,
                    "y": 3.162946450174786e-05,
                    "z": -0.009457330219447613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034404313191771507,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.02728271484375
                    },
                    "rotation": {
                        "roll": -0.0007019104668870568,
                        "pitch": 0.3764595091342926,
                        "yaw": 90.0597915649414
                    }
                },
                "velocity": {
                    "x": 9.251373558072373e-05,
                    "y": -0.00012342940317466855,
                    "z": 0.00030752571183256805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007973698666319251,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.1484734386613127e-05,
                    "y": 1.0288276826031506e-05,
                    "z": 0.0007972207386046648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004318703431636095,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 3.7409363358165137e-06,
                    "y": -1.573379267938435e-05,
                    "z": -0.0004315674304962158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.301169395446777,
                "transform": {
                    "location": {
                        "x": 2218.6640625,
                        "y": 2524.27783203125,
                        "z": 366.0050964355469
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -1.1898735761642456,
                        "yaw": -179.9890594482422
                    }
                },
                "velocity": {
                    "x": -5.298929214477539,
                    "y": 0.005146973766386509,
                    "z": -0.1540113389492035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033094154787249863,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": 7.940703653730452e-06,
                    "y": -1.6493275325046852e-05,
                    "z": 0.0003304349083919078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030311354203149676,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.00024414045037701726,
                        "pitch": 0.1813346892595291,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 5.048136245022761e-06,
                    "y": 3.4024192245851737e-06,
                    "z": -0.00030305239488370717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.435192108154297,
                "transform": {
                    "location": {
                        "x": 2187.78515625,
                        "y": 2538.424560546875,
                        "z": 365.15826416015625
                    },
                    "rotation": {
                        "roll": 0.037152305245399475,
                        "pitch": 0.45939165353775024,
                        "yaw": -92.67159271240234
                    }
                },
                "velocity": {
                    "x": -0.209855854511261,
                    "y": -3.4287755489349365,
                    "z": -0.0017639826983213425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.175409317016602,
                "transform": {
                    "location": {
                        "x": 2204.6005859375,
                        "y": 2524.302978515625,
                        "z": 365.6225280761719
                    },
                    "rotation": {
                        "roll": -0.0004882809007540345,
                        "pitch": -1.5075045824050903,
                        "yaw": 179.86521911621094
                    }
                },
                "velocity": {
                    "x": -4.174078464508057,
                    "y": 0.008488201536238194,
                    "z": -0.1050579845905304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6051446795463562,
        "expert_target_speed": 0.0,
        "target_point": [
            29.487773440685157,
            6.771800136821547
        ],
        "target_point_next": [
            29.487773440685157,
            6.771800136821547
        ]
    },
    "445": {
        "acceleration": [
            -0.00017218590073753148,
            -0.002179523231461644,
            0.004155267030000687
        ],
        "angular_velocity": [
            0.0005007015424780548,
            0.0002662489714566618,
            -0.00018863059813156724
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            -4.0210037695942447e-05,
            -9.103705451707356e-06,
            1.2629501725314185e-05
        ],
        "speed": 4.1227716216891747e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -1.18164716695901e-05,
                -0.0001045013777911663,
                0.00013773045793641359
            ],
            "speed_kmh": 0.0006238483824153306,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.348392128944397,
                "transform": {
                    "location": {
                        "x": 2185.140869140625,
                        "y": 2455.21435546875,
                        "z": 364.7194519042969
                    },
                    "rotation": {
                        "roll": 0.004650219343602657,
                        "pitch": 0.6805736422538757,
                        "yaw": 90.51973724365234
                    }
                },
                "velocity": {
                    "x": -0.018911611288785934,
                    "y": 1.3481783866882324,
                    "z": 0.014793099835515022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5097277760505676,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.82763671875,
                        "z": 365.1277160644531
                    },
                    "rotation": {
                        "roll": 0.0011613467941060662,
                        "pitch": 0.08448943495750427,
                        "yaw": -89.79014587402344
                    }
                },
                "velocity": {
                    "x": 0.002526098396629095,
                    "y": -0.5097158551216125,
                    "z": 0.0024119375739246607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2560768127441406,
                "transform": {
                    "location": {
                        "x": 2185.045166015625,
                        "y": 2469.708740234375,
                        "z": 364.8614807128906
                    },
                    "rotation": {
                        "roll": 0.0034211967140436172,
                        "pitch": 0.5409509539604187,
                        "yaw": 90.32356262207031
                    }
                },
                "velocity": {
                    "x": -0.004156829323619604,
                    "y": 1.2560285329818726,
                    "z": 0.01020557340234518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002448647515848279,
                "transform": {
                    "location": {
                        "x": 2160.7939453125,
                        "y": 2527.3486328125,
                        "z": 364.75787353515625
                    },
                    "rotation": {
                        "roll": 0.0020426867995411158,
                        "pitch": 0.22896841168403625,
                        "yaw": 0.2275814712047577
                    }
                },
                "velocity": {
                    "x": -0.0012916269479319453,
                    "y": 0.00023310694086831063,
                    "z": 0.002067180583253503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3280590772628784,
                "transform": {
                    "location": {
                        "x": 2185.028564453125,
                        "y": 2481.09033203125,
                        "z": 364.95855712890625
                    },
                    "rotation": {
                        "roll": -0.0002441605320200324,
                        "pitch": 0.463223397731781,
                        "yaw": 90.04155731201172
                    }
                },
                "velocity": {
                    "x": -0.0015838876133784652,
                    "y": 1.3280131816864014,
                    "z": 0.010919474996626377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.130186080932617,
                "transform": {
                    "location": {
                        "x": 2187.897216796875,
                        "y": 2549.112060546875,
                        "z": 365.14788818359375
                    },
                    "rotation": {
                        "roll": 0.000892269192263484,
                        "pitch": 0.1344112902879715,
                        "yaw": -89.50640106201172
                    }
                },
                "velocity": {
                    "x": -0.002605473855510354,
                    "y": -2.130182981491089,
                    "z": 0.0026269531808793545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017329122056253254,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -1.18164716695901e-05,
                    "y": -0.0001045013777911663,
                    "z": 0.00013773045793641359
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1933925151824951,
                "transform": {
                    "location": {
                        "x": 2231.107666015625,
                        "y": 2524.288330078125,
                        "z": 366.373779296875
                    },
                    "rotation": {
                        "roll": -0.014465329237282276,
                        "pitch": -1.7853362560272217,
                        "yaw": -179.63999938964844
                    }
                },
                "velocity": {
                    "x": -1.192996859550476,
                    "y": -0.00470636086538434,
                    "z": -0.03036675788462162
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004772935528308153,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.0444030761719
                    },
                    "rotation": {
                        "roll": 0.000954017392359674,
                        "pitch": 0.3594045341014862,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": -0.00011252596596023068,
                    "y": 3.070913226110861e-05,
                    "z": 0.004771510139107704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.39110100269317627,
                "transform": {
                    "location": {
                        "x": 2146.78173828125,
                        "y": 2527.360107421875,
                        "z": 364.7610168457031
                    },
                    "rotation": {
                        "roll": 0.005653056316077709,
                        "pitch": -0.7142670154571533,
                        "yaw": -0.0664672702550888
                    }
                },
                "velocity": {
                    "x": 0.39109542965888977,
                    "y": -0.000266887218458578,
                    "z": -0.002073383191600442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025679299142211676,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -0.0006408769404515624,
                        "pitch": 0.3668084442615509,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": -1.4898394510964863e-05,
                    "y": -3.524988642311655e-05,
                    "z": 0.00025392542011104524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.069481893675402e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 0.00018851610366255045,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.83180236816406
                    }
                },
                "velocity": {
                    "x": 1.39964740810683e-05,
                    "y": -2.134468377334997e-05,
                    "z": 8.702903869561851e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.799111047759652e-05,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.6560739823034965e-05,
                    "y": -3.607984399423003e-05,
                    "z": 2.696540832403116e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.850295305252075,
                "transform": {
                    "location": {
                        "x": 2217.45361328125,
                        "y": 2524.279541015625,
                        "z": 365.9757385253906
                    },
                    "rotation": {
                        "roll": -0.00820922665297985,
                        "pitch": -1.8954730033874512,
                        "yaw": -179.9169464111328
                    }
                },
                "velocity": {
                    "x": -2.8490817546844482,
                    "y": 0.005118648987263441,
                    "z": -0.08301465958356857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001836084556998685,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": -2.965939756904845e-06,
                    "y": -1.148305818787776e-05,
                    "z": 0.00018322501273360103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003405346942599863,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12005615234375
                    },
                    "rotation": {
                        "roll": -0.0007019187905825675,
                        "pitch": 0.1815395951271057,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 1.0803663826663978e-05,
                    "y": -5.147047431819374e-06,
                    "z": 0.00034032436087727547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.985008716583252,
                "transform": {
                    "location": {
                        "x": 2187.73486328125,
                        "y": 2537.59423828125,
                        "z": 365.1592102050781
                    },
                    "rotation": {
                        "roll": 0.020699167624115944,
                        "pitch": 0.10357297956943512,
                        "yaw": -93.05028533935547
                    }
                },
                "velocity": {
                    "x": -0.18892686069011688,
                    "y": -2.9790234565734863,
                    "z": -0.0015695762122049928
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.085655212402344,
                "transform": {
                    "location": {
                        "x": 2203.612060546875,
                        "y": 2524.304931640625,
                        "z": 365.5979309082031
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -1.5488545894622803,
                        "yaw": 179.8794708251953
                    }
                },
                "velocity": {
                    "x": -4.084329605102539,
                    "y": 0.006865653675049543,
                    "z": -0.10383599996566772
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6061548590660095,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "450": {
        "acceleration": [
            -6.326139555312693e-05,
            -0.00032903923420235515,
            0.0007488293340429664
        ],
        "angular_velocity": [
            0.01862107589840889,
            -0.001988612115383148,
            0.000143238648888655
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            -4.9018708523362875e-05,
            -7.590789755340666e-05,
            -6.237926572794095e-05
        ],
        "speed": 9.035951912375855e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -6.160646444186568e-05,
                5.254867210169323e-05,
                0.0002466344158165157
            ],
            "speed_kmh": 0.0009345121175657296,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.223037004470825,
                "transform": {
                    "location": {
                        "x": 2185.134033203125,
                        "y": 2455.676513671875,
                        "z": 364.7244873046875
                    },
                    "rotation": {
                        "roll": 0.003795819589868188,
                        "pitch": 0.7388966679573059,
                        "yaw": 90.65398406982422
                    }
                },
                "velocity": {
                    "x": -0.03163506090641022,
                    "y": 2.222686529159546,
                    "z": 0.02360633760690689
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5087695121765137,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.570068359375,
                        "z": 365.1289367675781
                    },
                    "rotation": {
                        "roll": 0.003408175427466631,
                        "pitch": 0.2933087944984436,
                        "yaw": -89.8421630859375
                    }
                },
                "velocity": {
                    "x": 0.0027821818366646767,
                    "y": -1.5087538957595825,
                    "z": 0.00629891362041235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.15047287940979,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2470.143310546875,
                        "z": 364.86541748046875
                    },
                    "rotation": {
                        "roll": 0.004799696616828442,
                        "pitch": 0.6281929612159729,
                        "yaw": 90.19991302490234
                    }
                },
                "velocity": {
                    "x": -0.004589532036334276,
                    "y": 2.150380849838257,
                    "z": 0.019341878592967987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001317281974479556,
                "transform": {
                    "location": {
                        "x": 2160.79443359375,
                        "y": 2527.3486328125,
                        "z": 364.7579650878906
                    },
                    "rotation": {
                        "roll": 0.0023675591219216585,
                        "pitch": 0.29515978693962097,
                        "yaw": 0.2275932878255844
                    }
                },
                "velocity": {
                    "x": -0.00034873909316956997,
                    "y": -0.0002589997311588377,
                    "z": 0.0012435964308679104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011550616472959518,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12158203125,
                        "z": 364.95831298828125
                    },
                    "rotation": {
                        "roll": 0.0006811265484429896,
                        "pitch": 0.5254669189453125,
                        "yaw": 90.0574722290039
                    }
                },
                "velocity": {
                    "x": -8.054650243138894e-05,
                    "y": -0.0008375449106097221,
                    "z": 0.0007913268636912107
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.020632743835449,
                "transform": {
                    "location": {
                        "x": 2187.897216796875,
                        "y": 2548.7392578125,
                        "z": 365.14849853515625
                    },
                    "rotation": {
                        "roll": 0.00028987674158997834,
                        "pitch": 0.11754754930734634,
                        "yaw": -89.41082000732422
                    }
                },
                "velocity": {
                    "x": 0.004605153575539589,
                    "y": -2.020622730255127,
                    "z": 0.004383735358715057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002595866972114891,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -6.160646444186568e-05,
                    "y": 5.254867210169323e-05,
                    "z": 0.0002466344158165157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1793103218078613,
                "transform": {
                    "location": {
                        "x": 2230.808837890625,
                        "y": 2524.287353515625,
                        "z": 366.3645324707031
                    },
                    "rotation": {
                        "roll": -0.015075682662427425,
                        "pitch": -1.7578105926513672,
                        "yaw": -179.64599609375
                    }
                },
                "velocity": {
                    "x": -1.1786953210830688,
                    "y": -0.0023935511708259583,
                    "z": -0.038006991147994995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.24291905760765076,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.296875,
                        "z": 365.07232666015625
                    },
                    "rotation": {
                        "roll": -0.0004577788640744984,
                        "pitch": 0.3687482178211212,
                        "yaw": -89.93761444091797
                    }
                },
                "velocity": {
                    "x": 0.003620527219027281,
                    "y": -0.22672204673290253,
                    "z": 0.08714170008897781
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2688486576080322,
                "transform": {
                    "location": {
                        "x": 2147.00048828125,
                        "y": 2527.3603515625,
                        "z": 364.75811767578125
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.1836910992860794,
                        "yaw": -0.0731506198644638
                    }
                },
                "velocity": {
                    "x": 1.268842101097107,
                    "y": 0.0005449901800602674,
                    "z": -0.00402490608394146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002570994256529957,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": -1.0283125448040664e-05,
                    "y": -2.307847171323374e-05,
                    "z": -0.00025585494586266577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009263244573958218,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.092180627892958e-05,
                    "y": 3.6767846722796094e-06,
                    "z": 0.0009262528037652373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008536625537090003,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.8067508790409192e-05,
                    "y": 1.180919753096532e-05,
                    "z": -0.0008533896179869771
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4353713989257812,
                "transform": {
                    "location": {
                        "x": 2216.788818359375,
                        "y": 2524.2802734375,
                        "z": 365.9572448730469
                    },
                    "rotation": {
                        "roll": -0.00949096493422985,
                        "pitch": -1.9687472581863403,
                        "yaw": -179.9436798095703
                    }
                },
                "velocity": {
                    "x": -3.433990478515625,
                    "y": 0.0025495991576462984,
                    "z": -0.09736410528421402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005118569824844599,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": 7.310110959224403e-06,
                    "y": -7.953345630085096e-06,
                    "z": 0.0005117430118843913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011617119889706373,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.12005615234375
                    },
                    "rotation": {
                        "roll": -0.0007019187905825675,
                        "pitch": 0.1815395951271057,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": 2.9999426260474138e-05,
                    "y": -7.4975937423005234e-06,
                    "z": 0.00011198021093150601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.920201301574707,
                "transform": {
                    "location": {
                        "x": 2187.690673828125,
                        "y": 2536.890625,
                        "z": 365.1593322753906
                    },
                    "rotation": {
                        "roll": 0.011497597210109234,
                        "pitch": -0.0626874715089798,
                        "yaw": -93.27476501464844
                    }
                },
                "velocity": {
                    "x": -0.18777863681316376,
                    "y": -2.914156198501587,
                    "z": -0.0027735710609704256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8700082302093506,
                "transform": {
                    "location": {
                        "x": 2202.572509765625,
                        "y": 2524.306884765625,
                        "z": 365.57037353515625
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": -1.4129270315170288,
                        "yaw": 179.8798370361328
                    }
                },
                "velocity": {
                    "x": -3.8687903881073,
                    "y": 0.007822929881513119,
                    "z": -0.09676821529865265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6062300801277161,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "455": {
        "acceleration": [
            -5.889833118999377e-05,
            0.0002136312541551888,
            0.0004905712557956576
        ],
        "angular_velocity": [
            0.008166815154254436,
            0.010145471431314945,
            -7.041464414214715e-05
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            -1.2242347111168783e-05,
            -1.984621303563472e-05,
            0.00035695769474841654
        ],
        "speed": 2.331838833723592e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -5.589559441432357e-05,
                1.2480214536481071e-05,
                0.00016173144103959203
            ],
            "speed_kmh": 0.0006176610996065159,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002351670991629362,
                "transform": {
                    "location": {
                        "x": 2185.128662109375,
                        "y": 2456.0478515625,
                        "z": 364.72784423828125
                    },
                    "rotation": {
                        "roll": 0.00698612816631794,
                        "pitch": 0.34318283200263977,
                        "yaw": 90.85802459716797
                    }
                },
                "velocity": {
                    "x": 0.00034659248194657266,
                    "y": 0.002134881680831313,
                    "z": 0.0009233149467036128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3674263954162598,
                "transform": {
                    "location": {
                        "x": 2187.88818359375,
                        "y": 2560.091796875,
                        "z": 365.13079833984375
                    },
                    "rotation": {
                        "roll": 0.002365538151934743,
                        "pitch": 0.32610735297203064,
                        "yaw": -89.85836791992188
                    }
                },
                "velocity": {
                    "x": 0.0051709567196667194,
                    "y": -2.3674087524414062,
                    "z": 0.007533712312579155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011721933260560036,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.48486328125,
                        "z": 364.8679504394531
                    },
                    "rotation": {
                        "roll": 0.004178497474640608,
                        "pitch": 0.23899513483047485,
                        "yaw": 90.04149627685547
                    }
                },
                "velocity": {
                    "x": 0.00020124047296121716,
                    "y": 0.001095469226129353,
                    "z": 0.00036535842809826136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016286103054881096,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.0020099682733416557,
                        "pitch": 0.31430479884147644,
                        "yaw": 0.22761161625385284
                    }
                },
                "velocity": {
                    "x": -0.00014483690029010177,
                    "y": 1.8268934582010843e-05,
                    "z": 0.001622054260224104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.473860263824463,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2548.0283203125,
                        "z": 365.1490478515625
                    },
                    "rotation": {
                        "roll": 0.001597484340891242,
                        "pitch": 0.1725100725889206,
                        "yaw": -89.60986328125
                    }
                },
                "velocity": {
                    "x": 0.007371996995061636,
                    "y": -3.4738500118255615,
                    "z": 0.004128884989768267
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001715725229587406,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -5.589559441432357e-05,
                    "y": 1.2480214536481071e-05,
                    "z": 0.00016173144103959203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1828835010528564,
                "transform": {
                    "location": {
                        "x": 2230.36767578125,
                        "y": 2524.283935546875,
                        "z": 366.35076904296875
                    },
                    "rotation": {
                        "roll": -0.01019286923110485,
                        "pitch": -1.7932114601135254,
                        "yaw": -179.8220672607422
                    }
                },
                "velocity": {
                    "x": -1.1820801496505737,
                    "y": -0.00880343746393919,
                    "z": -0.042688727378845215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4801899194717407,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2576.05224609375,
                        "z": 365.0835876464844
                    },
                    "rotation": {
                        "roll": -0.003204342909157276,
                        "pitch": 0.4615568518638611,
                        "yaw": -89.83035278320312
                    }
                },
                "velocity": {
                    "x": 0.029718691483139992,
                    "y": -1.4796727895736694,
                    "z": 0.02544713020324707
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.103789806365967,
                "transform": {
                    "location": {
                        "x": 2147.426025390625,
                        "y": 2527.3603515625,
                        "z": 364.7557067871094
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": 0.03925309330224991,
                        "yaw": -0.0725097507238388
                    }
                },
                "velocity": {
                    "x": 2.103778123855591,
                    "y": 0.0016693905927240849,
                    "z": -0.006837138906121254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006214502500370145,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.742303356877528e-05,
                    "y": -2.918010432040319e-05,
                    "z": 0.0006205202662386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015469224308617413,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.8445363821228966e-05,
                    "y": 1.3427688827505335e-05,
                    "z": -0.00015300051018130034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.744075298309326,
                "transform": {
                    "location": {
                        "x": 2215.75439453125,
                        "y": 2524.28125,
                        "z": 365.92230224609375
                    },
                    "rotation": {
                        "roll": -6.103514533606358e-05,
                        "pitch": -1.2788572311401367,
                        "yaw": -179.99923706054688
                    }
                },
                "velocity": {
                    "x": -4.7421369552612305,
                    "y": 0.006499985698610544,
                    "z": -0.13544194400310516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007013928843662143,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": 7.08532252247096e-06,
                    "y": -1.0750814908533357e-05,
                    "z": 0.0007012747228145599
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.595860056928359e-05,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.802978515625,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.0006408803747035563,
                        "pitch": 0.1812732070684433,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -3.257122079958208e-05,
                    "y": -2.396455056441482e-05,
                    "z": -3.868049680022523e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82365,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.741061210632324,
                "transform": {
                    "location": {
                        "x": 2187.643310546875,
                        "y": 2536.151611328125,
                        "z": 365.15911865234375
                    },
                    "rotation": {
                        "roll": 0.034763991832733154,
                        "pitch": -0.05880792438983917,
                        "yaw": -93.4440689086914
                    }
                },
                "velocity": {
                    "x": -0.17461581528186798,
                    "y": -2.7354843616485596,
                    "z": 0.007105397991836071
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6921913623809814,
                "transform": {
                    "location": {
                        "x": 2201.6640625,
                        "y": 2524.30908203125,
                        "z": 365.548828125
                    },
                    "rotation": {
                        "roll": -0.001373290317133069,
                        "pitch": -1.5113500356674194,
                        "yaw": 179.88795471191406
                    }
                },
                "velocity": {
                    "x": -3.6910836696624756,
                    "y": 0.007460537366569042,
                    "z": -0.09012977033853531
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6047254204750061,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "460": {
        "acceleration": [
            -3.1593444873578846e-05,
            -0.0018677528714761138,
            -0.0013060960918664932
        ],
        "angular_velocity": [
            0.020397737622261047,
            0.002323234686627984,
            0.0001891398278530687
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            -4.564166010823101e-05,
            -7.476135942852125e-05,
            0.0005465346621349454
        ],
        "speed": 8.759236268668536e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -2.010509342653677e-05,
                8.094824443105608e-05,
                0.00024489033967256546
            ],
            "speed_kmh": 0.0009313368484814887,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2317475080490112,
                "transform": {
                    "location": {
                        "x": 2185.1259765625,
                        "y": 2456.234619140625,
                        "z": 364.730224609375
                    },
                    "rotation": {
                        "roll": 0.007011904381215572,
                        "pitch": 0.6479595303535461,
                        "yaw": 90.78765869140625
                    }
                },
                "velocity": {
                    "x": -0.01774832233786583,
                    "y": 1.2315510511398315,
                    "z": 0.012992591597139835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1854812651872635,
                "transform": {
                    "location": {
                        "x": 2187.889404296875,
                        "y": 2559.62158203125,
                        "z": 365.13201904296875
                    },
                    "rotation": {
                        "roll": 0.001081808120943606,
                        "pitch": -0.031896982342004776,
                        "yaw": -89.91276550292969
                    }
                },
                "velocity": {
                    "x": 0.000526598421856761,
                    "y": -0.18547405302524567,
                    "z": 0.0015501403249800205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1517282724380493,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2470.661865234375,
                        "z": 364.869873046875
                    },
                    "rotation": {
                        "roll": 0.002104244427755475,
                        "pitch": 0.5378090739250183,
                        "yaw": 90.07498168945312
                    }
                },
                "velocity": {
                    "x": -0.0008891011821106076,
                    "y": 1.1516802310943604,
                    "z": 0.010479039512574673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013191186590120196,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.001688802381977439,
                        "pitch": 0.320322185754776,
                        "yaw": 0.22763864696025848
                    }
                },
                "velocity": {
                    "x": -7.099642971297726e-05,
                    "y": 7.604198617627844e-05,
                    "z": 0.0013150098966434598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.778700351715088,
                "transform": {
                    "location": {
                        "x": 2187.905029296875,
                        "y": 2547.00146484375,
                        "z": 365.1504211425781
                    },
                    "rotation": {
                        "roll": 0.0020564019214361906,
                        "pitch": 0.1624082326889038,
                        "yaw": -89.91227722167969
                    }
                },
                "velocity": {
                    "x": 0.01166588719934225,
                    "y": -4.778684139251709,
                    "z": 0.004428262822329998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002587046765256673,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -2.010509342653677e-05,
                    "y": 8.094824443105608e-05,
                    "z": 0.00024489033967256546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7804465293884277,
                "transform": {
                    "location": {
                        "x": 2229.954833984375,
                        "y": 2524.286376953125,
                        "z": 366.3377685546875
                    },
                    "rotation": {
                        "roll": -0.02145385555922985,
                        "pitch": -1.7683359384536743,
                        "yaw": -179.41978454589844
                    }
                },
                "velocity": {
                    "x": -1.779593825340271,
                    "y": -0.001500476966612041,
                    "z": -0.055076368153095245
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4941823482513428,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2575.560302734375,
                        "z": 365.0883483886719
                    },
                    "rotation": {
                        "roll": 0.0011078340467065573,
                        "pitch": 0.4625745415687561,
                        "yaw": -89.73665618896484
                    }
                },
                "velocity": {
                    "x": 0.026492545381188393,
                    "y": -2.4939815998077393,
                    "z": 0.01731359399855137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0618101358413696,
                "transform": {
                    "location": {
                        "x": 2147.946044921875,
                        "y": 2527.35986328125,
                        "z": 364.75482177734375
                    },
                    "rotation": {
                        "roll": 0.0034075621515512466,
                        "pitch": -0.22928260266780853,
                        "yaw": -0.0514221116900444
                    }
                },
                "velocity": {
                    "x": 1.0617984533309937,
                    "y": -0.002551966579630971,
                    "z": -0.004274034406989813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013963828096166253,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.6324780517606996e-05,
                    "y": 1.7206344637088478e-05,
                    "z": 0.0013961814111098647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003389022022020072,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.6465410226373933e-06,
                    "y": -1.8992624291058746e-06,
                    "z": -0.000338892888976261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.182254791259766,
                "transform": {
                    "location": {
                        "x": 2214.49365234375,
                        "y": 2524.28271484375,
                        "z": 365.8878479003906
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -1.4471120834350586,
                        "yaw": 179.95285034179688
                    }
                },
                "velocity": {
                    "x": -5.18013858795166,
                    "y": 0.008182625286281109,
                    "z": -0.1478622555732727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5032364141661674e-05,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": -1.255624920304399e-05,
                    "y": -2.8602964448509738e-05,
                    "z": -3.243647370254621e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.055974364280700684,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2508.80615234375,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.0014648488722741604,
                        "pitch": 0.17626668512821198,
                        "yaw": 90.01070404052734
                    }
                },
                "velocity": {
                    "x": 3.646734694484621e-05,
                    "y": 0.05596786364912987,
                    "z": 0.0008523750002495944
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.269502878189087,
                "transform": {
                    "location": {
                        "x": 2200.755126953125,
                        "y": 2524.287109375,
                        "z": 365.5262451171875
                    },
                    "rotation": {
                        "roll": -0.1010131761431694,
                        "pitch": -1.4750065803527832,
                        "yaw": -179.3223114013672
                    }
                },
                "velocity": {
                    "x": -3.265899181365967,
                    "y": -0.13087651133537292,
                    "z": -0.08013596385717392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6027932167053223,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "465": {
        "acceleration": [
            -0.00020552572095766664,
            -0.0013639333192259073,
            0.009616420604288578
        ],
        "angular_velocity": [
            -0.015682274475693703,
            0.004020861815661192,
            -0.0005102960858494043
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            -4.528611680143513e-05,
            4.292599260224961e-05,
            0.000775595719460398
        ],
        "speed": 6.239770200769907e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -6.0167611081851646e-05,
                -0.00011534662917256355,
                0.00023300277825910598
            ],
            "speed_kmh": 0.0009607028891689492,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1568334102630615,
                "transform": {
                    "location": {
                        "x": 2185.121826171875,
                        "y": 2456.66455078125,
                        "z": 364.73492431640625
                    },
                    "rotation": {
                        "roll": 0.009997915476560593,
                        "pitch": 0.7311785221099854,
                        "yaw": 90.74076080322266
                    }
                },
                "velocity": {
                    "x": -0.02134348638355732,
                    "y": 2.1566150188446045,
                    "z": 0.022076968103647232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0162500143051147,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2559.496337890625,
                        "z": 365.1327209472656
                    },
                    "rotation": {
                        "roll": 0.00012421801511663944,
                        "pitch": 0.18285781145095825,
                        "yaw": -89.89340209960938
                    }
                },
                "velocity": {
                    "x": 0.0021094700787216425,
                    "y": -1.0162445306777954,
                    "z": 0.0026109409518539906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1900598108768463,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.99072265625,
                        "z": 364.8726501464844
                    },
                    "rotation": {
                        "roll": 0.0016843799967318773,
                        "pitch": 0.4172494113445282,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -0.00043422196176834404,
                    "y": 0.19005237519741058,
                    "z": 0.0016245364677160978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008735748706385493,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.001688802381977439,
                        "pitch": 0.320322185754776,
                        "yaw": 0.22763864696025848
                    }
                },
                "velocity": {
                    "x": -2.895116813306231e-05,
                    "y": -9.200075510307215e-06,
                    "z": 0.0008730465197004378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.114396333694458,
                "transform": {
                    "location": {
                        "x": 2187.9072265625,
                        "y": 2545.825927734375,
                        "z": 365.1525573730469
                    },
                    "rotation": {
                        "roll": 0.0010149650042876601,
                        "pitch": -0.008209886960685253,
                        "yaw": -89.95016479492188
                    }
                },
                "velocity": {
                    "x": 0.004536979831755161,
                    "y": -3.1143922805786133,
                    "z": 0.0020775317680090666
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002668619272299111,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -6.0167611081851646e-05,
                    "y": -0.00011534662917256355,
                    "z": 0.00023300277825910598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.58251953125,
                "transform": {
                    "location": {
                        "x": 2229.243408203125,
                        "y": 2524.283935546875,
                        "z": 366.3151550292969
                    },
                    "rotation": {
                        "roll": -0.019348137080669403,
                        "pitch": -1.7134690284729004,
                        "yaw": -179.4915313720703
                    }
                },
                "velocity": {
                    "x": -3.5807507038116455,
                    "y": -0.008027080446481705,
                    "z": -0.11227932572364807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8613510131835938,
                "transform": {
                    "location": {
                        "x": 2187.79248046875,
                        "y": 2574.76123046875,
                        "z": 365.0933532714844
                    },
                    "rotation": {
                        "roll": -0.0003967254306189716,
                        "pitch": 0.48462238907814026,
                        "yaw": -89.6112060546875
                    }
                },
                "velocity": {
                    "x": 0.04167385399341583,
                    "y": -3.861055850982666,
                    "z": 0.023313436657190323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7691588401794434,
                "transform": {
                    "location": {
                        "x": 2148.025634765625,
                        "y": 2527.35986328125,
                        "z": 364.7552795410156
                    },
                    "rotation": {
                        "roll": 0.0013434776337817311,
                        "pitch": -0.4649377763271332,
                        "yaw": -0.0507812462747097
                    }
                },
                "velocity": {
                    "x": 0.7691539525985718,
                    "y": -0.0015525828348472714,
                    "z": -0.002266368828713894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008732132846489549,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 6.3562019931850955e-06,
                    "y": 3.5757139471570554e-07,
                    "z": 0.0008731901179999113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003535264986567199,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.062788101080514e-06,
                    "y": 1.5076842828420922e-05,
                    "z": -0.00035320327151566744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.307435393333435,
                "transform": {
                    "location": {
                        "x": 2213.504638671875,
                        "y": 2524.28759765625,
                        "z": 365.8659973144531
                    },
                    "rotation": {
                        "roll": -0.01263427548110485,
                        "pitch": -2.283257007598877,
                        "yaw": -179.7829132080078
                    }
                },
                "velocity": {
                    "x": -1.3068206310272217,
                    "y": 0.01214450690895319,
                    "z": -0.03820725530385971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012738692748825997,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.94970703125,
                        "z": 365.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0013972055166959763,
                        "pitch": 0.2934795618057251,
                        "yaw": 90.31781005859375
                    }
                },
                "velocity": {
                    "x": -1.038049867929658e-05,
                    "y": -9.577050150255673e-06,
                    "z": 0.000126601560623385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.777471125125885,
                "transform": {
                    "location": {
                        "x": 2184.999267578125,
                        "y": 2508.888671875,
                        "z": 365.1208801269531
                    },
                    "rotation": {
                        "roll": 4.4469707063399255e-05,
                        "pitch": 0.1248968318104744,
                        "yaw": 90.00374603271484
                    }
                },
                "velocity": {
                    "x": -0.0013001770712435246,
                    "y": 0.7774664163589478,
                    "z": 0.002381229307502508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002594850491732359,
                "transform": {
                    "location": {
                        "x": 2200.41015625,
                        "y": 2524.278076171875,
                        "z": 365.5233459472656
                    },
                    "rotation": {
                        "roll": 0.01959613338112831,
                        "pitch": -2.155033826828003,
                        "yaw": -178.81907653808594
                    }
                },
                "velocity": {
                    "x": -0.0014181840233504772,
                    "y": -0.0019065027590841055,
                    "z": -0.0010427131783217192
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6060716509819031,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "470": {
        "acceleration": [
            0.001344850636087358,
            0.0005983654409646988,
            -0.021242352202534676
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            -0.9644051790237427,
            0.2636752426624298,
            -0.019949540495872498
        ],
        "right_vector": [
            -0.2636268734931946,
            -0.9646114706993103,
            -0.005065339617431164
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.29028159379959106,
            -1.143100380897522,
            164.70863342285156
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -5.037307710153982e-05,
                1.121912760027044e-06,
                8.408399298787117e-05
            ],
            "speed_kmh": 0.00035288858307357135,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0936121940612793,
                "transform": {
                    "location": {
                        "x": 2185.116455078125,
                        "y": 2457.2021484375,
                        "z": 364.7403564453125
                    },
                    "rotation": {
                        "roll": 0.007036080118268728,
                        "pitch": 0.5449671149253845,
                        "yaw": 90.6715316772461
                    }
                },
                "velocity": {
                    "x": -0.01020929217338562,
                    "y": 1.0935001373291016,
                    "z": 0.01187206245958805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8633085489273071,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2559.126708984375,
                        "z": 365.1340026855469
                    },
                    "rotation": {
                        "roll": 0.0006516376743093133,
                        "pitch": 0.2891218960285187,
                        "yaw": -89.89740753173828
                    }
                },
                "velocity": {
                    "x": 0.003170291893184185,
                    "y": -1.8632946014404297,
                    "z": 0.006475353147834539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017180087743327022,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.990966796875,
                        "z": 364.8726501464844
                    },
                    "rotation": {
                        "roll": 0.00019255750521551818,
                        "pitch": 0.40782374143600464,
                        "yaw": 90.0077896118164
                    }
                },
                "velocity": {
                    "x": 0.0001390205870848149,
                    "y": -0.001123014371842146,
                    "z": 0.0012926972704008222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016232606722041965,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.001688802381977439,
                        "pitch": 0.320322185754776,
                        "yaw": 0.22763864696025848
                    }
                },
                "velocity": {
                    "x": -1.4629661563958507e-05,
                    "y": -6.643609231105074e-05,
                    "z": 0.0016218345845118165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6546881198883057,
                "transform": {
                    "location": {
                        "x": 2187.908935546875,
                        "y": 2545.05126953125,
                        "z": 365.1529235839844
                    },
                    "rotation": {
                        "roll": 0.0004042568616569042,
                        "pitch": 0.026706038042902946,
                        "yaw": -89.93907928466797
                    }
                },
                "velocity": {
                    "x": 0.004891673568636179,
                    "y": -3.65468430519104,
                    "z": 0.0019760988652706146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.802461136132479e-05,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -5.037307710153982e-05,
                    "y": 1.121912760027044e-06,
                    "z": 8.408399298787117e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.903669357299805,
                "transform": {
                    "location": {
                        "x": 2228.172119140625,
                        "y": 2524.280029296875,
                        "z": 366.281982421875
                    },
                    "rotation": {
                        "roll": -0.013092038221657276,
                        "pitch": -1.7090157270431519,
                        "yaw": -179.6503143310547
                    }
                },
                "velocity": {
                    "x": -4.901312351226807,
                    "y": -0.012111061252653599,
                    "z": -0.15153348445892334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.164669990539551,
                "transform": {
                    "location": {
                        "x": 2187.803955078125,
                        "y": 2573.625244140625,
                        "z": 365.100341796875
                    },
                    "rotation": {
                        "roll": 0.0013994657201692462,
                        "pitch": 0.4880238175392151,
                        "yaw": -89.50049591064453
                    }
                },
                "velocity": {
                    "x": 0.056445419788360596,
                    "y": -5.164238929748535,
                    "z": 0.03561396524310112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.583168864250183,
                "transform": {
                    "location": {
                        "x": 2148.32958984375,
                        "y": 2527.359619140625,
                        "z": 364.752685546875
                    },
                    "rotation": {
                        "roll": 0.0009059891453944147,
                        "pitch": -0.0455300398170948,
                        "yaw": -0.0639038011431694
                    }
                },
                "velocity": {
                    "x": 1.5831583738327026,
                    "y": -0.001340109040029347,
                    "z": -0.005595045164227486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017936641233973205,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.1847726455016527e-05,
                    "y": -6.005996510793921e-06,
                    "z": 0.00017887388821691275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026584218721836805,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 9.572952876624186e-06,
                    "y": 4.918637569062412e-05,
                    "z": 0.0002610768424347043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3204924166202545,
                "transform": {
                    "location": {
                        "x": 2213.436767578125,
                        "y": 2524.288330078125,
                        "z": 365.8644714355469
                    },
                    "rotation": {
                        "roll": -0.020477287471294403,
                        "pitch": -2.304314374923706,
                        "yaw": -179.7675018310547
                    }
                },
                "velocity": {
                    "x": -0.3204263150691986,
                    "y": -0.00032087540603242815,
                    "z": -0.006500520743429661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2359962910413742,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2499.963623046875,
                        "z": 365.07928466796875
                    },
                    "rotation": {
                        "roll": 0.0008021164685487747,
                        "pitch": 0.27866488695144653,
                        "yaw": 90.33208465576172
                    }
                },
                "velocity": {
                    "x": 0.0006802075076848269,
                    "y": 0.23599031567573547,
                    "z": 0.0015359687386080623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7895345091819763,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2508.98095703125,
                        "z": 365.12103271484375
                    },
                    "rotation": {
                        "roll": 0.0002091751666739583,
                        "pitch": 0.14076335728168488,
                        "yaw": 90.0937728881836
                    }
                },
                "velocity": {
                    "x": -4.31306725658942e-05,
                    "y": 0.7895306348800659,
                    "z": 0.002471876097843051
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005514865275472403,
                "transform": {
                    "location": {
                        "x": 2200.406494140625,
                        "y": 2524.278076171875,
                        "z": 365.5190124511719
                    },
                    "rotation": {
                        "roll": -0.01669311337172985,
                        "pitch": -1.63937509059906,
                        "yaw": -178.81893920898438
                    }
                },
                "velocity": {
                    "x": 0.004854871891438961,
                    "y": 0.0019936838652938604,
                    "z": -0.0016938663320615888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.604211151599884,
        "expert_target_speed": 0.0,
        "target_point": [
            29.4878313690253,
            6.771592761139998
        ],
        "target_point_next": [
            29.4878313690253,
            6.771592761139998
        ]
    },
    "475": {
        "acceleration": [
            -0.001125979470089078,
            0.0011239676969125867,
            0.0024819630198180676
        ],
        "angular_velocity": [
            0.025468243286013603,
            -0.02465244010090828,
            0.0003050785744562745
        ],
        "forward_vector": [
            -0.9644037485122681,
            0.2636805474758148,
            -0.019950615242123604
        ],
        "right_vector": [
            -0.26363202929496765,
            -0.9646100401878357,
            -0.0050704325549304485
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.29057344794273376,
            -1.1431618928909302,
            164.70831298828125
        ],
        "velocity": [
            -0.00011871143942698836,
            -8.378548227483407e-05,
            -7.486200047424063e-05
        ],
        "speed": 0.00014530111111362521,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583479881286621,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -2.4637876776978374e-05,
                -3.0024253646843135e-05,
                2.130019674950745e-05
            ],
            "speed_kmh": 0.0001594673694603718,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7697436809539795,
                "transform": {
                    "location": {
                        "x": 2185.115966796875,
                        "y": 2457.28515625,
                        "z": 364.7412414550781
                    },
                    "rotation": {
                        "roll": 0.006491674575954676,
                        "pitch": 0.5515308976173401,
                        "yaw": 90.6473159790039
                    }
                },
                "velocity": {
                    "x": -0.00539398193359375,
                    "y": 0.7696877717971802,
                    "z": 0.007546806242316961
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7936668395996094,
                "transform": {
                    "location": {
                        "x": 2187.89111328125,
                        "y": 2558.541259765625,
                        "z": 365.1358947753906
                    },
                    "rotation": {
                        "roll": 0.0011332554277032614,
                        "pitch": 0.32051342725753784,
                        "yaw": -89.89550018310547
                    }
                },
                "velocity": {
                    "x": 0.005259860772639513,
                    "y": -2.7936456203460693,
                    "z": 0.009516515769064426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005745312082581222,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727111816406
                    },
                    "rotation": {
                        "roll": -0.0007019321201369166,
                        "pitch": 0.4689471125602722,
                        "yaw": 90.0078353881836
                    }
                },
                "velocity": {
                    "x": 8.369749411940575e-05,
                    "y": -0.0002882161643356085,
                    "z": 0.000489910482428968
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004308350617066026,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -5.3093655878910795e-05,
                    "y": 4.6624485548818484e-05,
                    "z": 0.0004250012570992112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.708405017852783,
                "transform": {
                    "location": {
                        "x": 2187.91064453125,
                        "y": 2543.9814453125,
                        "z": 365.153076171875
                    },
                    "rotation": {
                        "roll": 0.0007723223534412682,
                        "pitch": 0.08225596696138382,
                        "yaw": -89.96770477294922
                    }
                },
                "velocity": {
                    "x": 0.0025563316885381937,
                    "y": -4.708404064178467,
                    "z": 0.001997718820348382
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.42964919784572e-05,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -2.4637876776978374e-05,
                    "y": -3.0024253646843135e-05,
                    "z": 2.130019674950745e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.224315643310547,
                "transform": {
                    "location": {
                        "x": 2226.802978515625,
                        "y": 2524.27587890625,
                        "z": 366.2395324707031
                    },
                    "rotation": {
                        "roll": -0.012329100631177425,
                        "pitch": -1.6885319948196411,
                        "yaw": -179.6910858154297
                    }
                },
                "velocity": {
                    "x": -6.2213335037231445,
                    "y": -0.01573309674859047,
                    "z": -0.19200140237808228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.504165172576904,
                "transform": {
                    "location": {
                        "x": 2187.818359375,
                        "y": 2572.299072265625,
                        "z": 365.1090393066406
                    },
                    "rotation": {
                        "roll": 0.0026607324834913015,
                        "pitch": 0.40696996450424194,
                        "yaw": -89.53636932373047
                    }
                },
                "velocity": {
                    "x": 0.06082700565457344,
                    "y": -5.5037431716918945,
                    "z": 0.03071737289428711
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.057286024093628,
                "transform": {
                    "location": {
                        "x": 2148.8310546875,
                        "y": 2527.359375,
                        "z": 364.7504577636719
                    },
                    "rotation": {
                        "roll": -0.00592041015625,
                        "pitch": 0.02540147304534912,
                        "yaw": 0.03874741867184639
                    }
                },
                "velocity": {
                    "x": 2.0572714805603027,
                    "y": 9.161564230453223e-05,
                    "z": -0.007747831288725138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013974588364362717,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.6290880012093112e-05,
                    "y": -9.823201253311709e-06,
                    "z": 0.0013973293825984001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.362306885421276e-05,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.2728422916552518e-05,
                    "y": -1.2277676432859153e-05,
                    "z": -6.1115795688238e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0069564580917358,
                "transform": {
                    "location": {
                        "x": 2213.293701171875,
                        "y": 2524.288330078125,
                        "z": 365.8540954589844
                    },
                    "rotation": {
                        "roll": -0.008728024549782276,
                        "pitch": -1.4510736465454102,
                        "yaw": -179.7578582763672
                    }
                },
                "velocity": {
                    "x": -1.006597876548767,
                    "y": -0.0018914169631898403,
                    "z": -0.02680121921002865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13655437529087067,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2500.0458984375,
                        "z": 365.07952880859375
                    },
                    "rotation": {
                        "roll": 0.0006763853598386049,
                        "pitch": 0.31028181314468384,
                        "yaw": 90.35486602783203
                    }
                },
                "velocity": {
                    "x": -4.1277970012743026e-05,
                    "y": 0.13655205070972443,
                    "z": -0.0007954120519571006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8269322514533997,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2509.080810546875,
                        "z": 365.1213684082031
                    },
                    "rotation": {
                        "roll": -0.0003662166709546,
                        "pitch": 0.14272361993789673,
                        "yaw": 90.01739501953125
                    }
                },
                "velocity": {
                    "x": 0.0010776938870549202,
                    "y": 0.8269292116165161,
                    "z": 0.0019646359141916037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001930388156324625,
                "transform": {
                    "location": {
                        "x": 2200.404052734375,
                        "y": 2524.27783203125,
                        "z": 365.5164794921875
                    },
                    "rotation": {
                        "roll": -0.0371093712747097,
                        "pitch": -1.3412100076675415,
                        "yaw": -178.8190155029297
                    }
                },
                "velocity": {
                    "x": 0.0002738754265010357,
                    "y": 0.00034197024069726467,
                    "z": -0.0018800125690177083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6060018539428711,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48772823338503,
            6.7719969887959
        ],
        "target_point_next": [
            29.48772823338503,
            6.7719969887959
        ]
    },
    "480": {
        "acceleration": [
            -0.00231973547488451,
            -0.0019990040455013514,
            -0.0005723738577216864
        ],
        "angular_velocity": [
            0.019512806087732315,
            -0.024571405723690987,
            0.00019083631923422217
        ],
        "forward_vector": [
            -0.9644037485122681,
            0.2636805474758148,
            -0.019950615242123604
        ],
        "right_vector": [
            -0.26363202929496765,
            -0.9646100401878357,
            -0.0050704325549304485
        ],
        "location": [
            2178.398681640625,
            2523.281005859375,
            365.0256042480469
        ],
        "rotation": [
            0.29057344794273376,
            -1.1431618928909302,
            164.70831298828125
        ],
        "velocity": [
            -0.00011964231816818938,
            -7.161729445215315e-05,
            -0.00011568042828002945
        ],
        "speed": 0.00013943930995707294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583479881286621,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -5.619496005238034e-05,
                -4.767404607264325e-05,
                0.00047144858399406075
            ],
            "speed_kmh": 0.0017178242471169226,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6338562965393066,
                "transform": {
                    "location": {
                        "x": 2185.11328125,
                        "y": 2457.59912109375,
                        "z": 364.7447204589844
                    },
                    "rotation": {
                        "roll": 0.006871770601719618,
                        "pitch": 0.7052921056747437,
                        "yaw": 90.63032531738281
                    }
                },
                "velocity": {
                    "x": -0.01511339284479618,
                    "y": 1.6337051391601562,
                    "z": 0.016292180866003036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.313635349273682,
                "transform": {
                    "location": {
                        "x": 2187.89306640625,
                        "y": 2557.64501953125,
                        "z": 365.1389465332031
                    },
                    "rotation": {
                        "roll": 0.0017909272573888302,
                        "pitch": 0.4003719985485077,
                        "yaw": -89.89422607421875
                    }
                },
                "velocity": {
                    "x": 0.007888398133218288,
                    "y": -4.313604831695557,
                    "z": 0.014073161408305168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008900022367015481,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103632622398436,
                        "pitch": 0.48527806997299194,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": 1.866228376457002e-05,
                    "y": -0.00010530724830459803,
                    "z": 0.0008835530607029796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008445832645520568,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -4.163838821114041e-05,
                    "y": -1.7409929569112137e-05,
                    "z": 0.0008433765615336597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.851550579071045,
                "transform": {
                    "location": {
                        "x": 2187.909912109375,
                        "y": 2543.14794921875,
                        "z": 365.154296875
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": -0.03585848957300186,
                        "yaw": -89.88531494140625
                    }
                },
                "velocity": {
                    "x": 0.007654067128896713,
                    "y": -2.8515396118164062,
                    "z": 0.0020700739696621895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00047717339475639164,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -5.619496005238034e-05,
                    "y": -4.767404607264325e-05,
                    "z": 0.00047144858399406075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.27411413192749,
                "transform": {
                    "location": {
                        "x": 2225.00537109375,
                        "y": 2524.27294921875,
                        "z": 366.1842346191406
                    },
                    "rotation": {
                        "roll": -0.004913329612463713,
                        "pitch": -1.6809982061386108,
                        "yaw": -179.89256286621094
                    }
                },
                "velocity": {
                    "x": -7.270762920379639,
                    "y": -0.0007935605826787651,
                    "z": -0.22077976167201996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.9202561378479,
                "transform": {
                    "location": {
                        "x": 2187.834228515625,
                        "y": 2570.83740234375,
                        "z": 365.11639404296875
                    },
                    "rotation": {
                        "roll": 0.0007785587222315371,
                        "pitch": 0.44898244738578796,
                        "yaw": -89.4964828491211
                    }
                },
                "velocity": {
                    "x": 0.07613915205001831,
                    "y": -6.919736862182617,
                    "z": 0.037286099046468735
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6003561019897461,
                "transform": {
                    "location": {
                        "x": 2148.98876953125,
                        "y": 2527.35888671875,
                        "z": 364.75201416015625
                    },
                    "rotation": {
                        "roll": -0.00872802734375,
                        "pitch": -0.5623772740364075,
                        "yaw": 0.1271423101425171
                    }
                },
                "velocity": {
                    "x": 0.6003496050834656,
                    "y": 0.001742179156281054,
                    "z": -0.002179851522669196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.099631016491912e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.639496440475341e-05,
                    "y": 2.115112147293985e-05,
                    "z": 4.3410356738604605e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7343314033932984e-05,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 2.0246952772140503e-06,
                    "y": 3.518194716889411e-05,
                    "z": -1.2355332728475332e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0197110176086426,
                "transform": {
                    "location": {
                        "x": 2212.929931640625,
                        "y": 2524.2880859375,
                        "z": 365.84271240234375
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -1.2804827690124512,
                        "yaw": -179.79014587402344
                    }
                },
                "velocity": {
                    "x": -2.018946409225464,
                    "y": 0.0013374782865867019,
                    "z": -0.05555175244808197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007367411162704229,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2500.14404296875,
                        "z": 365.079833984375
                    },
                    "rotation": {
                        "roll": 0.0006251456215977669,
                        "pitch": 0.323259174823761,
                        "yaw": 90.32833099365234
                    }
                },
                "velocity": {
                    "x": -8.140724276017863e-06,
                    "y": 0.0006741657853126526,
                    "z": -0.00029702132451348007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010372893884778023,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2509.1552734375,
                        "z": 365.12109375
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19901804625988007,
                        "yaw": 90.03162384033203
                    }
                },
                "velocity": {
                    "x": -8.679604798089713e-05,
                    "y": 0.0010336419800296426,
                    "z": 4.474186425795779e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007697601686231792,
                "transform": {
                    "location": {
                        "x": 2200.404296875,
                        "y": 2524.27783203125,
                        "z": 365.5168762207031
                    },
                    "rotation": {
                        "roll": -0.0349121056497097,
                        "pitch": -1.3863507509231567,
                        "yaw": -178.81907653808594
                    }
                },
                "velocity": {
                    "x": -0.0007048287661746144,
                    "y": -2.0841587684117258e-05,
                    "z": -0.0003087276127189398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82344,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.604923665523529,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48772823338503,
            6.7719969887959
        ],
        "target_point_next": [
            29.48772823338503,
            6.7719969887959
        ]
    },
    "485": {
        "acceleration": [
            0.0014623343013226986,
            0.0019363162573426962,
            0.0013239745749160647
        ],
        "angular_velocity": [
            -0.008108872920274734,
            0.017163673415780067,
            -0.00040848544449545443
        ],
        "forward_vector": [
            -0.9644033908843994,
            0.26368218660354614,
            -0.01994417980313301
        ],
        "right_vector": [
            -0.26363396644592285,
            -0.9646095037460327,
            -0.005057566799223423
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2898361086845398,
            -1.14279305934906,
            164.70822143554688
        ],
        "velocity": [
            1.4657526662631426e-05,
            2.904807661252562e-05,
            9.840261191129684e-05
        ],
        "speed": 3.253665383460489e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -4.11824876209721e-05,
                -4.3096365516248625e-06,
                4.840485780732706e-05
            ],
            "speed_kmh": 0.00022931747131684491,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.463179588317871,
                "transform": {
                    "location": {
                        "x": 2185.1083984375,
                        "y": 2458.127685546875,
                        "z": 364.7501525878906
                    },
                    "rotation": {
                        "roll": 0.008184351027011871,
                        "pitch": 0.7300379276275635,
                        "yaw": 90.59122467041016
                    }
                },
                "velocity": {
                    "x": -0.022062506526708603,
                    "y": 2.462952136993408,
                    "z": 0.025171421468257904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.398489475250244,
                "transform": {
                    "location": {
                        "x": 2187.89501953125,
                        "y": 2556.39599609375,
                        "z": 365.14276123046875
                    },
                    "rotation": {
                        "roll": 0.00039912009378895164,
                        "pitch": 0.3537832796573639,
                        "yaw": -89.89204406738281
                    }
                },
                "velocity": {
                    "x": 0.009329651482403278,
                    "y": -5.398459434509277,
                    "z": 0.015306901186704636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005345776444301009,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": 7.136052590794861e-05,
                    "y": -6.639614730374888e-05,
                    "z": 0.000525616283994168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004307297058403492,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -2.705067345232237e-05,
                    "y": -1.6813080947031267e-05,
                    "z": 0.0004295505350455642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.985124349594116,
                "transform": {
                    "location": {
                        "x": 2187.912841796875,
                        "y": 2542.275390625,
                        "z": 365.1539611816406
                    },
                    "rotation": {
                        "roll": -0.0005187978385947645,
                        "pitch": 0.0633021891117096,
                        "yaw": -89.9578857421875
                    }
                },
                "velocity": {
                    "x": 0.01145221758633852,
                    "y": -3.985107660293579,
                    "z": 0.0015355587238445878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.369929906213656e-05,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -4.11824876209721e-05,
                    "y": -4.3096365516248625e-06,
                    "z": 4.840485780732706e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.163085460662842,
                "transform": {
                    "location": {
                        "x": 2223.385986328125,
                        "y": 2524.272216796875,
                        "z": 366.1359558105469
                    },
                    "rotation": {
                        "roll": -0.003601073520258069,
                        "pitch": -1.837156891822815,
                        "yaw": -179.986328125
                    }
                },
                "velocity": {
                    "x": -5.160676956176758,
                    "y": 0.0007883583311922848,
                    "z": -0.1576804369688034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.049777030944824,
                "transform": {
                    "location": {
                        "x": 2187.84765625,
                        "y": 2569.00439453125,
                        "z": 365.126953125
                    },
                    "rotation": {
                        "roll": 0.005495425779372454,
                        "pitch": 0.34401610493659973,
                        "yaw": -89.59529113769531
                    }
                },
                "velocity": {
                    "x": 0.04323982074856758,
                    "y": -7.049544334411621,
                    "z": 0.0375887006521225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4644031524658203,
                "transform": {
                    "location": {
                        "x": 2149.257080078125,
                        "y": 2527.35888671875,
                        "z": 364.74932861328125
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.09271298348903656,
                        "yaw": 0.15698590874671936
                    }
                },
                "velocity": {
                    "x": 1.4643930196762085,
                    "y": 3.8580539694521576e-05,
                    "z": -0.0054572392255067825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013585366541519761,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 7.854886462155264e-06,
                    "y": 8.259064998128451e-06,
                    "z": 0.0013584888074547052
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002729150583036244,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.0019093679147772e-05,
                    "y": 1.1095341506006662e-05,
                    "z": -0.00027250530547462404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.688892126083374,
                "transform": {
                    "location": {
                        "x": 2212.218017578125,
                        "y": 2524.288330078125,
                        "z": 365.82269287109375
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -1.2237786054611206,
                        "yaw": -179.84811401367188
                    }
                },
                "velocity": {
                    "x": -3.687495231628418,
                    "y": 0.0032558368984609842,
                    "z": -0.10145910084247589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6277835965156555,
                "transform": {
                    "location": {
                        "x": 2185.0,
                        "y": 2500.2041015625,
                        "z": 365.0806884765625
                    },
                    "rotation": {
                        "roll": 0.00019930484995711595,
                        "pitch": 0.260715126991272,
                        "yaw": 90.31431579589844
                    }
                },
                "velocity": {
                    "x": 0.0002625348570290953,
                    "y": 0.6277766823768616,
                    "z": 0.002938756952062249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13882091641426086,
                "transform": {
                    "location": {
                        "x": 2184.999267578125,
                        "y": 2509.21044921875,
                        "z": 365.1212463378906
                    },
                    "rotation": {
                        "roll": -0.0009460472501814365,
                        "pitch": 0.20523351430892944,
                        "yaw": 89.98435974121094
                    }
                },
                "velocity": {
                    "x": -0.00013409217353910208,
                    "y": 0.13882037997245789,
                    "z": 0.0003615760651882738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2200.405029296875,
                        "y": 2524.27783203125,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.0330810509622097,
                        "pitch": -1.430992841720581,
                        "yaw": -178.81907653808594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6056687235832214,
        "expert_target_speed": 1.1820406237398193,
        "target_point": [
            29.487779705014315,
            6.771817735242301
        ],
        "target_point_next": [
            29.487779705014315,
            6.771817735242301
        ]
    },
    "490": {
        "acceleration": [
            -0.001046723104082048,
            -0.0004380869213491678,
            0.00031310482881963253
        ],
        "angular_velocity": [
            -0.0070637590251863,
            -0.003916316200047731,
            -0.0003565730294212699
        ],
        "forward_vector": [
            -0.9644033908843994,
            0.26368218660354614,
            -0.01994417980313301
        ],
        "right_vector": [
            -0.26363396644592285,
            -0.9646095037460327,
            -0.005057566799223423
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2898361086845398,
            -1.14279305934906,
            164.70822143554688
        ],
        "velocity": [
            -6.0204565670574084e-05,
            1.3796211533190217e-05,
            0.0002333476732019335
        ],
        "speed": 6.17650805896908e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -6.132214912213385e-05,
                9.163659342448227e-06,
                0.00014953993377275765
            ],
            "speed_kmh": 0.0005827839673675665,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014053212944418192,
                "transform": {
                    "location": {
                        "x": 2185.10498046875,
                        "y": 2458.501708984375,
                        "z": 364.75347900390625
                    },
                    "rotation": {
                        "roll": 0.005029862280935049,
                        "pitch": 0.299244225025177,
                        "yaw": 90.61289978027344
                    }
                },
                "velocity": {
                    "x": -4.1489409341011196e-05,
                    "y": 0.0013212758349254727,
                    "z": 0.00047690336941741407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.694902420043945,
                "transform": {
                    "location": {
                        "x": 2187.89697265625,
                        "y": 2555.03369140625,
                        "z": 365.1463623046875
                    },
                    "rotation": {
                        "roll": -0.0003356953093316406,
                        "pitch": 0.20653808116912842,
                        "yaw": -89.88951873779297
                    }
                },
                "velocity": {
                    "x": 0.010586480610072613,
                    "y": -5.694874286651611,
                    "z": 0.014480218291282654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00044124870328232646,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": 1.8004124285653234e-05,
                    "y": -6.25754109933041e-05,
                    "z": 0.0004364179039839655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013371070963330567,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": 7.272139100678032e-06,
                    "y": -5.442441033665091e-05,
                    "z": -0.00012191658606752753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3101041316986084,
                "transform": {
                    "location": {
                        "x": 2187.911865234375,
                        "y": 2541.406005859375,
                        "z": 365.15447998046875
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": -0.02081158570945263,
                        "yaw": -89.62322235107422
                    }
                },
                "velocity": {
                    "x": 0.0041803233325481415,
                    "y": -3.31010103225708,
                    "z": -0.001981658861041069
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016188443987630308,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.9873926043510437,
                        "yaw": -0.2055969089269638
                    }
                },
                "velocity": {
                    "x": -6.132214912213385e-05,
                    "y": 9.163659342448227e-06,
                    "z": 0.00014953993377275765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012038126587867737,
                "transform": {
                    "location": {
                        "x": 2222.89990234375,
                        "y": 2524.271484375,
                        "z": 366.1224670410156
                    },
                    "rotation": {
                        "roll": -0.0027160639874637127,
                        "pitch": -2.053462028503418,
                        "yaw": 179.94003295898438
                    }
                },
                "velocity": {
                    "x": 0.0004411604895722121,
                    "y": -6.1983082559891045e-06,
                    "z": -0.0011200463632121682
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.399470329284668,
                "transform": {
                    "location": {
                        "x": 2187.859375,
                        "y": 2567.5517578125,
                        "z": 365.13690185546875
                    },
                    "rotation": {
                        "roll": 0.0014236187562346458,
                        "pitch": 0.012977358885109425,
                        "yaw": -89.92471313476562
                    }
                },
                "velocity": {
                    "x": 0.02892613410949707,
                    "y": -3.39931321144104,
                    "z": 0.015232639387249947
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.317230701446533,
                "transform": {
                    "location": {
                        "x": 2149.72705078125,
                        "y": 2527.359130859375,
                        "z": 364.746826171875
                    },
                    "rotation": {
                        "roll": 0.0010128272697329521,
                        "pitch": 0.08114947378635406,
                        "yaw": 0.10931427776813507
                    }
                },
                "velocity": {
                    "x": 2.3172154426574707,
                    "y": -5.806467743241228e-05,
                    "z": -0.00840710662305355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007466190145350993,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.7459205992054194e-05,
                    "y": 2.1637111785821617e-05,
                    "z": 0.0007461011409759521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010457656753715128,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 7.265731710504042e-06,
                    "y": 2.3075095668900758e-05,
                    "z": -0.00010173990449402481
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7081539630889893,
                "transform": {
                    "location": {
                        "x": 2211.22705078125,
                        "y": 2524.288330078125,
                        "z": 365.7970886230469
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": -1.4280353784561157,
                        "yaw": -179.94224548339844
                    }
                },
                "velocity": {
                    "x": -3.7067782878875732,
                    "y": 0.005654325243085623,
                    "z": -0.10083645582199097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025893616839312017,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2500.25439453125,
                        "z": 365.08038330078125
                    },
                    "rotation": {
                        "roll": 0.0017834294121712446,
                        "pitch": 0.33142808079719543,
                        "yaw": 90.2724838256836
                    }
                },
                "velocity": {
                    "x": -8.28190241008997e-06,
                    "y": -0.00014147291949484497,
                    "z": -0.00021671353897545487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13514037430286407,
                "transform": {
                    "location": {
                        "x": 2184.997802734375,
                        "y": 2509.298583984375,
                        "z": 365.1214904785156
                    },
                    "rotation": {
                        "roll": -0.001495367381721735,
                        "pitch": 0.20603947341442108,
                        "yaw": 89.8531723022461
                    }
                },
                "velocity": {
                    "x": -6.22087754891254e-05,
                    "y": 0.13514035940170288,
                    "z": 2.2125243049231358e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.524790609953925e-05,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.0321960411965847,
                        "pitch": -1.4288891553878784,
                        "yaw": -178.8191680908203
                    }
                },
                "velocity": {
                    "x": -9.203404260915704e-06,
                    "y": -9.912822861224413e-06,
                    "z": 8.416792115895078e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6039444804191589,
        "expert_target_speed": 1.1821778611239466,
        "target_point": [
            29.487779705014315,
            6.771817735242301
        ],
        "target_point_next": [
            29.487779705014315,
            6.771817735242301
        ]
    },
    "495": {
        "acceleration": [
            0.0006292848847806454,
            0.0001406395313097164,
            -0.007609515450894833
        ],
        "angular_velocity": [
            0.00620926171541214,
            0.008355498313903809,
            -0.00011294303112663329
        ],
        "forward_vector": [
            -0.9644033908843994,
            0.26368218660354614,
            -0.01994417980313301
        ],
        "right_vector": [
            -0.26363396644592285,
            -0.9646095037460327,
            -0.005057566799223423
        ],
        "location": [
            2178.398681640625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2898361086845398,
            -1.14279305934906,
            164.70822143554688
        ],
        "velocity": [
            -2.5009363525896333e-05,
            -5.366418554331176e-05,
            0.00015737484500277787
        ],
        "speed": 5.920568447368398e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.583595275878906,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -5.2400380809558555e-05,
                -1.6684334696037695e-05,
                -0.00016685095033608377
            ],
            "speed_kmh": 0.0006324474278818155,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2442114353179932,
                "transform": {
                    "location": {
                        "x": 2185.103515625,
                        "y": 2458.68505859375,
                        "z": 364.75579833984375
                    },
                    "rotation": {
                        "roll": 0.005871003959327936,
                        "pitch": 0.6254608631134033,
                        "yaw": 90.54548645019531
                    }
                },
                "velocity": {
                    "x": -0.010906587354838848,
                    "y": 1.2440992593765259,
                    "z": 0.0126529885455966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.656806945800781,
                "transform": {
                    "location": {
                        "x": 2187.8994140625,
                        "y": 2553.3583984375,
                        "z": 365.15032958984375
                    },
                    "rotation": {
                        "roll": -0.0007629469037055969,
                        "pitch": 0.24229411780834198,
                        "yaw": -89.79669189453125
                    }
                },
                "velocity": {
                    "x": 0.010123691521584988,
                    "y": -6.656779766082764,
                    "z": 0.01611112616956234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040445197373628616,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -1.0114355973200873e-05,
                    "y": -5.272753332974389e-05,
                    "z": 0.0004008726682513952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007820567116141319,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -1.8704011381487362e-05,
                    "y": 3.552907583070919e-05,
                    "z": 0.0007810253300704062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9854821562767029,
                "transform": {
                    "location": {
                        "x": 2187.93212890625,
                        "y": 2540.66357421875,
                        "z": 365.1551513671875
                    },
                    "rotation": {
                        "roll": -0.0011901900870725513,
                        "pitch": -0.13040196895599365,
                        "yaw": -91.73998260498047
                    }
                },
                "velocity": {
                    "x": 0.06356523185968399,
                    "y": -0.9834285378456116,
                    "z": -0.0017130946507677436
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017567984468769282,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": 0.9875223636627197,
                        "yaw": -0.2050170749425888
                    }
                },
                "velocity": {
                    "x": -5.2400380809558555e-05,
                    "y": -1.6684334696037695e-05,
                    "z": -0.00016685095033608377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2506201267242432,
                "transform": {
                    "location": {
                        "x": 2222.66796875,
                        "y": 2524.27392578125,
                        "z": 366.1136779785156
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": -1.7779868841171265,
                        "yaw": -179.90394592285156
                    }
                },
                "velocity": {
                    "x": -1.2499613761901855,
                    "y": 0.014965889044106007,
                    "z": -0.03772348165512085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3403800129890442,
                "transform": {
                    "location": {
                        "x": 2187.862548828125,
                        "y": 2567.3359375,
                        "z": 365.1385498046875
                    },
                    "rotation": {
                        "roll": 0.006030206568539143,
                        "pitch": -0.06536490470170975,
                        "yaw": -90.00361633300781
                    }
                },
                "velocity": {
                    "x": 0.001472674892283976,
                    "y": -0.34036868810653687,
                    "z": 0.0023554896470159292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.23439252376556396,
                "transform": {
                    "location": {
                        "x": 2150.185546875,
                        "y": 2527.360107421875,
                        "z": 364.74725341796875
                    },
                    "rotation": {
                        "roll": -0.004180908668786287,
                        "pitch": -0.502223789691925,
                        "yaw": -0.0427551232278347
                    }
                },
                "velocity": {
                    "x": 0.23435086011886597,
                    "y": 0.003760046325623989,
                    "z": -0.0023218439891934395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.708080763928592e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 8.699372301634867e-06,
                    "y": -2.2711615201842505e-06,
                    "z": -6.647554255323485e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013763751485385,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 2.688467475309153e-06,
                    "y": -2.6962938136421144e-05,
                    "z": 0.00013494391168933362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.31385302543640137,
                "transform": {
                    "location": {
                        "x": 2210.58642578125,
                        "y": 2524.288818359375,
                        "z": 365.7852783203125
                    },
                    "rotation": {
                        "roll": -0.007110595237463713,
                        "pitch": -2.1295435428619385,
                        "yaw": -179.9905548095703
                    }
                },
                "velocity": {
                    "x": -0.31371259689331055,
                    "y": 0.0006200187490321696,
                    "z": -0.00936718937009573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002387926069786772,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2500.254150390625,
                        "z": 365.08062744140625
                    },
                    "rotation": {
                        "roll": 0.0014317183522507548,
                        "pitch": 0.30335599184036255,
                        "yaw": 90.27249145507812
                    }
                },
                "velocity": {
                    "x": 1.6063284419942647e-05,
                    "y": -8.707508095540106e-05,
                    "z": -0.00022176971833687276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3157399892807007,
                "transform": {
                    "location": {
                        "x": 2184.99755859375,
                        "y": 2509.36328125,
                        "z": 365.1217956542969
                    },
                    "rotation": {
                        "roll": -0.0014648500364273787,
                        "pitch": 0.18984510004520416,
                        "yaw": 89.810791015625
                    }
                },
                "velocity": {
                    "x": 0.0006410392816178501,
                    "y": 0.31573423743247986,
                    "z": 0.0017944811843335629
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016047120152506977,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5171813964844
                    },
                    "rotation": {
                        "roll": -0.032196044921875,
                        "pitch": -1.4266966581344604,
                        "yaw": -178.81919860839844
                    }
                },
                "velocity": {
                    "x": -5.464956120704301e-05,
                    "y": -6.475102509284625e-06,
                    "z": 0.00015073985559865832
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6052913069725037,
        "expert_target_speed": 1.1821046812485285,
        "target_point": [
            29.487779705014315,
            6.771817735242301
        ],
        "target_point_next": [
            29.487779705014315,
            6.771817735242301
        ]
    },
    "500": {
        "acceleration": [
            -0.0347977876663208,
            0.00660985242575407,
            -0.01605529710650444
        ],
        "angular_velocity": [
            -0.011479919776320457,
            0.03812570869922638,
            -0.013575917109847069
        ],
        "forward_vector": [
            -0.9643512964248657,
            0.2638784646987915,
            -0.01986527629196644
        ],
        "right_vector": [
            -0.2638300955295563,
            -0.9645559191703796,
            -0.005066947545856237
        ],
        "location": [
            2178.3994140625,
            2523.28076171875,
            365.0256042480469
        ],
        "rotation": [
            0.2903732657432556,
            -1.138271450996399,
            164.6965789794922
        ],
        "velocity": [
            -0.014168770983815193,
            0.0031620380468666553,
            0.0001833820278989151
        ],
        "speed": 0.01451731916717531,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.58424186706543,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -2.7333795515005477e-05,
                -5.858503936906345e-05,
                0.00014284596545621753
            ],
            "speed_kmh": 0.0005644578791076945,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1997199058532715,
                "transform": {
                    "location": {
                        "x": 2185.099853515625,
                        "y": 2459.123046875,
                        "z": 364.7604064941406
                    },
                    "rotation": {
                        "roll": 0.004164556041359901,
                        "pitch": 0.719423770904541,
                        "yaw": 90.54331970214844
                    }
                },
                "velocity": {
                    "x": -0.01874992623925209,
                    "y": 2.199528217315674,
                    "z": 0.02217119187116623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.194606304168701,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2552.10009765625,
                        "z": 365.1519775390625
                    },
                    "rotation": {
                        "roll": -0.009857159107923508,
                        "pitch": -0.3959597051143646,
                        "yaw": -89.50861358642578
                    }
                },
                "velocity": {
                    "x": 0.0002363316307310015,
                    "y": -2.194605588912964,
                    "z": 0.001766204833984375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.837020868668333e-05,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": 3.9048529288265854e-05,
                    "y": -2.2665559299639426e-05,
                    "z": 7.596563955303282e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00030531594529747963,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -9.477435924054589e-06,
                    "y": -3.0895412237441633e-06,
                    "z": 0.0003051531675737351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013968166895210743,
                "transform": {
                    "location": {
                        "x": 2187.935302734375,
                        "y": 2540.64892578125,
                        "z": 365.1545104980469
                    },
                    "rotation": {
                        "roll": 0.009060773067176342,
                        "pitch": -0.10021936148405075,
                        "yaw": -91.93313598632812
                    }
                },
                "velocity": {
                    "x": -7.420957263093442e-05,
                    "y": 0.0003175539313815534,
                    "z": 0.0013582154642790556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015679385978728533,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.9876794219017029,
                        "yaw": -0.2050170749425888
                    }
                },
                "velocity": {
                    "x": -2.7333795515005477e-05,
                    "y": -5.858503936906345e-05,
                    "z": 0.00014284596545621753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0834405422210693,
                "transform": {
                    "location": {
                        "x": 2222.311767578125,
                        "y": 2524.277099609375,
                        "z": 366.1023864746094
                    },
                    "rotation": {
                        "roll": -0.012084958143532276,
                        "pitch": -1.7185369729995728,
                        "yaw": -179.8006591796875
                    }
                },
                "velocity": {
                    "x": -2.0824081897735596,
                    "y": -0.013277432881295681,
                    "z": -0.06422056257724762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.38699471950531,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2567.089111328125,
                        "z": 365.13665771484375
                    },
                    "rotation": {
                        "roll": 0.0003968096280004829,
                        "pitch": 0.28800857067108154,
                        "yaw": -89.935791015625
                    }
                },
                "velocity": {
                    "x": 0.006562653463333845,
                    "y": -1.386964201927185,
                    "z": 0.00643891328945756
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9325507879257202,
                "transform": {
                    "location": {
                        "x": 2150.299560546875,
                        "y": 2527.3603515625,
                        "z": 364.7462158203125
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.37249118089675903,
                        "yaw": -0.0734863206744194
                    }
                },
                "velocity": {
                    "x": 0.9325475096702576,
                    "y": 0.0001663943548919633,
                    "z": -0.002476825611665845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007433276623487473,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 7.509328042942798e-06,
                    "y": -2.020461943175178e-05,
                    "z": 0.0007430150872096419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003725735587067902,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": -3.4641846013983013e-06,
                    "y": 1.8508706489228643e-05,
                    "z": 0.00037209742004051805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00593657186254859,
                "transform": {
                    "location": {
                        "x": 2210.583251953125,
                        "y": 2524.288818359375,
                        "z": 365.7840881347656
                    },
                    "rotation": {
                        "roll": -0.006164550315588713,
                        "pitch": -2.000664710998535,
                        "yaw": -179.99110412597656
                    }
                },
                "velocity": {
                    "x": 0.0059305643662810326,
                    "y": -0.0002458822273183614,
                    "z": -0.00010407127410871908
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.08058381080627441,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2500.260498046875,
                        "z": 365.0807189941406
                    },
                    "rotation": {
                        "roll": -0.00021363285486586392,
                        "pitch": 0.2883022725582123,
                        "yaw": 90.27125549316406
                    }
                },
                "velocity": {
                    "x": 0.00025609208387322724,
                    "y": 0.08058011531829834,
                    "z": 0.0007279014680534601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.48242706060409546,
                "transform": {
                    "location": {
                        "x": 2184.997802734375,
                        "y": 2509.4248046875,
                        "z": 365.12225341796875
                    },
                    "rotation": {
                        "roll": -0.0010070833377540112,
                        "pitch": 0.16243554651737213,
                        "yaw": 89.8204345703125
                    }
                },
                "velocity": {
                    "x": 0.0031332154758274555,
                    "y": 0.48241114616394043,
                    "z": 0.0023533725179731846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015553669072687626,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5171813964844
                    },
                    "rotation": {
                        "roll": -0.032196044921875,
                        "pitch": -1.4266966581344604,
                        "yaw": -178.81919860839844
                    }
                },
                "velocity": {
                    "x": -5.555063398787752e-05,
                    "y": -3.6050878406967968e-06,
                    "z": 0.00014523358549922705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6039479970932007,
        "expert_target_speed": 1.19641641902745,
        "target_point": [
            29.4871099710119,
            6.778000833948987
        ],
        "target_point_next": [
            29.4871099710119,
            6.778000833948987
        ]
    },
    "505": {
        "acceleration": [
            -2.8034186363220215,
            0.7713134288787842,
            -0.049456022679805756
        ],
        "angular_velocity": [
            0.27456799149513245,
            0.9578725099563599,
            1.0067180395126343
        ],
        "forward_vector": [
            -0.9644911289215088,
            0.26349908113479614,
            -0.018027998507022858
        ],
        "right_vector": [
            -0.2634512484073639,
            -0.964659571647644,
            -0.005020452197641134
        ],
        "location": [
            2178.360595703125,
            2523.290771484375,
            365.02447509765625
        ],
        "rotation": [
            0.2876986861228943,
            -1.0329841375350952,
            164.71966552734375
        ],
        "velocity": [
            -0.4622354507446289,
            0.12257222086191177,
            -0.009532690048217773
        ],
        "speed": 0.47821079165166436,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.545281410217285,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -6.906479393364862e-05,
                -4.535280095296912e-05,
                -0.00032424251548945904
            ],
            "speed_kmh": 0.0012045754455057456,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6746796369552612,
                "transform": {
                    "location": {
                        "x": 2185.09521484375,
                        "y": 2459.61328125,
                        "z": 364.7652282714844
                    },
                    "rotation": {
                        "roll": 0.004461813252419233,
                        "pitch": 0.55032879114151,
                        "yaw": 90.6695785522461
                    }
                },
                "velocity": {
                    "x": -0.01657181605696678,
                    "y": 1.67451012134552,
                    "z": 0.01712038926780224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.68510901927948,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2551.978271484375,
                        "z": 365.15240478515625
                    },
                    "rotation": {
                        "roll": -0.006225594785064459,
                        "pitch": -0.1995849460363388,
                        "yaw": -89.51329803466797
                    }
                },
                "velocity": {
                    "x": 0.002964768558740616,
                    "y": -0.6850990056991577,
                    "z": 0.0022199535742402077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009810577612370253,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -1.7379278460794012e-08,
                    "y": -3.0698625778313726e-05,
                    "z": 0.0009805773152038455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004626463633030653,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -4.6523062337655574e-05,
                    "y": 2.0895759007544257e-06,
                    "z": 0.0004602965200319886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000899788923561573,
                "transform": {
                    "location": {
                        "x": 2187.935302734375,
                        "y": 2540.6484375,
                        "z": 365.1541442871094
                    },
                    "rotation": {
                        "roll": 0.002680060686543584,
                        "pitch": -0.03393237665295601,
                        "yaw": -91.93313598632812
                    }
                },
                "velocity": {
                    "x": -6.762323755538091e-05,
                    "y": 4.3129217374371365e-05,
                    "z": 0.0008962070569396019
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000334604294039309,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.9876794219017029,
                        "yaw": -0.2050170749425888
                    }
                },
                "velocity": {
                    "x": -6.906479393364862e-05,
                    "y": -4.535280095296912e-05,
                    "z": -0.00032424251548945904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.275672435760498,
                "transform": {
                    "location": {
                        "x": 2221.919677734375,
                        "y": 2524.280517578125,
                        "z": 366.0901794433594
                    },
                    "rotation": {
                        "roll": -0.01724242977797985,
                        "pitch": -1.7055937051773071,
                        "yaw": -179.52102661132812
                    }
                },
                "velocity": {
                    "x": -2.2746269702911377,
                    "y": 0.005413532722741365,
                    "z": -0.06875930726528168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.225438117980957,
                "transform": {
                    "location": {
                        "x": 2187.8642578125,
                        "y": 2566.63427734375,
                        "z": 365.1380920410156
                    },
                    "rotation": {
                        "roll": -0.000762954237870872,
                        "pitch": 0.3490636348724365,
                        "yaw": -89.88864135742188
                    }
                },
                "velocity": {
                    "x": 0.01109295804053545,
                    "y": -2.225391149520874,
                    "z": 0.009261502884328365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0016974294558167458,
                "transform": {
                    "location": {
                        "x": 2150.386474609375,
                        "y": 2527.359375,
                        "z": 364.7464294433594
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.4891029894351959,
                        "yaw": 0.08496605604887009
                    }
                },
                "velocity": {
                    "x": -0.001361030270345509,
                    "y": 0.00025760428979992867,
                    "z": 0.0009810726623982191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002987103071063757,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.5555433492409065e-05,
                    "y": -1.9366083506611176e-05,
                    "z": 0.0002976757241412997
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013215701619628817,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 8.75502792041516e-06,
                    "y": -4.560383786156308e-07,
                    "z": -0.00013186591968405992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0024262256920337677,
                "transform": {
                    "location": {
                        "x": 2210.579345703125,
                        "y": 2524.288818359375,
                        "z": 365.77972412109375
                    },
                    "rotation": {
                        "roll": -0.00384521484375,
                        "pitch": -1.4777113199234009,
                        "yaw": -179.9912872314453
                    }
                },
                "velocity": {
                    "x": 0.0015666332328692079,
                    "y": 8.28798147267662e-06,
                    "z": 0.0018526095664128661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9090247750282288,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2500.37841796875,
                        "z": 365.0819091796875
                    },
                    "rotation": {
                        "roll": -0.001159660518169403,
                        "pitch": 0.2277253270149231,
                        "yaw": 90.24530029296875
                    }
                },
                "velocity": {
                    "x": 0.003105870448052883,
                    "y": 0.90901118516922,
                    "z": 0.003877820912748575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14085650444030762,
                "transform": {
                    "location": {
                        "x": 2184.9970703125,
                        "y": 2509.466796875,
                        "z": 365.1220703125
                    },
                    "rotation": {
                        "roll": 8.670522947795689e-05,
                        "pitch": 0.1992434412240982,
                        "yaw": 89.76958465576172
                    }
                },
                "velocity": {
                    "x": -0.000288463692413643,
                    "y": 0.14085496962070465,
                    "z": 0.0005879306700080633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.273544128518552e-05,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5171813964844
                    },
                    "rotation": {
                        "roll": -0.0322875939309597,
                        "pitch": -1.426997184753418,
                        "yaw": -178.8193359375
                    }
                },
                "velocity": {
                    "x": -5.571886867983267e-05,
                    "y": -9.95097798295319e-06,
                    "z": 7.3459159466438e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5562260746955872,
        "expert_target_speed": 1.658682302747607,
        "target_point": [
            29.449754575893873,
            6.76554477131916
        ],
        "target_point_next": [
            29.449754575893873,
            6.76554477131916
        ]
    },
    "510": {
        "acceleration": [
            -3.8608312606811523,
            0.9722447395324707,
            -0.06562851369380951
        ],
        "angular_velocity": [
            0.16740044951438904,
            0.7363306283950806,
            1.0376445055007935
        ],
        "forward_vector": [
            -0.9649562835693359,
            0.26201683282852173,
            -0.014373045414686203
        ],
        "right_vector": [
            -0.26197123527526855,
            -0.96506267786026,
            -0.005000838544219732
        ],
        "location": [
            2178.1337890625,
            2523.35009765625,
            365.01904296875
        ],
        "rotation": [
            0.28655773401260376,
            -0.8235431909561157,
            164.80862426757812
        ],
        "velocity": [
            -1.383893609046936,
            0.3559017777442932,
            -0.027949661016464233
        ],
        "speed": 1.4289253292465993,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.317482948303223,
        "front_vehicle_info": {
            "id": 82367,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.83056640625,
                2527.328125,
                364.8821105957031
            ],
            "velocity": [
                -3.72315917047672e-05,
                -1.1930367691093124e-05,
                6.0908307204954326e-05
            ],
            "speed_kmh": 0.00026055513211165087,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.17279052734375,
                "transform": {
                    "location": {
                        "x": 2185.09130859375,
                        "y": 2460.085205078125,
                        "z": 364.770263671875
                    },
                    "rotation": {
                        "roll": 0.007585749961435795,
                        "pitch": 0.6250783801078796,
                        "yaw": 90.62701416015625
                    }
                },
                "velocity": {
                    "x": -0.01945158839225769,
                    "y": 2.1725943088531494,
                    "z": 0.02176792174577713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6907751560211182,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2551.6708984375,
                        "z": 365.1535949707031
                    },
                    "rotation": {
                        "roll": 0.0020822561345994473,
                        "pitch": 0.16794751584529877,
                        "yaw": -89.57829284667969
                    }
                },
                "velocity": {
                    "x": 0.004580401349812746,
                    "y": -1.69076669216156,
                    "z": 0.0027923965826630592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003188445698469877,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -9.398817928740755e-05,
                    "y": 2.509437399567105e-05,
                    "z": 0.0003036418347619474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015968132356647402,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -4.098228964721784e-05,
                    "y": -1.3338634744286537e-05,
                    "z": 0.00015375518705695868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011233375407755375,
                "transform": {
                    "location": {
                        "x": 2187.935302734375,
                        "y": 2540.6484375,
                        "z": 365.1540222167969
                    },
                    "rotation": {
                        "roll": 0.0013279643608257174,
                        "pitch": -0.012786113657057285,
                        "yaw": -91.93309783935547
                    }
                },
                "velocity": {
                    "x": 1.8951212041429244e-05,
                    "y": 1.7050577298505232e-05,
                    "z": 0.0011230482487007976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.237642421387136e-05,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.9876794219017029,
                        "yaw": -0.2050170749425888
                    }
                },
                "velocity": {
                    "x": -3.72315917047672e-05,
                    "y": -1.1930367691093124e-05,
                    "z": 6.0908307204954326e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1726033687591553,
                "transform": {
                    "location": {
                        "x": 2221.474365234375,
                        "y": 2524.280029296875,
                        "z": 366.07666015625
                    },
                    "rotation": {
                        "roll": -0.015045165084302425,
                        "pitch": -1.7193292379379272,
                        "yaw": -179.6204071044922
                    }
                },
                "velocity": {
                    "x": -2.1716043949127197,
                    "y": -0.004025980830192566,
                    "z": -0.06575608253479004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016491421265527606,
                "transform": {
                    "location": {
                        "x": 2187.865234375,
                        "y": 2566.296142578125,
                        "z": 365.14178466796875
                    },
                    "rotation": {
                        "roll": 0.0009372677886858582,
                        "pitch": 0.09121716767549515,
                        "yaw": -89.86663055419922
                    }
                },
                "velocity": {
                    "x": -0.0002556023246143013,
                    "y": -0.000539436237886548,
                    "z": 0.001537317642942071
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001958064967766404,
                "transform": {
                    "location": {
                        "x": 2150.38818359375,
                        "y": 2527.359375,
                        "z": 364.745849609375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.33278727531433105,
                        "yaw": 0.08493372797966003
                    }
                },
                "velocity": {
                    "x": -0.0015552284894511104,
                    "y": -8.642971079098061e-05,
                    "z": 0.0011865126434713602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010924885282292962,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.0201744771620724e-05,
                    "y": 1.885427536763018e-06,
                    "z": 0.0010924392845481634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003994927683379501,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": 1.1103786164312623e-05,
                    "y": 6.26000337433652e-06,
                    "z": -0.00039928933256305754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005833976902067661,
                "transform": {
                    "location": {
                        "x": 2210.5791015625,
                        "y": 2524.288818359375,
                        "z": 365.7797546386719
                    },
                    "rotation": {
                        "roll": -0.00384521484375,
                        "pitch": -1.4671928882598877,
                        "yaw": -179.99136352539062
                    }
                },
                "velocity": {
                    "x": -0.0005790692521259189,
                    "y": -4.291946424928028e-06,
                    "z": 7.080450450303033e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002310938434675336,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2500.45654296875,
                        "z": 365.08123779296875
                    },
                    "rotation": {
                        "roll": 0.001339222420938313,
                        "pitch": 0.3514336943626404,
                        "yaw": 90.24202728271484
                    }
                },
                "velocity": {
                    "x": -0.00013349023356568068,
                    "y": -0.00018819175602402538,
                    "z": 1.2983917258679867e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1346849948167801,
                "transform": {
                    "location": {
                        "x": 2184.99658203125,
                        "y": 2509.546630859375,
                        "z": 365.1223449707031
                    },
                    "rotation": {
                        "roll": -0.0025634909979999065,
                        "pitch": 0.20164766907691956,
                        "yaw": 89.7161636352539
                    }
                },
                "velocity": {
                    "x": -2.7197191229788586e-05,
                    "y": 0.1346849650144577,
                    "z": 9.418487024959177e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.720688932342455e-05,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.032958984375,
                        "pitch": -1.427181601524353,
                        "yaw": -178.8193817138672
                    }
                },
                "velocity": {
                    "x": -4.649400580092333e-05,
                    "y": -1.8935877506010002e-06,
                    "z": -3.3276872272836044e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82378,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.64599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 1.2228262846747384e-07,
                    "y": -2.68819105864182e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.46571382880210876,
        "expert_target_speed": 2.6039998999920733,
        "target_point": [
            29.22579918071259,
            6.717619422540333
        ],
        "target_point_next": [
            29.22579918071259,
            6.717619422540333
        ]
    },
    "515": {
        "acceleration": [
            -5.716114044189453,
            1.2709593772888184,
            -0.1083926111459732
        ],
        "angular_velocity": [
            0.01601422019302845,
            0.7168781757354736,
            1.787407636642456
        ],
        "forward_vector": [
            -0.9663606882095337,
            0.2569108307361603,
            -0.011993000283837318
        ],
        "right_vector": [
            -0.2568740248680115,
            -0.9664342403411865,
            -0.004539895337074995
        ],
        "location": [
            2177.649658203125,
            2523.47265625,
            365.0085754394531
        ],
        "rotation": [
            0.2601364254951477,
            -0.6871647834777832,
            165.112060546875
        ],
        "velocity": [
            -2.5153698921203613,
            0.6182883381843567,
            -0.05090879648923874
        ],
        "speed": 2.5902444215402474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.8013916015625,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.862548828125,
                2524.4892578125,
                364.7934265136719
            ],
            "velocity": [
                8.652657015773002e-06,
                1.8318767615710385e-05,
                0.00039701038622297347
            ],
            "speed_kmh": 0.0014310970947707918,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004234498366713524,
                "transform": {
                    "location": {
                        "x": 2185.088623046875,
                        "y": 2460.4736328125,
                        "z": 364.77374267578125
                    },
                    "rotation": {
                        "roll": 0.005069769453257322,
                        "pitch": 0.31140878796577454,
                        "yaw": 90.42835235595703
                    }
                },
                "velocity": {
                    "x": -3.725531496456824e-05,
                    "y": 0.004205716773867607,
                    "z": -0.0004914614255540073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.143221616744995,
                "transform": {
                    "location": {
                        "x": 2187.903564453125,
                        "y": 2551.1494140625,
                        "z": 365.1545715332031
                    },
                    "rotation": {
                        "roll": 0.0014674441190436482,
                        "pitch": 0.18250948190689087,
                        "yaw": -89.79729461669922
                    }
                },
                "velocity": {
                    "x": 0.0052397954277694225,
                    "y": -2.14321231842041,
                    "z": 0.003462305059656501
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011111532803624868,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -3.8839141780044883e-05,
                    "y": -3.490373273962177e-05,
                    "z": 0.0011099255643785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9424640413490124e-05,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -1.584850178915076e-05,
                    "y": 1.937772594828857e-06,
                    "z": 1.106285253626993e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011394157772883773,
                "transform": {
                    "location": {
                        "x": 2187.935302734375,
                        "y": 2540.6484375,
                        "z": 365.1539611816406
                    },
                    "rotation": {
                        "roll": 0.0009923127945512533,
                        "pitch": -0.00787520781159401,
                        "yaw": -91.93309783935547
                    }
                },
                "velocity": {
                    "x": 2.4630866391817108e-05,
                    "y": 3.765904693864286e-06,
                    "z": 0.0011391433654353023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.294325430644676e-05,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.9876794219017029,
                        "yaw": -0.2050170749425888
                    }
                },
                "velocity": {
                    "x": -5.723565845983103e-05,
                    "y": 1.8717879356699996e-05,
                    "z": 1.8318660295335576e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5868638753890991,
                "transform": {
                    "location": {
                        "x": 2221.243896484375,
                        "y": 2524.27587890625,
                        "z": 366.06976318359375
                    },
                    "rotation": {
                        "roll": -0.005706785712391138,
                        "pitch": -1.7407145500183105,
                        "yaw": -179.98423767089844
                    }
                },
                "velocity": {
                    "x": -1.5861843824386597,
                    "y": -0.007923564873635769,
                    "z": -0.04575388506054878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2062697410583496,
                "transform": {
                    "location": {
                        "x": 2187.8662109375,
                        "y": 2566.109375,
                        "z": 365.1409606933594
                    },
                    "rotation": {
                        "roll": 0.00016119182691909373,
                        "pitch": 0.2886301279067993,
                        "yaw": -89.85943603515625
                    }
                },
                "velocity": {
                    "x": 0.0059401653707027435,
                    "y": -1.2062450647354126,
                    "z": 0.004914750810712576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001692457590252161,
                "transform": {
                    "location": {
                        "x": 2150.388671875,
                        "y": 2527.359375,
                        "z": 364.7455749511719
                    },
                    "rotation": {
                        "roll": 1.3027684833688546e-11,
                        "pitch": -0.25854313373565674,
                        "yaw": 0.08491566777229309
                    }
                },
                "velocity": {
                    "x": -0.00046121561899781227,
                    "y": 6.073146141716279e-05,
                    "z": 0.0016272690845653415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003975269792135805,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 8.652657015773002e-06,
                    "y": 1.8318767615710385e-05,
                    "z": 0.00039701038622297347
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007723940070718527,
                "transform": {
                    "location": {
                        "x": 2130.07958984375,
                        "y": 2524.565673828125,
                        "z": 364.8306884765625
                    },
                    "rotation": {
                        "roll": 0.00029081007232889533,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.97447204589844
                    }
                },
                "velocity": {
                    "x": -4.079602604178945e-06,
                    "y": 1.3785231203655712e-05,
                    "z": -0.0007722601876594126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006684429827146232,
                "transform": {
                    "location": {
                        "x": 2210.579833984375,
                        "y": 2524.288818359375,
                        "z": 365.78033447265625
                    },
                    "rotation": {
                        "roll": -0.003784178989008069,
                        "pitch": -1.5377691984176636,
                        "yaw": -179.99143981933594
                    }
                },
                "velocity": {
                    "x": -0.00044271169463172555,
                    "y": 2.598758328531403e-05,
                    "z": 0.0005001469398848712
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000682561076246202,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2500.456298828125,
                        "z": 365.08160400390625
                    },
                    "rotation": {
                        "roll": -0.0006408594199456275,
                        "pitch": 0.3035677373409271,
                        "yaw": 90.24203491210938
                    }
                },
                "velocity": {
                    "x": -5.788996713818051e-05,
                    "y": -0.00012297921057324857,
                    "z": 0.000668890483211726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1378700733184814,
                "transform": {
                    "location": {
                        "x": 2184.996826171875,
                        "y": 2509.72021484375,
                        "z": 365.1236572265625
                    },
                    "rotation": {
                        "roll": -0.0004882893990725279,
                        "pitch": 0.11211755126714706,
                        "yaw": 89.74186706542969
                    }
                },
                "velocity": {
                    "x": 0.0006741766701452434,
                    "y": 1.1378668546676636,
                    "z": 0.0026257133577018976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.197440234245732e-05,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.032958984375,
                        "pitch": -1.427181601524353,
                        "yaw": -178.8193817138672
                    }
                },
                "velocity": {
                    "x": -4.136681309319101e-05,
                    "y": 1.166957645182265e-06,
                    "z": -4.613297278410755e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82378,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15549211204051971,
                "transform": {
                    "location": {
                        "x": 2236.938720703125,
                        "y": 2524.330322265625,
                        "z": 366.5260925292969
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -1.7681241035461426,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.0047862413339316845,
                    "y": 6.305438000708818e-05,
                    "z": 0.15541842579841614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3722415268421173,
        "expert_target_speed": 3.7488914520669305,
        "target_point": [
            28.76159647144171,
            6.5568105590891195
        ],
        "target_point_next": [
            28.76159647144171,
            6.5568105590891195
        ]
    },
    "520": {
        "acceleration": [
            -6.508364677429199,
            0.9322857856750488,
            -0.13141483068466187
        ],
        "angular_velocity": [
            -0.36361491680145264,
            0.6369332075119019,
            4.9711384773254395
        ],
        "forward_vector": [
            -0.9700449705123901,
            0.24278369545936584,
            -0.008295678533613682
        ],
        "right_vector": [
            -0.24276749789714813,
            -0.9700800776481628,
            -0.0029196529649198055
        ],
        "location": [
            2176.797119140625,
            2523.67333984375,
            364.9908142089844
        ],
        "rotation": [
            0.16728977859020233,
            -0.47531282901763916,
            165.9486083984375
        ],
        "velocity": [
            -4.217316627502441,
            0.9287912249565125,
            -0.0846562385559082
        ],
        "speed": 4.318380793325756,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.94411087036133,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.862548828125,
                2524.4892578125,
                364.7934265136719
            ],
            "velocity": [
                9.644888450566214e-06,
                -1.171022631751839e-05,
                0.00015667143452446908
            ],
            "speed_kmh": 0.0005666552285453998,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82375,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1925219297409058,
                "transform": {
                    "location": {
                        "x": 2185.087158203125,
                        "y": 2460.6572265625,
                        "z": 364.7758483886719
                    },
                    "rotation": {
                        "roll": 0.004826963413506746,
                        "pitch": 0.5956265926361084,
                        "yaw": 90.37535095214844
                    }
                },
                "velocity": {
                    "x": -0.008309764787554741,
                    "y": 1.1924288272857666,
                    "z": 0.012364635244011879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82373,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021952283568680286,
                "transform": {
                    "location": {
                        "x": 2187.904052734375,
                        "y": 2550.98046875,
                        "z": 365.1544494628906
                    },
                    "rotation": {
                        "roll": 0.0010697474936023355,
                        "pitch": -0.12549105286598206,
                        "yaw": -89.90682983398438
                    }
                },
                "velocity": {
                    "x": -0.00025305390590801835,
                    "y": 0.0020115619990974665,
                    "z": 0.000841789529658854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82372,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.517743845004588e-05,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.991455078125,
                        "z": 364.8727722167969
                    },
                    "rotation": {
                        "roll": -0.0006103904452174902,
                        "pitch": 0.4900933802127838,
                        "yaw": 90.00785064697266
                    }
                },
                "velocity": {
                    "x": -6.949037924641743e-05,
                    "y": -2.6224330213153735e-05,
                    "z": 4.169613021076657e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005882858531549573,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -2.0039602532051504e-05,
                    "y": 1.8408516552881338e-05,
                    "z": 0.0005876561626791954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82369,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2481.12109375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": -0.0008545061573386192,
                        "pitch": 0.4426850378513336,
                        "yaw": 90.05748748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82368,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019004563800990582,
                "transform": {
                    "location": {
                        "x": 2187.935302734375,
                        "y": 2540.6484375,
                        "z": 365.1539611816406
                    },
                    "rotation": {
                        "roll": 0.0005633402615785599,
                        "pitch": -0.006775547284632921,
                        "yaw": -91.93309783935547
                    }
                },
                "velocity": {
                    "x": -4.305380571167916e-06,
                    "y": -4.196643658360699e-06,
                    "z": 0.0019004468340426683
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001146136928582564,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.9873310923576355,
                        "yaw": -0.2047424167394638
                    }
                },
                "velocity": {
                    "x": -2.252876765851397e-05,
                    "y": -2.951507303805556e-05,
                    "z": -0.00010843253403436393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82376,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3115830421447754,
                "transform": {
                    "location": {
                        "x": 2220.803466796875,
                        "y": 2524.27734375,
                        "z": 366.0566711425781
                    },
                    "rotation": {
                        "roll": -0.006042480934411287,
                        "pitch": -1.725612998008728,
                        "yaw": -179.82070922851562
                    }
                },
                "velocity": {
                    "x": -1.3110015392303467,
                    "y": 0.007619988638907671,
                    "z": -0.038300640881061554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 82377,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9808008670806885,
                "transform": {
                    "location": {
                        "x": 2187.8681640625,
                        "y": 2565.711181640625,
                        "z": 365.1424255371094
                    },
                    "rotation": {
                        "roll": 0.0007584302220493555,
                        "pitch": 0.3282656967639923,
                        "yaw": -89.85460662841797
                    }
                },
                "velocity": {
                    "x": 0.006257182918488979,
                    "y": -1.980776309967041,
                    "z": 0.007640685886144638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00043496020953170955,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.7455139160156
                    },
                    "rotation": {
                        "roll": 1.3027669221177263e-11,
                        "pitch": -0.2434074431657791,
                        "yaw": 0.08490552008152008
                    }
                },
                "velocity": {
                    "x": -0.0002227833028882742,
                    "y": 0.00030447833705693483,
                    "z": 0.0002164507459383458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82364,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.13330078125,
                        "z": 365.0273742675781
                    },
                    "rotation": {
                        "roll": -3.05096782540204e-05,
                        "pitch": 0.3633728623390198,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015740422531962395,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 9.644888450566214e-06,
                    "y": -1.171022631751839e-05,
                    "z": 0.00015667143452446908
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.264412522315979,
                "transform": {
                    "location": {
                        "x": 2130.06494140625,
                        "y": 2524.565673828125,
                        "z": 364.830810546875
                    },
                    "rotation": {
                        "roll": 0.0010761278681457043,
                        "pitch": 0.20121052861213684,
                        "yaw": 179.9790802001953
                    }
                },
                "velocity": {
                    "x": -0.26434770226478577,
                    "y": -0.005825126077979803,
                    "z": 0.0005850219749845564
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82371,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004993138136342168,
                "transform": {
                    "location": {
                        "x": 2210.579833984375,
                        "y": 2524.288818359375,
                        "z": 365.7804260253906
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -1.5450979471206665,
                        "yaw": -179.99143981933594
                    }
                },
                "velocity": {
                    "x": 1.489639271312626e-05,
                    "y": 3.0434070140472613e-05,
                    "z": 0.000498162757139653
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82352,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0803181380033493,
                "transform": {
                    "location": {
                        "x": 2184.99951171875,
                        "y": 2500.462646484375,
                        "z": 365.0816955566406
                    },
                    "rotation": {
                        "roll": 0.00018084222392644733,
                        "pitch": 0.28906041383743286,
                        "yaw": 90.2416763305664
                    }
                },
                "velocity": {
                    "x": 4.42929522250779e-05,
                    "y": 0.08029945939779282,
                    "z": 0.0017315673176199198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82351,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3260818719863892,
                "transform": {
                    "location": {
                        "x": 2184.998291015625,
                        "y": 2510.05078125,
                        "z": 365.1242370605469
                    },
                    "rotation": {
                        "roll": 0.0016323346644639969,
                        "pitch": 0.15776370465755463,
                        "yaw": 89.93412017822266
                    }
                },
                "velocity": {
                    "x": -0.0020516470540314913,
                    "y": 1.3260756731033325,
                    "z": 0.003479385282844305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82366,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.013948874780908e-05,
                "transform": {
                    "location": {
                        "x": 2200.40478515625,
                        "y": 2524.27783203125,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.032958984375,
                        "pitch": -1.427181601524353,
                        "yaw": -178.8193817138672
                    }
                },
                "velocity": {
                    "x": -4.580899985739961e-05,
                    "y": 1.3603463230538182e-05,
                    "z": 7.643042044946924e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82378,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0775607824325562,
                "transform": {
                    "location": {
                        "x": 2236.85205078125,
                        "y": 2524.3291015625,
                        "z": 366.551513671875
                    },
                    "rotation": {
                        "roll": -0.006805418990552425,
                        "pitch": -1.6258512735366821,
                        "yaw": 179.95228576660156
                    }
                },
                "velocity": {
                    "x": -1.0772734880447388,
                    "y": -0.008330761454999447,
                    "z": 0.02344621531665325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12840133905410767,
        "expert_target_speed": 5.407957002240143,
        "target_point": [
            27.978504767691465,
            6.123888824224445
        ],
        "target_point_next": [
            27.978504767691465,
            6.123888824224445
        ]
    },
    "525": {
        "acceleration": [
            -0.1616954803466797,
            -0.6510055065155029,
            -0.03137320280075073
        ],
        "angular_velocity": [
            -0.8148654699325562,
            -1.5375288724899292,
            11.301462173461914
        ],
        "forward_vector": [
            -0.9770380258560181,
            0.2128826528787613,
            -0.008816007524728775
        ],
        "right_vector": [
            -0.21288785338401794,
            -0.9770765900611877,
            -0.0003544772043824196
        ],
        "location": [
            2175.552490234375,
            2523.927490234375,
            364.9664001464844
        ],
        "rotation": [
            0.020310835912823677,
            -0.5051265954971313,
            167.7081756591797
        ],
        "velocity": [
            -5.39216423034668,
            0.9933409094810486,
            -0.10693875700235367
        ],
        "speed": 5.4828971583897905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.69478225708008,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.862548828125,
                2524.4892578125,
                364.7934265136719
            ],
            "velocity": [
                2.2162495952215977e-05,
                -1.6741178114898503e-06,
                0.00046505918726325035
            ],
            "speed_kmh": 0.0016761239167065866,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003478500584606081,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -4.257358523318544e-05,
                    "y": -3.0241992135415785e-05,
                    "z": 0.00034390779910609126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00039513278170488775,
                "transform": {
                    "location": {
                        "x": 2170.83056640625,
                        "y": 2527.328125,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.9873310923576355,
                        "yaw": -0.2047424167394638
                    }
                },
                "velocity": {
                    "x": -4.065439134137705e-05,
                    "y": -8.823388270684518e-06,
                    "z": 0.0003929367521777749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00044281958253122866,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.7454528808594
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.2291869819164276,
                        "yaw": 0.0848909243941307
                    }
                },
                "velocity": {
                    "x": -5.417093416326679e-05,
                    "y": -5.6667104217922315e-05,
                    "z": 0.00043582511716522276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00046558998292312026,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 2.2162495952215977e-05,
                    "y": -1.6741178114898503e-06,
                    "z": 0.00046505918726325035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0285905599594116,
                "transform": {
                    "location": {
                        "x": 2129.906494140625,
                        "y": 2524.56396484375,
                        "z": 364.8319396972656
                    },
                    "rotation": {
                        "roll": 0.001951957237906754,
                        "pitch": 0.1487683355808258,
                        "yaw": -179.96725463867188
                    }
                },
                "velocity": {
                    "x": -1.0285240411758423,
                    "y": -0.011526142247021198,
                    "z": 0.0019879627507179976
                },
                "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": -0.020650090649724007,
        "expert_target_speed": 6.470878411189477,
        "target_point": [
            26.883147894125692,
            5.245252012170232
        ],
        "target_point_next": [
            26.883147894125692,
            5.245252012170232
        ]
    },
    "530": {
        "acceleration": [
            -8.640613555908203,
            0.3295552730560303,
            -0.187063068151474
        ],
        "angular_velocity": [
            -0.3313968777656555,
            1.773861289024353,
            8.125469207763672
        ],
        "forward_vector": [
            -0.9840809106826782,
            0.17743898928165436,
            -0.010005306452512741
        ],
        "right_vector": [
            -0.1774647831916809,
            -0.984125554561615,
            0.0017448150319978595
        ],
        "location": [
            2174.1044921875,
            2524.17333984375,
            364.9378356933594
        ],
        "rotation": [
            -0.0999755933880806,
            -0.5732713937759399,
            169.7788543701172
        ],
        "velocity": [
            -6.7333502769470215,
            0.9964511394500732,
            -0.133696511387825
        ],
        "speed": 6.806682071712611,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.24370574951172,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.862548828125,
                2524.4892578125,
                364.7934265136719
            ],
            "velocity": [
                1.314621385972714e-05,
                -3.1495817438553786e-06,
                -9.128186320594978e-06
            ],
            "speed_kmh": 5.8721571845914224e-05,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013870170805603266,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -4.6347081479325425e-06,
                    "y": -3.319760435260832e-05,
                    "z": 0.0013866120716556907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2732165455818176,
                "transform": {
                    "location": {
                        "x": 2170.851318359375,
                        "y": 2527.328125,
                        "z": 364.8825378417969
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": 1.0208195447921753,
                        "yaw": -0.205535888671875
                    }
                },
                "velocity": {
                    "x": 0.2731733024120331,
                    "y": -0.00182118930388242,
                    "z": 0.004507160279899836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004943003295920789,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.74542236328125
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.22579921782016754,
                        "yaw": 0.08488067984580994
                    }
                },
                "velocity": {
                    "x": -5.982592483633198e-05,
                    "y": 5.172745295567438e-05,
                    "z": 0.0004879323241766542
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.63115473696962e-05,
                "transform": {
                    "location": {
                        "x": 2139.862548828125,
                        "y": 2524.4892578125,
                        "z": 364.7934265136719
                    },
                    "rotation": {
                        "roll": 1.559252996230498e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": -179.83164978027344
                    }
                },
                "velocity": {
                    "x": 1.314621385972714e-05,
                    "y": -3.1495817438553786e-06,
                    "z": -9.128186320594978e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8534908294677734,
                "transform": {
                    "location": {
                        "x": 2129.54443359375,
                        "y": 2524.560791015625,
                        "z": 364.83343505859375
                    },
                    "rotation": {
                        "roll": 0.0032993608620017767,
                        "pitch": 0.13223928213119507,
                        "yaw": -179.84872436523438
                    }
                },
                "velocity": {
                    "x": -1.853352665901184,
                    "y": -0.02167108654975891,
                    "z": 0.006509323138743639
                },
                "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": 0.13031838834285736,
        "expert_target_speed": 7.581302840442032,
        "target_point": [
            25.586469629107008,
            4.255499422639584
        ],
        "target_point_next": [
            25.586469629107008,
            4.255499422639584
        ]
    },
    "535": {
        "acceleration": [
            -5.520362854003906,
            -0.8636915683746338,
            -0.07792472839355469
        ],
        "angular_velocity": [
            -0.8587630987167358,
            0.5499746203422546,
            13.638814926147461
        ],
        "forward_vector": [
            -0.991362452507019,
            0.1309187412261963,
            -0.0077923936769366264
        ],
        "right_vector": [
            -0.1309606432914734,
            -0.9913742542266846,
            0.005133330821990967
        ],
        "location": [
            2172.24267578125,
            2524.4169921875,
            364.9019775390625
        ],
        "rotation": [
            -0.2941283881664276,
            -0.4464757740497589,
            172.47708129882812
        ],
        "velocity": [
            -8.105902671813965,
            0.8578691482543945,
            -0.14748486876487732
        ],
        "speed": 8.151171547725363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.39528274536133,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.84765625,
                2524.4892578125,
                364.7936096191406
            ],
            "velocity": [
                -0.23042155802249908,
                -0.00056438148021698,
                0.002078094519674778
            ],
            "speed_kmh": 0.8295538312889994,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001411279517924413,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0025231672916561365,
                        "pitch": 0.3229791522026062,
                        "yaw": 0.2277025729417801
                    }
                },
                "velocity": {
                    "x": -3.046952042495832e-05,
                    "y": -2.4961902454379015e-05,
                    "z": 0.00013551977463066578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.036865472793579,
                "transform": {
                    "location": {
                        "x": 2171.025634765625,
                        "y": 2527.327392578125,
                        "z": 364.8857727050781
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 1.1011903285980225,
                        "yaw": -0.17691035568714142
                    }
                },
                "velocity": {
                    "x": 1.0367168188095093,
                    "y": -0.00335606443695724,
                    "z": 0.017237091436982155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.73325703246519e-05,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.74542236328125
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.22579921782016754,
                        "yaw": 0.08488067984580994
                    }
                },
                "velocity": {
                    "x": -3.9474070945288986e-05,
                    "y": -1.255660299648298e-05,
                    "z": 5.308299296302721e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.23043161630630493,
                "transform": {
                    "location": {
                        "x": 2139.84765625,
                        "y": 2524.4892578125,
                        "z": 364.7936096191406
                    },
                    "rotation": {
                        "roll": 0.001175298122689128,
                        "pitch": 0.20199599862098694,
                        "yaw": -179.8367462158203
                    }
                },
                "velocity": {
                    "x": -0.23042155802249908,
                    "y": -0.00056438148021698,
                    "z": 0.002078094519674778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7547338008880615,
                "transform": {
                    "location": {
                        "x": 2128.963623046875,
                        "y": 2524.55517578125,
                        "z": 364.8356018066406
                    },
                    "rotation": {
                        "roll": 0.004483406897634268,
                        "pitch": 0.129124715924263,
                        "yaw": -179.71859741210938
                    }
                },
                "velocity": {
                    "x": -2.7545225620269775,
                    "y": -0.03258674591779709,
                    "z": 0.010111532174050808
                },
                "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": 0.24733346700668335,
        "expert_target_speed": 8.607715474616747,
        "target_point": [
            23.880741982800515,
            3.0440867666202527
        ],
        "target_point_next": [
            23.880741982800515,
            3.0440867666202527
        ]
    },
    "540": {
        "acceleration": [
            -6.451702117919922,
            -1.5092265605926514,
            0.004282891750335693
        ],
        "angular_velocity": [
            -0.8323658108711243,
            0.9261696338653564,
            11.836186408996582
        ],
        "forward_vector": [
            -0.9968481659889221,
            0.07897637784481049,
            -0.00751261692494154
        ],
        "right_vector": [
            -0.07904070615768433,
            -0.9968335032463074,
            0.008689540438354015
        ],
        "location": [
            2170.11767578125,
            2524.596435546875,
            364.864013671875
        ],
        "rotation": [
            -0.497894287109375,
            -0.4304453134536743,
            175.4701385498047
        ],
        "velocity": [
            -9.18330192565918,
            0.5091891288757324,
            -0.15818974375724792
        ],
        "speed": 9.197407668836954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.43386459350586,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.68408203125,
                2524.48828125,
                364.7948303222656
            ],
            "velocity": [
                -1.0774779319763184,
                -0.004094897303730249,
                0.0026187896728515625
            ],
            "speed_kmh": 3.87896002415655,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.010450939647853374,
                "transform": {
                    "location": {
                        "x": 2160.7958984375,
                        "y": 2527.3486328125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0027160998433828354,
                        "pitch": 0.3254038691520691,
                        "yaw": 0.23614780604839325
                    }
                },
                "velocity": {
                    "x": -0.01039205677807331,
                    "y": 0.00024290704459417611,
                    "z": 0.0010808754013851285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9668538570404053,
                "transform": {
                    "location": {
                        "x": 2171.418701171875,
                        "y": 2527.326416015625,
                        "z": 364.8929748535156
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": 1.1531885862350464,
                        "yaw": -0.1708679050207138
                    }
                },
                "velocity": {
                    "x": 1.9665104150772095,
                    "y": -0.005263012368232012,
                    "z": 0.03637697920203209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00030288140987977386,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.74542236328125
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.2233266830444336,
                        "yaw": 0.08485795557498932
                    }
                },
                "velocity": {
                    "x": -2.2021755285095423e-05,
                    "y": -5.66534508834593e-05,
                    "z": 0.0002967196924146265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.077488899230957,
                "transform": {
                    "location": {
                        "x": 2139.68408203125,
                        "y": 2524.48828125,
                        "z": 364.7948303222656
                    },
                    "rotation": {
                        "roll": 0.0009803962893784046,
                        "pitch": 0.1454898566007614,
                        "yaw": -179.82579040527344
                    }
                },
                "velocity": {
                    "x": -1.0774779319763184,
                    "y": -0.004094897303730249,
                    "z": 0.0026187896728515625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.773522138595581,
                "transform": {
                    "location": {
                        "x": 2128.148681640625,
                        "y": 2524.546630859375,
                        "z": 364.8388977050781
                    },
                    "rotation": {
                        "roll": 0.004262681119143963,
                        "pitch": 0.11736313253641129,
                        "yaw": -179.5879364013672
                    }
                },
                "velocity": {
                    "x": -3.7732319831848145,
                    "y": -0.04472192004323006,
                    "z": 0.013729257509112358
                },
                "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": 0.22792170941829681,
        "expert_target_speed": 9.320445470470009,
        "target_point": [
            21.87457844152735,
            1.8040509820753674
        ],
        "target_point_next": [
            21.87457844152735,
            1.8040509820753674
        ]
    },
    "545": {
        "acceleration": [
            -1.795196533203125,
            -1.525728464126587,
            0.24272143840789795
        ],
        "angular_velocity": [
            -0.16458512842655182,
            0.12473183870315552,
            13.06043815612793
        ],
        "forward_vector": [
            -0.9996339082717896,
            0.025671452283859253,
            -0.008538023568689823
        ],
        "right_vector": [
            -0.02576126530766487,
            -0.9996120929718018,
            0.010580687783658504
        ],
        "location": [
            2167.716796875,
            2524.681884765625,
            364.8251953125
        ],
        "rotation": [
            -0.6062621474266052,
            -0.48919862508773804,
            178.52891540527344
        ],
        "velocity": [
            -9.874135971069336,
            0.11080916225910187,
            -0.13878904283046722
        ],
        "speed": 9.874757710729208,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.39716911315918,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2139.3203125,
                2524.487060546875,
                364.79620361328125
            ],
            "velocity": [
                -1.8472567796707153,
                -0.00787039939314127,
                0.006226234138011932
            ],
            "speed_kmh": 6.650222538912493,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5630852580070496,
                "transform": {
                    "location": {
                        "x": 2160.861572265625,
                        "y": 2527.3486328125,
                        "z": 364.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0042359190993011,
                        "pitch": 0.4010140299797058,
                        "yaw": 0.2699151933193207
                    }
                },
                "velocity": {
                    "x": 0.5630722641944885,
                    "y": -5.074225191492587e-05,
                    "z": 0.0038254735991358757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3215746879577637,
                "transform": {
                    "location": {
                        "x": 2172.068603515625,
                        "y": 2527.32470703125,
                        "z": 364.9049072265625
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 1.2534079551696777,
                        "yaw": -0.1613769382238388
                    }
                },
                "velocity": {
                    "x": 3.320998430252075,
                    "y": -0.008428087458014488,
                    "z": 0.06130072474479675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00040161353535950184,
                "transform": {
                    "location": {
                        "x": 2150.388916015625,
                        "y": 2527.359375,
                        "z": 364.74542236328125
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.2233266830444336,
                        "yaw": 0.08485795557498932
                    }
                },
                "velocity": {
                    "x": 4.890572017757222e-05,
                    "y": 8.62740125739947e-05,
                    "z": 0.0003891766245942563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8472840785980225,
                "transform": {
                    "location": {
                        "x": 2139.3203125,
                        "y": 2524.487060546875,
                        "z": 364.79620361328125
                    },
                    "rotation": {
                        "roll": 0.0015951275127008557,
                        "pitch": 0.13472548127174377,
                        "yaw": -179.81809997558594
                    }
                },
                "velocity": {
                    "x": -1.8472567796707153,
                    "y": -0.00787039939314127,
                    "z": 0.006226234138011932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.883734703063965,
                "transform": {
                    "location": {
                        "x": 2127.058349609375,
                        "y": 2524.537109375,
                        "z": 364.8430480957031
                    },
                    "rotation": {
                        "roll": -0.005676268134266138,
                        "pitch": 0.10868196189403534,
                        "yaw": -179.5606231689453
                    }
                },
                "velocity": {
                    "x": -4.883646011352539,
                    "y": -0.02150646410882473,
                    "z": 0.020084485411643982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32444098591804504,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14834587275981903,
        "expert_target_speed": 9.730063107437735,
        "target_point": [
            19.53739742412471,
            0.6580400168978089
        ],
        "target_point_next": [
            19.53739742412471,
            0.6580400168978089
        ]
    },
    "550": {
        "acceleration": [
            -1.3154983520507812,
            -1.0189270973205566,
            0.2404242753982544
        ],
        "angular_velocity": [
            0.5010562539100647,
            0.08150029182434082,
            4.371068954467773
        ],
        "forward_vector": [
            -0.9999220967292786,
            -0.01076456531882286,
            -0.006315784994512796
        ],
        "right_vector": [
            0.010706164874136448,
            -0.9999003410339355,
            0.00920889526605606
        ],
        "location": [
            2165.19775390625,
            2524.677978515625,
            364.7918395996094
        ],
        "rotation": [
            -0.5276488065719604,
            -0.3618702292442322,
            -179.38320922851562
        ],
        "velocity": [
            -10.239483833312988,
            -0.18101216852664948,
            -0.11998136341571808
        ],
        "speed": 10.241083662280705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.399873733520508,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.798583984375,
                2524.4853515625,
                364.7977294921875
            ],
            "velocity": [
                -1.967471718788147,
                -0.0085031408816576,
                0.006818313617259264
            ],
            "speed_kmh": 7.083006867933605,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5573526620864868,
                "transform": {
                    "location": {
                        "x": 2161.131591796875,
                        "y": 2527.3486328125,
                        "z": 364.7608642578125
                    },
                    "rotation": {
                        "roll": 0.003349421778693795,
                        "pitch": 0.49516135454177856,
                        "yaw": 0.24709171056747437
                    }
                },
                "velocity": {
                    "x": 1.5573097467422485,
                    "y": -2.2543426894117147e-05,
                    "z": 0.011564988642930984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.640030860900879,
                "transform": {
                    "location": {
                        "x": 2173.013916015625,
                        "y": 2527.322021484375,
                        "z": 364.9219970703125
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 1.206197738647461,
                        "yaw": -0.156036376953125
                    }
                },
                "velocity": {
                    "x": 3.639430046081543,
                    "y": -0.008549231104552746,
                    "z": 0.06558156758546829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.04233293607831001,
                "transform": {
                    "location": {
                        "x": 2150.394287109375,
                        "y": 2527.359375,
                        "z": 364.7453918457031
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.21120992302894592,
                        "yaw": 0.1015099585056305
                    }
                },
                "velocity": {
                    "x": 0.042332690209150314,
                    "y": -0.00014413910685107112,
                    "z": 8.077621714619454e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9675018787384033,
                "transform": {
                    "location": {
                        "x": 2138.798583984375,
                        "y": 2524.4853515625,
                        "z": 364.7977294921875
                    },
                    "rotation": {
                        "roll": 0.002384345978498459,
                        "pitch": 0.19089694321155548,
                        "yaw": -179.80313110351562
                    }
                },
                "velocity": {
                    "x": -1.967471718788147,
                    "y": -0.0085031408816576,
                    "z": 0.006818313617259264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.427005767822266,
                "transform": {
                    "location": {
                        "x": 2125.75830078125,
                        "y": 2524.530517578125,
                        "z": 364.8489074707031
                    },
                    "rotation": {
                        "roll": 0.0012967445654794574,
                        "pitch": 0.1976110190153122,
                        "yaw": -179.65077209472656
                    }
                },
                "velocity": {
                    "x": -5.426884174346924,
                    "y": -0.02555243857204914,
                    "z": 0.025819042697548866
                },
                "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": 0.06623094528913498,
        "expert_target_speed": 9.91087473658546,
        "target_point": [
            17.029461855701012,
            -0.030978152981295415
        ],
        "target_point_next": [
            17.029461855701012,
            -0.030978152981295415
        ]
    },
    "555": {
        "acceleration": [
            -0.9755325317382812,
            -0.7805031538009644,
            0.2757999300956726
        ],
        "angular_velocity": [
            0.34088900685310364,
            0.796851396560669,
            6.085268020629883
        ],
        "forward_vector": [
            -0.9994343519210815,
            -0.03298749402165413,
            -0.006543351337313652
        ],
        "right_vector": [
            0.0329403430223465,
            -0.9994314908981323,
            0.007187122944742441
        ],
        "location": [
            2162.59765625,
            2524.610107421875,
            364.7656555175781
        ],
        "rotation": [
            -0.4118041694164276,
            -0.37490907311439514,
            -178.1095733642578
        ],
        "velocity": [
            -10.534268379211426,
            -0.39436736702919006,
            -0.0819290354847908
        ],
        "speed": 10.541647684561994,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.249866485595703,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.34814453125,
                2524.483154296875,
                364.7992248535156
            ],
            "velocity": [
                -1.8982409238815308,
                -0.007856263779103756,
                0.006005382630974054
            ],
            "speed_kmh": 6.833760050087533,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.482901096343994,
                "transform": {
                    "location": {
                        "x": 2161.630615234375,
                        "y": 2527.3486328125,
                        "z": 364.7648010253906
                    },
                    "rotation": {
                        "roll": 0.003423911752179265,
                        "pitch": 0.5715979933738708,
                        "yaw": 0.13970713317394257
                    }
                },
                "velocity": {
                    "x": 2.48282790184021,
                    "y": -0.0018697589403018355,
                    "z": 0.01896429993212223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9824485778808594,
                "transform": {
                    "location": {
                        "x": 2173.81005859375,
                        "y": 2527.3203125,
                        "z": 364.93670654296875
                    },
                    "rotation": {
                        "roll": 0.0006502160686068237,
                        "pitch": 1.0873318910598755,
                        "yaw": -0.1430663913488388
                    }
                },
                "velocity": {
                    "x": 2.9818670749664307,
                    "y": -0.006800520233809948,
                    "z": 0.058505285531282425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.846023440361023,
                "transform": {
                    "location": {
                        "x": 2150.514892578125,
                        "y": 2527.359375,
                        "z": 364.7441711425781
                    },
                    "rotation": {
                        "roll": 0.0007386560318991542,
                        "pitch": -0.01812049001455307,
                        "yaw": 0.08250953257083893
                    }
                },
                "velocity": {
                    "x": 0.8460200428962708,
                    "y": 0.0008251041872426867,
                    "z": -0.0022675704676657915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8982666730880737,
                "transform": {
                    "location": {
                        "x": 2138.34814453125,
                        "y": 2524.483154296875,
                        "z": 364.7992248535156
                    },
                    "rotation": {
                        "roll": 0.0019268365576863289,
                        "pitch": 0.2241804599761963,
                        "yaw": -179.7952880859375
                    }
                },
                "velocity": {
                    "x": -1.8982409238815308,
                    "y": -0.007856263779103756,
                    "z": 0.006005382630974054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711245059967041,
                "transform": {
                    "location": {
                        "x": 2124.338134765625,
                        "y": 2524.5234375,
                        "z": 364.855224609375
                    },
                    "rotation": {
                        "roll": 0.0006767458980903029,
                        "pitch": 0.24960924685001373,
                        "yaw": -179.65716552734375
                    }
                },
                "velocity": {
                    "x": -5.71112060546875,
                    "y": -0.02766423486173153,
                    "z": 0.02559923194348812
                },
                "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": -0.02029953896999359,
        "expert_target_speed": 10.0,
        "target_point": [
            14.423644548106642,
            -0.3915519090230694
        ],
        "target_point_next": [
            14.423644548106642,
            -0.3915519090230694
        ]
    },
    "560": {
        "acceleration": [
            -0.262451171875,
            -0.17667412757873535,
            0.2662607431411743
        ],
        "angular_velocity": [
            0.6964160799980164,
            0.12798719108104706,
            -0.2887120842933655
        ],
        "forward_vector": [
            -0.9989439845085144,
            -0.04586205631494522,
            -0.002762194722890854
        ],
        "right_vector": [
            0.04584880173206329,
            -0.9989374279975891,
            0.004684997722506523
        ],
        "location": [
            2159.942138671875,
            2524.498291015625,
            364.7467041015625
        ],
        "rotation": [
            -0.2684325873851776,
            -0.15826229751110077,
            -177.37136840820312
        ],
        "velocity": [
            -10.659646034240723,
            -0.5017675161361694,
            -0.05669929459691048
        ],
        "speed": 10.671449021363191,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.175613403320312,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2137.7666015625,
                2524.48095703125,
                364.80194091796875
            ],
            "velocity": [
                -2.74487566947937,
                -0.011263704858720303,
                0.010208358988165855
            ],
            "speed_kmh": 9.881703944771921,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.044916152954102,
                "transform": {
                    "location": {
                        "x": 2162.4541015625,
                        "y": 2527.347412109375,
                        "z": 364.771240234375
                    },
                    "rotation": {
                        "roll": 0.004207827150821686,
                        "pitch": 0.7485203742980957,
                        "yaw": 0.036529041826725006
                    }
                },
                "velocity": {
                    "x": 4.044803142547607,
                    "y": -0.0054803588427603245,
                    "z": 0.029735106974840164
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.253120183944702,
                "transform": {
                    "location": {
                        "x": 2174.61767578125,
                        "y": 2527.318359375,
                        "z": 364.952880859375
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 1.162839651107788,
                        "yaw": -0.1395873874425888
                    }
                },
                "velocity": {
                    "x": 3.252452850341797,
                    "y": -0.007004925049841404,
                    "z": 0.06551851332187653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6457257270812988,
                "transform": {
                    "location": {
                        "x": 2150.8291015625,
                        "y": 2527.359375,
                        "z": 364.7429504394531
                    },
                    "rotation": {
                        "roll": 0.0012521253665909171,
                        "pitch": 0.10465898364782333,
                        "yaw": 0.08943046629428864
                    }
                },
                "velocity": {
                    "x": 1.6457242965698242,
                    "y": -0.000508560799062252,
                    "z": -0.002153158187866211
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.744917869567871,
                "transform": {
                    "location": {
                        "x": 2137.7666015625,
                        "y": 2524.48095703125,
                        "z": 364.80194091796875
                    },
                    "rotation": {
                        "roll": 0.0024303218815475702,
                        "pitch": 0.15029147267341614,
                        "yaw": -179.78408813476562
                    }
                },
                "velocity": {
                    "x": -2.74487566947937,
                    "y": -0.011263704858720303,
                    "z": 0.010208358988165855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.665878772735596,
                "transform": {
                    "location": {
                        "x": 2122.62548828125,
                        "y": 2524.5146484375,
                        "z": 364.8647155761719
                    },
                    "rotation": {
                        "roll": 0.0007674250518903136,
                        "pitch": 0.14738181233406067,
                        "yaw": -179.71234130859375
                    }
                },
                "velocity": {
                    "x": -7.665695667266846,
                    "y": -0.03545108437538147,
                    "z": 0.039420049637556076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82379,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.602712392807007,
                "transform": {
                    "location": {
                        "x": 2175.84130859375,
                        "y": 2524.46435546875,
                        "z": 365.3641357421875
                    },
                    "rotation": {
                        "roll": -1.0424093532801493e-10,
                        "pitch": -1.1368712186813354,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -2.5459604263305664,
                    "y": 0.005596972536295652,
                    "z": -0.5405236482620239
                },
                "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": -0.1147092655301094,
        "expert_target_speed": 10.0,
        "target_point": [
            11.759551201326238,
            -0.5672610521464361
        ],
        "target_point_next": [
            11.759551201326238,
            -0.5672610521464361
        ]
    },
    "565": {
        "acceleration": [
            -0.1692962646484375,
            0.555763840675354,
            0.19848458468914032
        ],
        "angular_velocity": [
            0.8612879514694214,
            1.0569753646850586,
            -0.9282322525978088
        ],
        "forward_vector": [
            -0.9990948438644409,
            -0.042480602860450745,
            -0.0022114496678113937
        ],
        "right_vector": [
            0.04247939586639404,
            -0.9990971684455872,
            0.0005906875594519079
        ],
        "location": [
            2157.27001953125,
            2524.38232421875,
            364.7366638183594
        ],
        "rotation": [
            -0.0338439904153347,
            -0.12670683860778809,
            -177.5653076171875
        ],
        "velocity": [
            -10.707857131958008,
            -0.417962908744812,
            -0.015920639038085938
        ],
        "speed": 10.716011261262764,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.315776824951172,
        "front_vehicle_info": {
            "id": 82356,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2136.95458984375,
                2524.479248046875,
                364.8052978515625
            ],
            "velocity": [
                -3.75986385345459,
                -0.0036040539853274822,
                0.013581829145550728
            ],
            "speed_kmh": 13.535604401996977,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 82370,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.069814682006836,
                "transform": {
                    "location": {
                        "x": 2163.636474609375,
                        "y": 2527.345458984375,
                        "z": 364.7808837890625
                    },
                    "rotation": {
                        "roll": 0.0032462652307003736,
                        "pitch": 0.8397307395935059,
                        "yaw": -0.049682606011629105
                    }
                },
                "velocity": {
                    "x": 5.069545269012451,
                    "y": -0.00922198686748743,
                    "z": 0.05144179239869118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82367,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.756690740585327,
                "transform": {
                    "location": {
                        "x": 2175.345947265625,
                        "y": 2527.31640625,
                        "z": 364.96734619140625
                    },
                    "rotation": {
                        "roll": 0.001514317817054689,
                        "pitch": 1.092044711112976,
                        "yaw": -0.1310729831457138
                    }
                },
                "velocity": {
                    "x": 2.756118059158325,
                    "y": -0.006087257526814938,
                    "z": 0.0558597557246685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82374,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.355675220489502,
                "transform": {
                    "location": {
                        "x": 2151.343505859375,
                        "y": 2527.359375,
                        "z": 364.74176025390625
                    },
                    "rotation": {
                        "roll": 0.0012278077192604542,
                        "pitch": 0.16852807998657227,
                        "yaw": 0.06703013926744461
                    }
                },
                "velocity": {
                    "x": 2.3556711673736572,
                    "y": -0.0008960399427451193,
                    "z": -0.004300031345337629
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 82356,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.759890079498291,
                "transform": {
                    "location": {
                        "x": 2136.95458984375,
                        "y": 2524.479248046875,
                        "z": 364.8052978515625
                    },
                    "rotation": {
                        "roll": 0.0009775909129530191,
                        "pitch": 0.11881796270608902,
                        "yaw": -179.8290557861328
                    }
                },
                "velocity": {
                    "x": -3.75986385345459,
                    "y": -0.0036040539853274822,
                    "z": 0.013581829145550728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82355,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.254150390625,
                "transform": {
                    "location": {
                        "x": 2120.60546875,
                        "y": 2524.510009765625,
                        "z": 364.8771057128906
                    },
                    "rotation": {
                        "roll": -0.0025329592172056437,
                        "pitch": 0.29803529381752014,
                        "yaw": -179.8610076904297
                    }
                },
                "velocity": {
                    "x": -8.253928184509277,
                    "y": -0.008754482492804527,
                    "z": 0.0599212720990181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 82379,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.829680919647217,
                "transform": {
                    "location": {
                        "x": 2175.20849609375,
                        "y": 2524.464599609375,
                        "z": 364.958984375
                    },
                    "rotation": {
                        "roll": 0.00411159498617053,
                        "pitch": -1.1301230192184448,
                        "yaw": 179.90704345703125
                    }
                },
                "velocity": {
                    "x": -2.469248056411743,
                    "y": -0.025279322639107704,
                    "z": -1.381762981414795
                },
                "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": -0.1716194599866867,
        "expert_target_speed": 10.0,
        "target_point": [
            9.086770703934095,
            -0.5297999831696922
        ],
        "target_point_next": [
            9.086770703934095,
            -0.5297999831696922
        ]
    }
}