{ "0": { "acceleration": [ -0.0036550741642713547, -0.0016768486239016056, -0.5827435851097107 ], "angular_velocity": [ -0.02895757555961609, -0.028519602492451668, 4.903091030428186e-05 ], "forward_vector": [ 0.002451722975820303, 0.9999935626983643, -0.002627488924190402 ], "right_vector": [ -0.9999970197677612, 0.002451980486512184, 9.480804874328896e-05 ], "location": [ -1567.13916015625, 5734.72119140625, 376.1632385253906 ], "rotation": [ -0.005432120058685541, -0.1505441963672638, 89.85952758789062 ], "velocity": [ -0.0003567958192434162, 0.0006666979170404375, 0.20548298954963684 ], "speed": 0.0007561675536649523, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0003692166064865887, "expert_target_speed": 1.4035660039941142, "target_point": [ 51.00064176130918, 0.000626900168070349 ], "target_point_next": [ 63.23847157233827, 0.000771625533253717 ] }, "5": { "acceleration": [ 0.0005450382013805211, -0.0007145764539018273, -0.3824862837791443 ], "angular_velocity": [ -0.014676215127110481, -0.008771490305662155, -4.63226524516358e-06 ], "forward_vector": [ 0.002451364416629076, 0.9999932646751404, -0.0027430022601038218 ], "right_vector": [ -0.9999970197677612, 0.002451459877192974, 3.142514833598398e-05 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.1955261230469 ], "rotation": [ -0.001800535130314529, -0.1571626514196396, 89.85955047607422 ], "velocity": [ -9.754799248185009e-05, 0.00025167924468405545, 0.07201728969812393 ], "speed": 0.00026992230927060427, "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": 15.00053882598877, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.102294921875, 5749.7216796875, 376.2083435058594 ], "velocity": [ -0.00023293166304938495, -0.0006140668410807848, -0.23227305710315704 ], "speed_kmh": 0.8361863481970612, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 2.450000286102295, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 376.1345520019531 }, "rotation": { "roll": 6.6701253409462424e-09, "pitch": 0.13735510408878326, "yaw": -90.14047241210938 } }, "velocity": { "x": 0.0, "y": 0.0, "z": -2.450000286102295 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.2323167473077774, "transform": { "location": { "x": -1567.2125244140625, "y": 5704.7216796875, "z": 376.3338928222656 }, "rotation": { "roll": 4.801830436917953e-05, "pitch": -0.1685144156217575, "yaw": 89.85958099365234 } }, "velocity": { "x": -0.0001019457122310996, "y": -0.000674347800668329, "z": -0.23231574892997742 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.635749340057373, "transform": { "location": { "x": -1567.17578125, "y": 5719.7216796875, "z": 376.2778015136719 }, "rotation": { "roll": -0.0001831084955483675, "pitch": -0.16320736706256866, "yaw": 89.8595962524414 } }, "velocity": { "x": 1.9164754121447913e-05, "y": -0.0017865377012640238, "z": -0.6357468366622925 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.23227398097515106, "transform": { "location": { "x": -1567.102294921875, "y": 5749.7216796875, "z": 376.2083435058594 }, "rotation": { "roll": 0.00025311141507700086, "pitch": -0.15148675441741943, "yaw": 89.85955810546875 } }, "velocity": { "x": -0.00023293166304938495, "y": -0.0006140668410807848, "z": -0.23227305710315704 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.43453681468963623, "transform": { "location": { "x": -1567.0655517578125, "y": 5764.7216796875, "z": 376.1407775878906 }, "rotation": { "roll": -0.00027465587481856346, "pitch": -0.14681491255760193, "yaw": 89.85957336425781 } }, "velocity": { "x": -4.074478420079686e-05, "y": -0.0010646890150383115, "z": -0.43453550338745117 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0007019239128567278, "expert_target_speed": 1.068805343626447, "target_point": [ 51.00064146032834, 0.0007489701095153428 ], "target_point_next": [ 63.23847127135743, 0.0008936954746986969 ] }, "10": { "acceleration": [ 0.002311593620106578, -0.001081917667761445, -0.1236163079738617 ], "angular_velocity": [ 0.0092997457832098, -0.0005582920857705176, -2.8677486625383608e-05 ], "forward_vector": [ 0.002451483393087983, 0.9999931454658508, -0.002787228673696518 ], "right_vector": [ -0.9999970197677612, 0.0024515152908861637, 7.989466212166008e-06 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20538330078125 ], "rotation": [ -0.0004577644867822528, -0.15969663858413696, 89.85954284667969 ], "velocity": [ -6.840550213382812e-06, 2.7276313630864024e-05, 0.01888909935951233 ], "speed": 2.8120995937396496e-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": 15.000533103942871, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.102294921875, 5749.7216796875, 376.2018737792969 ], "velocity": [ -0.00014537342940457165, 6.958918675081804e-05, 0.024812370538711548 ], "speed_kmh": 0.0893264183408031, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.23422273993492126, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 375.99224853515625 }, "rotation": { "roll": 0.003989396151155233, "pitch": 0.14270997047424316, "yaw": -90.14007568359375 } }, "velocity": { "x": 0.00010190412285737693, "y": 0.0005659091984853148, "z": 0.23422202467918396 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.024417510256171227, "transform": { "location": { "x": -1567.2125244140625, "y": 5704.7216796875, "z": 376.3274230957031 }, "rotation": { "roll": 3.325062425574288e-05, "pitch": -0.16867151856422424, "yaw": 89.85958099365234 } }, "velocity": { "x": 0.00013048521941527724, "y": 8.709717076271772e-05, "z": 0.024417007341980934 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.06092916056513786, "transform": { "location": { "x": -1567.17578125, "y": 5719.7216796875, "z": 376.2215270996094 }, "rotation": { "roll": 0.00028135289903730154, "pitch": -0.1636035144329071, "yaw": 89.8595962524414 } }, "velocity": { "x": -6.608690455323085e-05, "y": 0.00017203045717906207, "z": 0.06092888116836548 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.024812893941998482, "transform": { "location": { "x": -1567.102294921875, "y": 5749.7216796875, "z": 376.2018737792969 }, "rotation": { "roll": 0.0011096426751464605, "pitch": -0.15179412066936493, "yaw": 89.85955810546875 } }, "velocity": { "x": -0.00014537342940457165, "y": 6.958918675081804e-05, "z": 0.024812370538711548 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.027338426560163498, "transform": { "location": { "x": -1567.0655517578125, "y": 5764.7216796875, "z": 376.11663818359375 }, "rotation": { "roll": -0.00027465587481856346, "pitch": -0.1473681479692459, "yaw": 89.85957336425781 } }, "velocity": { "x": -0.00010228047176497057, "y": 8.570194040657952e-05, "z": 0.027338100597262383 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 8.488122693961486e-05, "expert_target_speed": 1.0165958977857832, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "15": { "acceleration": [ -0.0021296869963407516, 2.684624632820487e-05, -0.024118227884173393 ], "angular_velocity": [ -0.00773283326998353, -0.028699299320578575, 4.545111005427316e-05 ], "forward_vector": [ 0.002451602602377534, 0.999993085861206, -0.0028011759277433157 ], "right_vector": [ -0.9999970197677612, 0.002451630076393485, 6.391317128873197e-06 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.2077941894531 ], "rotation": [ -0.0003661969385575503, -0.16049577295780182, 89.85953521728516 ], "velocity": [ -9.606847015675157e-05, 4.4188553147250786e-05, 0.004915318451821804 ], "speed": 0.00010574393215455001, "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": 15.067426681518555, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.102783203125, 5749.78857421875, 376.2047424316406 ], "velocity": [ -0.011039410717785358, 0.9365888833999634, 0.004807672463357449 ], "speed_kmh": 3.371998605545714, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.09508256614208221, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 376.0401611328125 }, "rotation": { "roll": 0.003017885610461235, "pitch": 0.14221136271953583, "yaw": -90.14019012451172 } }, "velocity": { "x": -1.9751159925363027e-05, "y": 0.00023073836928233504, "z": 0.09508228302001953 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.914278507232666, "transform": { "location": { "x": -1567.213134765625, "y": 5704.78857421875, "z": 376.33026123046875 }, "rotation": { "roll": -0.0032959042582660913, "pitch": -0.09429758787155151, "yaw": 89.88072967529297 } }, "velocity": { "x": -0.010483436286449432, "y": 0.9142068028450012, "z": 0.004606151487678289 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.14469747245311737, "transform": { "location": { "x": -1567.17578125, "y": 5719.72998046875, "z": 376.25299072265625 }, "rotation": { "roll": -0.0006408726330846548, "pitch": -0.1476755142211914, "yaw": 89.86251831054688 } }, "velocity": { "x": -0.0013416858855634928, "y": 0.09111342579126358, "z": 0.11240062117576599 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.9366663098335266, "transform": { "location": { "x": -1567.102783203125, "y": 5749.78857421875, "z": 376.2047424316406 }, "rotation": { "roll": -0.0030212439596652985, "pitch": -0.0766005665063858, "yaw": 89.8864517211914 } }, "velocity": { "x": -0.011039410717785358, "y": 0.9365888833999634, "z": 0.004807672463357449 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.9712132215499878, "transform": { "location": { "x": -1567.0660400390625, "y": 5764.79150390625, "z": 376.12335205078125 }, "rotation": { "roll": -0.008544920943677425, "pitch": 0.07538479566574097, "yaw": 89.88304138183594 } }, "velocity": { "x": -0.008181723766028881, "y": 0.9709582328796387, "z": 0.02069566771388054 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.00013092112203594297, "expert_target_speed": 1.008071637444486, "target_point": [ 51.00064146032834, 0.0007489701095153428 ], "target_point_next": [ 63.23847127135743, 0.0008936954746986969 ] }, "20": { "acceleration": [ -0.0001750764495227486, 0.00010817235306603834, 0.004631993360817432 ], "angular_velocity": [ -0.0018268482526764274, -0.004892801400274038, -2.4181372282328084e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002809639787301421 ], "right_vector": [ -0.9999970197677612, 0.002451851963996887, 5.327164558366349e-07 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.2082824707031 ], "rotation": [ -3.0522525776177645e-05, -0.1609807163476944, 89.8595199584961 ], "velocity": [ -1.261273973796051e-05, 1.6388687072321773e-05, 0.001814858871512115 ], "speed": 2.068019022281988e-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": 15.431676864624023, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1055908203125, 5750.15283203125, 376.2042541503906 ], "velocity": [ -0.021997913718223572, 1.8882689476013184, -0.002859687665477395 ], "speed_kmh": 6.798237278168488, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 1.9479317665100098, "transform": { "location": { "x": -1564.232177734375, "y": 5797.744140625, "z": 376.0484619140625 }, "rotation": { "roll": -0.001983646070584655, "pitch": 0.1792583018541336, "yaw": -90.08148193359375 } }, "velocity": { "x": 0.023045595735311508, "y": -1.9477823972702026, "z": 0.007134132087230682 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.8590826988220215, "transform": { "location": { "x": -1567.2159423828125, "y": 5705.14501953125, "z": 376.3297119140625 }, "rotation": { "roll": -0.0036621110048145056, "pitch": -0.0661640390753746, "yaw": 90.01627349853516 } }, "velocity": { "x": -0.022162768989801407, "y": 1.858946681022644, "z": -0.003813772229477763 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8295456171035767, "transform": { "location": { "x": -1567.1759033203125, "y": 5719.8486328125, "z": 376.2631530761719 }, "rotation": { "roll": -0.006469727028161287, "pitch": -0.011351773515343666, "yaw": 89.96826934814453 } }, "velocity": { "x": -0.007981817238032818, "y": 0.8294842839241028, "z": -0.006165428087115288 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.8883992433547974, "transform": { "location": { "x": -1567.1055908203125, "y": 5750.15283203125, "z": 376.2042541503906 }, "rotation": { "roll": -0.005004882346838713, "pitch": -0.04815966263413429, "yaw": 90.05257415771484 } }, "velocity": { "x": -0.021997913718223572, "y": 1.8882689476013184, "z": -0.002859687665477395 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.8507397174835205, "transform": { "location": { "x": -1567.0689697265625, "y": 5765.15673828125, "z": 376.1253967285156 }, "rotation": { "roll": -0.01547241024672985, "pitch": 0.23518389463424683, "yaw": 90.03205108642578 } }, "velocity": { "x": -0.018849337473511696, "y": 1.8506420850753784, "z": 0.0024726486299186945 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0011766644893214107, "expert_target_speed": 1.0205703495415268, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "25": { "acceleration": [ -0.00024715205654501915, 3.639052010839805e-05, 0.0007676915265619755 ], "angular_velocity": [ -0.0036899466067552567, -0.015487131662666798, 8.734294169698842e-06 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.2084655761719 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ -5.1427607104415074e-05, 2.1986272258800454e-05, 0.0016468835528939962 ], "speed": 5.593026855222655e-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": 16.044946670532227, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1112060546875, 5750.76611328125, 376.20263671875 ], "velocity": [ -0.03632061555981636, 3.028099298477173, -0.006334037519991398 ], "speed_kmh": 10.901965460633567, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 2.9656784534454346, "transform": { "location": { "x": -1564.2261962890625, "y": 5797.1123046875, "z": 376.0495300292969 }, "rotation": { "roll": -0.0019531354773789644, "pitch": 0.1682138890028, "yaw": -89.8338623046875 } }, "velocity": { "x": 0.038701921701431274, "y": -2.965423822402954, "z": 0.0034911155235022306 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.0442988872528076, "transform": { "location": { "x": -1567.2215576171875, "y": 5705.75634765625, "z": 376.3279113769531 }, "rotation": { "roll": -0.0051269554533064365, "pitch": -0.0464179627597332, "yaw": 90.19792175292969 } }, "velocity": { "x": -0.036263518035411835, "y": 3.0440707206726074, "z": -0.008594551123678684 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6563705205917358, "transform": { "location": { "x": -1567.1783447265625, "y": 5720.138671875, "z": 376.25732421875 }, "rotation": { "roll": -0.007263184525072575, "pitch": 0.018653245642781258, "yaw": 90.04493713378906 } }, "velocity": { "x": -0.01857076771557331, "y": 1.656095266342163, "z": -0.02380683831870556 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.0283236503601074, "transform": { "location": { "x": -1567.1112060546875, "y": 5750.76611328125, "z": 376.20263671875 }, "rotation": { "roll": -0.0037231456954032183, "pitch": -0.03275075554847717, "yaw": 90.22940826416016 } }, "velocity": { "x": -0.03632061555981636, "y": 3.028099298477173, "z": -0.006334037519991398 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.0194571018218994, "transform": { "location": { "x": -1567.07470703125, "y": 5765.76318359375, "z": 376.12451171875 }, "rotation": { "roll": -0.016510028392076492, "pitch": 0.31338271498680115, "yaw": 90.21893310546875 } }, "velocity": { "x": -0.03236602619290352, "y": 3.019279718399048, "z": -0.004933157004415989 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.00022006859944667667, "expert_target_speed": 1.0419969812210839, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "30": { "acceleration": [ -0.001345806522294879, 0.0004706572799477726, -8.924980647861958e-06 ], "angular_velocity": [ -0.005955702159553766, -0.01627795770764351, 1.1390506188035943e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ -5.452303958008997e-05, 2.5638453735155053e-05, 0.0002931422204710543 ], "speed": 6.025024609893095e-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": 16.988292694091797, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.12109375, 5751.70947265625, 376.1999206542969 ], "velocity": [ -0.05494290217757225, 4.422325134277344, -0.010932349599897861 ], "speed_kmh": 15.921647776002663, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 3.750041961669922, "transform": { "location": { "x": -1564.2183837890625, "y": 5796.267578125, "z": 376.05133056640625 }, "rotation": { "roll": 0.002423072000965476, "pitch": 0.15690310299396515, "yaw": -89.65782928466797 } }, "velocity": { "x": 0.02462255023419857, "y": -3.749953508377075, "z": 0.0075647830963134766 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.443325042724609, "transform": { "location": { "x": -1567.2313232421875, "y": 5706.7041015625, "z": 376.324951171875 }, "rotation": { "roll": -0.0050048828125, "pitch": -0.02307237684726715, "yaw": 90.4028091430664 } }, "velocity": { "x": -0.05497303232550621, "y": 4.442968845367432, "z": -0.01190920826047659 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.1866209506988525, "transform": { "location": { "x": -1567.183837890625, "y": 5720.7392578125, "z": 376.2522888183594 }, "rotation": { "roll": -0.010070806369185448, "pitch": 0.16069385409355164, "yaw": 90.17497253417969 } }, "velocity": { "x": -0.03517116606235504, "y": 3.1864125728607178, "z": -0.009576424956321716 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.422679901123047, "transform": { "location": { "x": -1567.12109375, "y": 5751.70947265625, "z": 376.1999206542969 }, "rotation": { "roll": -0.004821776412427425, "pitch": -0.007479056715965271, "yaw": 90.4211654663086 } }, "velocity": { "x": -0.05494290217757225, "y": 4.422325134277344, "z": -0.010932349599897861 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.429643630981445, "transform": { "location": { "x": -1567.0843505859375, "y": 5766.70751953125, "z": 376.1219177246094 }, "rotation": { "roll": -0.01727290451526642, "pitch": 0.43182501196861267, "yaw": 90.41486358642578 } }, "velocity": { "x": -0.0511397048830986, "y": 4.429337501525879, "z": -0.009903192520141602 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0012577588204294443, "expert_target_speed": 1.0667950402389121, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "35": { "acceleration": [ -0.0010398924350738525, -0.00041427311953157187, -0.01728842593729496 ], "angular_velocity": [ 0.00041495542973279953, -0.0013874738942831755, -3.4585889807203785e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ -2.497445393601083e-06, 4.436895324033685e-06, 0.00012438088015187532 ], "speed": 5.09149031330231e-06, "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": 18.2451229095459, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.130126953125, 5752.96630859375, 376.1972961425781 ], "velocity": [ -0.026666855439543724, 5.270486831665039, -0.013692912645637989 ], "speed_kmh": 18.974059491181183, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 4.484589576721191, "transform": { "location": { "x": -1564.212158203125, "y": 5795.23486328125, "z": 376.0538635253906 }, "rotation": { "roll": 0.0017058459343388677, "pitch": 0.1550794392824173, "yaw": -89.65469360351562 } }, "velocity": { "x": 0.026905233040452003, "y": -4.484497547149658, "z": 0.01002699788659811 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.275568962097168, "transform": { "location": { "x": -1567.239990234375, "y": 5707.9599609375, "z": 376.3219299316406 }, "rotation": { "roll": 0.003615993307903409, "pitch": -0.0632338896393776, "yaw": 90.38431549072266 } }, "velocity": { "x": -0.02689780667424202, "y": 5.275478839874268, "z": -0.01514492928981781 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.176797389984131, "transform": { "location": { "x": -1567.1943359375, "y": 5721.798828125, "z": 376.248779296875 }, "rotation": { "roll": -0.012817355804145336, "pitch": 0.3095373213291168, "yaw": 90.38786315917969 } }, "velocity": { "x": -0.06107659637928009, "y": 5.176429271697998, "z": -0.008930825628340244 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.270572185516357, "transform": { "location": { "x": -1567.130126953125, "y": 5752.96630859375, "z": 376.1972961425781 }, "rotation": { "roll": 0.004212347790598869, "pitch": -0.03854275494813919, "yaw": 90.36781311035156 } }, "velocity": { "x": -0.026666855439543724, "y": 5.270486831665039, "z": -0.013692912645637989 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.306355953216553, "transform": { "location": { "x": -1567.0933837890625, "y": 5767.96484375, "z": 376.11944580078125 }, "rotation": { "roll": 0.014257260598242283, "pitch": 0.3593703806400299, "yaw": 90.3860092163086 } }, "velocity": { "x": -0.028845535591244698, "y": 5.306264400482178, "z": -0.01183794904500246 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0005797497578896582, "expert_target_speed": 1.0915119032195157, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "40": { "acceleration": [ 0.0003895584959536791, 2.133324960595928e-05, -0.0022591743618249893 ], "angular_velocity": [ 0.0013446961529552937, -0.0037035527639091015, -3.114659193670377e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ 1.7731171055856976e-06, 3.5546161143429345e-06, 0.000903953448869288 ], "speed": 3.972309150918023e-06, "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": 19.6123104095459, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.138427734375, 5754.33349609375, 376.194091796875 ], "velocity": [ -0.026859097182750702, 5.720848083496094, -0.014470262452960014 ], "speed_kmh": 20.59534596404563, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 5.257890701293945, "transform": { "location": { "x": -1564.2049560546875, "y": 5794.01220703125, "z": 376.05694580078125 }, "rotation": { "roll": 0.0017185591859743, "pitch": 0.15582393109798431, "yaw": -89.63893127441406 } }, "velocity": { "x": 0.03107694536447525, "y": -5.2577805519104, "z": 0.013790358789265156 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.772435188293457, "transform": { "location": { "x": -1567.247802734375, "y": 5709.3330078125, "z": 376.3180847167969 }, "rotation": { "roll": 0.0005931466585025191, "pitch": -0.0937580019235611, "yaw": 90.29705047607422 } }, "velocity": { "x": -0.02850249968469143, "y": 5.772337913513184, "z": -0.0175559613853693 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8890426158905029, "transform": { "location": { "x": -1567.20751953125, "y": 5722.6787109375, "z": 376.25531005859375 }, "rotation": { "roll": 0.009184613823890686, "pitch": -0.748841404914856, "yaw": 89.7635269165039 } }, "velocity": { "x": -0.03538932278752327, "y": 0.888333261013031, "z": -0.0029015731997787952 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.7209296226501465, "transform": { "location": { "x": -1567.138427734375, "y": 5754.33349609375, "z": 376.194091796875 }, "rotation": { "roll": 0.001049526035785675, "pitch": -0.09448882937431335, "yaw": 90.20183563232422 } }, "velocity": { "x": -0.026859097182750702, "y": 5.720848083496094, "z": -0.014470262452960014 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.1912150382995605, "transform": { "location": { "x": -1567.1007080078125, "y": 5769.34033203125, "z": 376.1163635253906 }, "rotation": { "roll": 0.008037315681576729, "pitch": 0.25099578499794006, "yaw": 90.32780456542969 } }, "velocity": { "x": -0.03164834529161453, "y": 6.191114902496338, "z": -0.01540391892194748 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.00016922529903240502, "expert_target_speed": 1.1118427792686192, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "45": { "acceleration": [ 0.0006207132246345282, 1.3954941096017137e-05, 0.0033526476472616196 ], "angular_velocity": [ 0.005921617150306702, 0.016092732548713684, -8.69695286382921e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ 5.480790059664287e-05, -1.2332759069977328e-05, 0.0005451335455290973 ], "speed": 5.617831355683075e-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": 21.285165786743164, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1458740234375, 5756.00634765625, 376.18841552734375 ], "velocity": [ -0.03545596823096275, 7.895310878753662, -0.01941203512251377 ], "speed_kmh": 28.423491675222436, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 5.794990539550781, "transform": { "location": { "x": -1564.1966552734375, "y": 5792.654296875, "z": 376.0602111816406 }, "rotation": { "roll": 0.0014408014249056578, "pitch": 0.1518077701330185, "yaw": -89.67211151123047 } }, "velocity": { "x": 0.03508058562874794, "y": -5.794868469238281, "z": 0.013355111703276634 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.112192153930664, "transform": { "location": { "x": -1567.2530517578125, "y": 5710.38232421875, "z": 376.3175964355469 }, "rotation": { "roll": -0.00042724632658064365, "pitch": -0.44131216406822205, "yaw": 90.26766204833984 } }, "velocity": { "x": -0.009845400229096413, "y": 2.1121602058410645, "z": -0.0061508365906775 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.3205907344818115, "transform": { "location": { "x": -1567.2093505859375, "y": 5722.80712890625, "z": 376.2535095214844 }, "rotation": { "roll": 0.012473031878471375, "pitch": -0.6099563241004944, "yaw": 89.72699737548828 } }, "velocity": { "x": -0.002506541321054101, "y": 1.3205862045288086, "z": -0.0023559187538921833 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.895414352416992, "transform": { "location": { "x": -1567.1458740234375, "y": 5756.00634765625, "z": 376.18841552734375 }, "rotation": { "roll": -0.00033569327206350863, "pitch": 0.05477128550410271, "yaw": 90.22286987304688 } }, "velocity": { "x": -0.03545596823096275, "y": 7.895310878753662, "z": -0.01941203512251377 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.052289962768555, "transform": { "location": { "x": -1567.1087646484375, "y": 5770.9072265625, "z": 376.11322021484375 }, "rotation": { "roll": 0.003175831865519285, "pitch": 0.03775728493928909, "yaw": 90.29902648925781 } }, "velocity": { "x": -0.029897186905145645, "y": 6.052195072174072, "z": -0.01593461073935032 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0005063589196652174, "expert_target_speed": 1.1305288675333065, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "50": { "acceleration": [ 0.0003419985296204686, 3.9647522498853505e-05, 0.008558358997106552 ], "angular_velocity": [ 0.00416102260351181, 0.012895911931991577, -7.790157542331144e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ 4.4026077375747263e-05, -4.447325864020968e-06, 0.001327822799794376 ], "speed": 4.425013216292212e-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": 23.206071853637695, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.152587890625, 5757.92724609375, 376.1851501464844 ], "velocity": [ -0.01219994481652975, 7.198972702026367, -0.02003699727356434 ], "speed_kmh": 25.916439326540704, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 6.6085662841796875, "transform": { "location": { "x": -1564.188232421875, "y": 5791.123046875, "z": 376.0638732910156 }, "rotation": { "roll": 0.0017224145121872425, "pitch": 0.15594004094600677, "yaw": -89.60115814208984 } }, "velocity": { "x": 0.029042312875390053, "y": -6.608486652374268, "z": 0.014514397829771042 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.762877881526947, "transform": { "location": { "x": -1567.25341796875, "y": 5710.52685546875, "z": 376.31671142578125 }, "rotation": { "roll": -0.0014343289658427238, "pitch": -0.3669382333755493, "yaw": 90.27103424072266 } }, "velocity": { "x": -0.0023772616405040026, "y": 0.7628691792488098, "z": -0.0027627849485725164 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.351172685623169, "transform": { "location": { "x": -1567.2103271484375, "y": 5723.35498046875, "z": 376.24505615234375 }, "rotation": { "roll": -0.007812498603016138, "pitch": 0.2644580900669098, "yaw": 89.84000396728516 } }, "velocity": { "x": -0.007544735446572304, "y": 2.351154088973999, "z": -0.00556943891569972 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.199010848999023, "transform": { "location": { "x": -1567.152587890625, "y": 5757.92724609375, "z": 376.1851501464844 }, "rotation": { "roll": 0.005146869458258152, "pitch": -0.14028525352478027, "yaw": 90.18860626220703 } }, "velocity": { "x": -0.01219994481652975, "y": 7.198972702026367, "z": -0.02003699727356434 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.2648134231567383, "transform": { "location": { "x": -1567.11376953125, "y": 5771.94873046875, "z": 376.1147155761719 }, "rotation": { "roll": 0.005331404507160187, "pitch": -1.1547185182571411, "yaw": 90.28059387207031 } }, "velocity": { "x": -0.003630061401054263, "y": 2.264798641204834, "z": -0.0073486994951963425 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0008106122259050608, "expert_target_speed": 1.144592732319808, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "55": { "acceleration": [ 0.0005429164739325643, 2.391002999502234e-05, 0.0030900235287845135 ], "angular_velocity": [ 0.0016649931203573942, 0.004946539178490639, -5.207890353631228e-05 ], "forward_vector": [ 0.0024518410209566355, 0.999993085861206, -0.002810712903738022 ], "right_vector": [ -0.9999970197677612, 0.0024518505670130253, -0.0 ], "location": [ -1567.1390380859375, 5734.72119140625, 376.20849609375 ], "rotation": [ 0.0, -0.1610421985387802, 89.8595199584961 ], "velocity": [ 1.4599470887333155e-05, 2.639684680616483e-06, 0.0009521358297206461 ], "speed": 1.4836188371787737e-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": 24.692888259887695, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1551513671875, 5759.4140625, 376.1836242675781 ], "velocity": [ -0.0038919805083423853, 3.52510929107666, -0.011575660668313503 ], "speed_kmh": 12.690469603634636, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 7.578838348388672, "transform": { "location": { "x": -1564.1815185546875, "y": 5789.3359375, "z": 376.0680236816406 }, "rotation": { "roll": 0.0019326374167576432, "pitch": 0.1609807163476944, "yaw": -89.78099060058594 } }, "velocity": { "x": 0.015559734776616096, "y": -7.578802108764648, "z": 0.01767992042005062 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.812119483947754, "transform": { "location": { "x": -1567.255126953125, "y": 5710.87255859375, "z": 376.3136291503906 }, "rotation": { "roll": -0.0006103561026975513, "pitch": -0.11956245452165604, "yaw": 90.25282287597656 } }, "velocity": { "x": -0.0080424128100276, "y": 1.8120934963226318, "z": -0.005463332869112492 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6932578682899475, "transform": { "location": { "x": -1567.20947265625, "y": 5723.49365234375, "z": 376.2505798339844 }, "rotation": { "roll": 0.0009988673264160752, "pitch": -0.4599858820438385, "yaw": 89.92952728271484 } }, "velocity": { "x": -0.0022900865878909826, "y": 0.6932505369186401, "z": -0.0022200869861990213 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.5251305103302, "transform": { "location": { "x": -1567.1551513671875, "y": 5759.4140625, "z": 376.1836242675781 }, "rotation": { "roll": 0.00045059240073896945, "pitch": -0.4420771300792694, "yaw": 90.1038589477539 } }, "velocity": { "x": -0.0038919805083423853, "y": 3.52510929107666, "z": -0.011575660668313503 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.2334609031677246, "transform": { "location": { "x": -1567.114990234375, "y": 5772.62841796875, "z": 376.1103820800781 }, "rotation": { "roll": 0.006788561120629311, "pitch": -0.4474729895591736, "yaw": 90.21212005615234 } }, "velocity": { "x": -0.004585110582411289, "y": 3.2334508895874023, "z": -0.006622123531997204 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0005316302995197475, "expert_target_speed": 1.1500860812465599, "target_point": [ 51.000641463461456, -0.0004912989385483374 ], "target_point_next": [ 63.23847127439136, -0.000644181624851331 ] }, "60": { "acceleration": [ -0.03609151393175125, 3.514608144760132, -0.023941993713378906 ], "angular_velocity": [ 1.1464879512786865, 0.005210003349930048, -0.9245648980140686 ], "forward_vector": [ 0.0026643993332982063, 0.9999961853027344, 0.0006761550321243703 ], "right_vector": [ -0.9999964237213135, 0.002664367901161313, 4.74042899440974e-05 ], "location": [ -1567.13916015625, 5734.78564453125, 376.2076416015625 ], "rotation": [ -0.0027160663157701492, 0.03874083235859871, 89.84734344482422 ], "velocity": [ -0.0015099538723006845, 0.776265561580658, -0.00257110595703125 ], "speed": 0.7762670301235463, "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": 24.861831665039062, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1556396484375, 5759.6474609375, 376.1836242675781 ], "velocity": [ -0.00038916076300665736, 0.39664503931999207, 0.0005146217299625278 ], "speed_kmh": 1.4279240306627734, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.222968101501465, "transform": { "location": { "x": -1564.177490234375, "y": 5787.345703125, "z": 376.0729064941406 }, "rotation": { "roll": 0.0018795094219967723, "pitch": 0.154908686876297, "yaw": -89.90270233154297 } }, "velocity": { "x": 0.008998877368867397, "y": -8.222942352294922, "z": 0.018504619598388672 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.3222671747207642, "transform": { "location": { "x": -1567.2574462890625, "y": 5711.37548828125, "z": 376.3126220703125 }, "rotation": { "roll": -0.0010375995188951492, "pitch": -0.1673874408006668, "yaw": 90.25341796875 } }, "velocity": { "x": -0.005732822231948376, "y": 1.3222459554672241, "z": -0.004815463908016682 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.837039589881897, "transform": { "location": { "x": -1567.2105712890625, "y": 5723.84375, "z": 376.24560546875 }, "rotation": { "roll": -0.004791259299963713, "pitch": 0.03072218969464302, "yaw": 89.98273468017578 } }, "velocity": { "x": -0.007355379406362772, "y": 1.8370195627212524, "z": -0.0044238087721168995 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.39664557576179504, "transform": { "location": { "x": -1567.1556396484375, "y": 5759.6474609375, "z": 376.1836242675781 }, "rotation": { "roll": -0.0007018835167400539, "pitch": -0.5137872695922852, "yaw": 90.09215545654297 } }, "velocity": { "x": -0.00038916076300665736, "y": 0.39664503931999207, "z": 0.0005146217299625278 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.039591312408447, "transform": { "location": { "x": -1567.1162109375, "y": 5773.59814453125, "z": 376.1063232421875 }, "rotation": { "roll": 0.003287344938144088, "pitch": 0.05154060572385788, "yaw": 90.14939880371094 } }, "velocity": { "x": -0.005102505441755056, "y": 4.039576053619385, "z": -0.00982589740306139 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0016445307992398739, "expert_target_speed": 1.9176620936313546, "target_point": [ 50.936187859674696, 0.0099646948276991 ], "target_point_next": [ 63.17401743102041, 0.012391081905107099 ] }, "65": { "acceleration": [ -0.011627390049397945, 2.742037773132324, -0.022988133132457733 ], "angular_velocity": [ -0.012265416793525219, -0.031151946634054184, 0.27185630798339844 ], "forward_vector": [ 0.0020760924089699984, 0.999992311000824, 0.0033235487062484026 ], "right_vector": [ -0.9999978542327881, 0.0020759215112775564, 5.486072041094303e-05 ], "location": [ -1567.13916015625, 5735.1142578125, 376.2061767578125 ], "rotation": [ -0.003143305191770196, 0.19042566418647766, 89.88105010986328 ], "velocity": [ -0.0022486706729978323, 1.67960524559021, -0.003960027825087309 ], "speed": 1.679606750859839, "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": 24.790546417236328, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1558837890625, 5759.90478515625, 376.1798400878906 ], "velocity": [ -0.0016878513852134347, 1.417715072631836, -0.002005834598094225 ], "speed_kmh": 5.103782986765174, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.161526679992676, "transform": { "location": { "x": -1564.1759033203125, "y": 5785.28857421875, "z": 376.0779113769531 }, "rotation": { "roll": 0.001516886637546122, "pitch": 0.13960905373096466, "yaw": -89.98308563232422 } }, "velocity": { "x": -0.0025205307174474, "y": -8.161503791809082, "z": 0.019129466265439987 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.8954209089279175, "transform": { "location": { "x": -1567.2578125, "y": 5711.4833984375, "z": 376.3125 }, "rotation": { "roll": -0.0010986332781612873, "pitch": -0.20114223659038544, "yaw": 90.26806640625 } }, "velocity": { "x": -0.004320974461734295, "y": 0.8954078555107117, "z": -0.0021592711564153433 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.0701985359191895, "transform": { "location": { "x": -1567.213134765625, "y": 5724.384765625, "z": 376.2447204589844 }, "rotation": { "roll": 0.0002493086503818631, "pitch": -0.04604913294315338, "yaw": 89.93806457519531 } }, "velocity": { "x": -0.008787489496171474, "y": 1.0701590776443481, "z": -0.0026770876720547676 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.4177175760269165, "transform": { "location": { "x": -1567.1558837890625, "y": 5759.90478515625, "z": 376.1798400878906 }, "rotation": { "roll": -0.0014648467767983675, "pitch": -0.14602260291576385, "yaw": 90.06221771240234 } }, "velocity": { "x": -0.0016878513852134347, "y": 1.417715072631836, "z": -0.002005834598094225 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.046566009521484, "transform": { "location": { "x": -1567.1173095703125, "y": 5774.56982421875, "z": 376.10443115234375 }, "rotation": { "roll": 0.0018663178198039532, "pitch": -0.08532271534204483, "yaw": 90.1112289428711 } }, "velocity": { "x": -0.004589184653013945, "y": 4.046550273895264, "z": -0.010215777903795242 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.001795393880456686, "expert_target_speed": 2.8109860503786033, "target_point": [ 50.60757304450296, -0.01883910838871504 ], "target_point_next": [ 62.8454020910205, -0.02316725688368995 ] }, "70": { "acceleration": [ -0.02516624517738819, 5.631299018859863, -0.008472250774502754 ], "angular_velocity": [ 0.6506555676460266, 0.01699560508131981, 0.27652236819267273 ], "forward_vector": [ 0.0008117611869238317, 0.9999869465827942, 0.005044319201260805 ], "right_vector": [ -0.9999996423721313, 0.00081112131010741, 0.00012889552453998476 ], "location": [ -1567.14013671875, 5735.6787109375, 376.2042541503906 ], "rotation": [ -0.007385262753814459, 0.2890194356441498, 89.9534912109375 ], "velocity": [ -0.006887579802423716, 2.8694992065429688, -0.00708505604416132 ], "speed": 2.8695074725649805, "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": 24.694843292236328, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1563720703125, 5760.37353515625, 376.1780090332031 ], "velocity": [ -0.0013973951572552323, 2.368497610092163, -0.006105918902903795 ], "speed_kmh": 8.526621213884564, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.026603698730469, "transform": { "location": { "x": -1564.177001953125, "y": 5783.26904296875, "z": 376.0828552246094 }, "rotation": { "roll": 0.001305343466810882, "pitch": 0.13507381081581116, "yaw": -90.04490661621094 } }, "velocity": { "x": -0.00840435829013586, "y": -8.026577949523926, "z": 0.018553227186203003 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.68125581741333, "transform": { "location": { "x": -1567.259033203125, "y": 5711.8115234375, "z": 376.3107604980469 }, "rotation": { "roll": -0.00018310137966182083, "pitch": -0.1030334010720253, "yaw": 90.28253173828125 } }, "velocity": { "x": -0.0007283632876351476, "y": 1.681247353553772, "z": -0.005291042383760214 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.26220130920410156, "transform": { "location": { "x": -1567.21337890625, "y": 5724.41357421875, "z": 376.248779296875 }, "rotation": { "roll": 0.006369178649038076, "pitch": -0.550540566444397, "yaw": 89.91321563720703 } }, "velocity": { "x": 0.00016130547737702727, "y": 0.26219555735588074, "z": -0.0017314337892457843 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.3685057163238525, "transform": { "location": { "x": -1567.1563720703125, "y": 5760.37353515625, "z": 376.1780090332031 }, "rotation": { "roll": 0.00011305837688269094, "pitch": -0.06512585282325745, "yaw": 90.05908203125 } }, "velocity": { "x": -0.0013973951572552323, "y": 2.368497610092163, "z": -0.006105918902903795 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.5092597007751465, "transform": { "location": { "x": -1567.118408203125, "y": 5775.6796875, "z": 376.1012878417969 }, "rotation": { "roll": 0.0015177512541413307, "pitch": 0.03139837831258774, "yaw": 90.08525085449219 } }, "velocity": { "x": -0.004469150677323341, "y": 4.5092453956604, "z": -0.010544853284955025 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.007481587119400501, "expert_target_speed": 3.975777117913789, "target_point": [ 50.04305750621904, -0.08377116405845049 ], "target_point_next": [ 62.28087149685079, -0.10344946062340218 ] }, "75": { "acceleration": [ -0.05287284031510353, 5.049428939819336, -0.0006099604070186615 ], "angular_velocity": [ 0.13732072710990906, -0.010165090672671795, 0.521784245967865 ], "forward_vector": [ -0.0011326189851388335, 0.9999711513519287, 0.0075065381824970245 ], "right_vector": [ -0.9999993443489075, -0.0011343781370669603, 0.00023009067808743566 ], "location": [ -1567.142822265625, 5736.59423828125, 376.201171875 ], "rotation": [ -0.013183596543967724, 0.43009698390960693, 90.06489562988281 ], "velocity": [ -0.017811395227909088, 4.322149276733398, -0.010443582199513912 ], "speed": 4.322185976582568, "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": 24.544450759887695, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1573486328125, 5761.138671875, 376.1756591796875 ], "velocity": [ -0.003930895123630762, 3.7317798137664795, -0.009618358686566353 ], "speed_kmh": 13.434459405566374, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.033723831176758, "transform": { "location": { "x": -1564.1790771484375, "y": 5781.263671875, "z": 376.087646484375 }, "rotation": { "roll": 8.539094415027648e-05, "pitch": 0.1384342610836029, "yaw": -90.07292938232422 } }, "velocity": { "x": -0.011833623051643372, "y": -8.03369426727295, "z": 0.018266772851347923 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.087449073791504, "transform": { "location": { "x": -1567.26025390625, "y": 5712.3173828125, "z": 376.309326171875 }, "rotation": { "roll": 0.00012495799455791712, "pitch": -0.10885272175073624, "yaw": 90.22990417480469 } }, "velocity": { "x": -0.002519195666536689, "y": 2.0874404907226562, "z": -0.005498895421624184 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.0834327936172485, "transform": { "location": { "x": -1567.2137451171875, "y": 5724.619140625, "z": 376.2434997558594 }, "rotation": { "roll": -0.002044677035883069, "pitch": 0.005231924820691347, "yaw": 89.9781265258789 } }, "velocity": { "x": -0.004136480391025543, "y": 1.0834230184555054, "z": -0.002023353474214673 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.7317943572998047, "transform": { "location": { "x": -1567.1573486328125, "y": 5761.138671875, "z": 376.1756591796875 }, "rotation": { "roll": -0.0008544923039153218, "pitch": -0.013059320859611034, "yaw": 90.05807495117188 } }, "velocity": { "x": -0.003930895123630762, "y": 3.7317798137664795, "z": -0.009618358686566353 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.093211650848389, "transform": { "location": { "x": -1567.1195068359375, "y": 5776.8505859375, "z": 376.0984191894531 }, "rotation": { "roll": 0.0005899161333218217, "pitch": 0.05371943488717079, "yaw": 90.07290649414062 } }, "velocity": { "x": -0.0043612332083284855, "y": 5.093205451965332, "z": -0.006749620195478201 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.012884311378002167, "expert_target_speed": 5.363262340733561, "target_point": [ 49.12726170554578, -0.18504541140044545 ], "target_point_next": [ 61.36501225940214, -0.22908955114621204 ] }, "80": { "acceleration": [ -0.04041198641061783, 0.5433177947998047, -0.0362144410610199 ], "angular_velocity": [ -1.3051921129226685, -0.023641323670744896, 0.6252557039260864 ], "forward_vector": [ -0.003605693345889449, 0.9999752044677734, 0.006053648889064789 ], "right_vector": [ -0.9999934434890747, -0.003607603255659342, 0.0003046607307624072 ], "location": [ -1567.148681640625, 5737.81005859375, 376.19854736328125 ], "rotation": [ -0.017456093803048134, 0.3468506336212158, 90.20659637451172 ], "velocity": [ -0.03275018557906151, 5.174674987792969, -0.012958860024809837 ], "speed": 5.174778623665521, "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": 24.435562133789062, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1578369140625, 5762.24560546875, 376.1727294921875 ], "velocity": [ 0.004703703336417675, 5.054840564727783, -0.00426375400274992 ], "speed_kmh": 18.19744038519045, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.062642097473145, "transform": { "location": { "x": -1564.1822509765625, "y": 5779.25048828125, "z": 376.0924987792969 }, "rotation": { "roll": 0.0010961617808789015, "pitch": 0.1388440728187561, "yaw": -90.0978775024414 } }, "velocity": { "x": -0.015726104378700256, "y": -8.062605857849121, "z": 0.018393822014331818 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.6696949601173401, "transform": { "location": { "x": -1567.2603759765625, "y": 5712.45068359375, "z": 376.3101501464844 }, "rotation": { "roll": -0.0020447000861167908, "pitch": -0.24621464312076569, "yaw": 90.23125457763672 } }, "velocity": { "x": -0.0008367098635062575, "y": 0.6696925163269043, "z": -0.0016164875123649836 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.261256456375122, "transform": { "location": { "x": -1567.21533203125, "y": 5725.04541015625, "z": 376.2414855957031 }, "rotation": { "roll": -0.004150385968387127, "pitch": 0.1418425291776657, "yaw": 90.03011322021484 } }, "velocity": { "x": -0.009461772628128529, "y": 2.2612292766571045, "z": -0.005828132387250662 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.054844856262207, "transform": { "location": { "x": -1567.1578369140625, "y": 5762.24560546875, "z": 376.1727294921875 }, "rotation": { "roll": 0.002028681105002761, "pitch": -0.0025066793896257877, "yaw": 90.0317611694336 } }, "velocity": { "x": 0.004703703336417675, "y": 5.054840564727783, "z": -0.00426375400274992 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.3457770347595215, "transform": { "location": { "x": -1567.119140625, "y": 5778.1796875, "z": 376.0955505371094 }, "rotation": { "roll": 0.0062855081632733345, "pitch": 0.03068803809583187, "yaw": 90.0099868774414 } }, "velocity": { "x": 0.003150730626657605, "y": 5.345759391784668, "z": -0.013464412651956081 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.026865221560001373, "expert_target_speed": 6.151999314810178, "target_point": [ 47.910819319215314, -0.30815074134788845 ], "target_point_next": [ 60.14842329167101, -0.38249802101859987 ] }, "85": { "acceleration": [ -0.08118897676467896, 0.3534126281738281, 0.004898644983768463 ], "angular_velocity": [ -0.7319406270980835, 0.019731825217604637, 0.647249162197113 ], "forward_vector": [ -0.006913769990205765, 0.9999760985374451, -9.799002873478457e-05 ], "right_vector": [ -0.9999760389328003, -0.00691373273730278, 0.0003749730240087956 ], "location": [ -1567.157958984375, 5739.07421875, 376.1963195800781 ], "rotation": [ -0.0214843712747097, -0.005614415276795626, 90.39613342285156 ], "velocity": [ -0.047553300857543945, 5.039760589599609, -0.013195008970797062 ], "speed": 5.039984932210001, "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": 24.45997428894043, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1571044921875, 5763.5341796875, 376.17047119140625 ], "velocity": [ 0.005472736898809671, 5.317908763885498, -0.013758773915469646 ], "speed_kmh": 19.14454576294038, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.059736251831055, "transform": { "location": { "x": -1564.18603515625, "y": 5777.23486328125, "z": 376.0973815917969 }, "rotation": { "roll": 0.00044763885671272874, "pitch": 0.1393221914768219, "yaw": -90.1114501953125 } }, "velocity": { "x": -0.01512637548148632, "y": -8.059699058532715, "z": 0.019320687279105186 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.4570165872573853, "transform": { "location": { "x": -1567.2611083984375, "y": 5712.7236328125, "z": 376.30810546875 }, "rotation": { "roll": -0.0006713874754495919, "pitch": -0.11056026816368103, "yaw": 90.20579528808594 } }, "velocity": { "x": -0.0017322126077488065, "y": 1.4570108652114868, "z": -0.0036920069251209497 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.091738224029541, "transform": { "location": { "x": -1567.2178955078125, "y": 5725.8291015625, "z": 376.2384948730469 }, "rotation": { "roll": -0.0044860816560685635, "pitch": 0.22625000774860382, "yaw": 90.104248046875 } }, "velocity": { "x": -0.017519187182188034, "y": 4.0916852951049805, "z": -0.011340312659740448 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.317929267883301, "transform": { "location": { "x": -1567.1571044921875, "y": 5763.5341796875, "z": 376.17047119140625 }, "rotation": { "roll": 0.0005221699830144644, "pitch": -0.09408584982156754, "yaw": 89.98384857177734 } }, "velocity": { "x": 0.005472736898809671, "y": 5.317908763885498, "z": -0.013758773915469646 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.324848651885986, "transform": { "location": { "x": -1567.118408203125, "y": 5779.67724609375, "z": 376.09112548828125 }, "rotation": { "roll": 0.003978282678872347, "pitch": 0.20124468207359314, "yaw": 89.97490692138672 } }, "velocity": { "x": 0.004958846606314182, "y": 6.3248291015625, "z": -0.014863748103380203 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04775552079081535, "expert_target_speed": 6.032168113990391, "target_point": [ 46.64535082173719, -0.4664459857876776 ], "target_point_next": [ 58.88264364078246, -0.5810887596579207 ] }, "90": { "acceleration": [ -0.05886003375053406, -1.2282180786132812, -0.0014846771955490112 ], "angular_velocity": [ -0.176082581281662, -0.0525883249938488, -3.6509339809417725 ], "forward_vector": [ -0.00886993296444416, 0.9999606609344482, -0.00012087821232853457 ], "right_vector": [ -0.9999605417251587, -0.008869878016412258, 0.0004431499692145735 ], "location": [ -1567.171630859375, 5740.3642578125, 376.1927185058594 ], "rotation": [ -0.02539062313735485, -0.006925811525434256, 90.50821685791016 ], "velocity": [ -0.0663076788187027, 5.3595452308654785, -0.013831377029418945 ], "speed": 5.359955390669144, "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": 24.521015167236328, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.156494140625, 5764.88525390625, 376.1669921875 ], "velocity": [ 0.008129914291203022, 5.72758674621582, -0.014701823703944683 ], "speed_kmh": 20.619400985048436, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.053595542907715, "transform": { "location": { "x": -1564.18994140625, "y": 5775.22119140625, "z": 376.1022033691406 }, "rotation": { "roll": -0.00042724827653728426, "pitch": 0.14152833819389343, "yaw": -90.1146240234375 } }, "velocity": { "x": -0.016867635771632195, "y": -8.05355167388916, "z": 0.020724639296531677 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.328084707260132, "transform": { "location": { "x": -1567.26220703125, "y": 5713.19970703125, "z": 376.3064880371094 }, "rotation": { "roll": -0.0003051742969546467, "pitch": -0.07571947574615479, "yaw": 90.17389678955078 } }, "velocity": { "x": -0.0025916353333741426, "y": 2.328075647354126, "z": -0.005980396177619696 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.134770393371582, "transform": { "location": { "x": -1567.2216796875, "y": 5727.07275390625, "z": 376.2354736328125 }, "rotation": { "roll": -0.004608153831213713, "pitch": 0.20912672579288483, "yaw": 90.28947448730469 } }, "velocity": { "x": -0.016338109970092773, "y": 5.134726047515869, "z": -0.013668937608599663 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.727611064910889, "transform": { "location": { "x": -1567.156494140625, "y": 5764.88525390625, "z": 376.1669921875 }, "rotation": { "roll": 4.04542479373049e-05, "pitch": -0.09585487097501755, "yaw": 89.87995910644531 } }, "velocity": { "x": 0.008129914291203022, "y": 5.72758674621582, "z": -0.014701823703944683 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.800161838531494, "transform": { "location": { "x": -1567.117431640625, "y": 5781.1494140625, "z": 376.0895080566406 }, "rotation": { "roll": 0.0013590549351647496, "pitch": -0.3163743317127228, "yaw": 89.95922088623047 } }, "velocity": { "x": 0.003889024956151843, "y": 4.800145149230957, "z": -0.01210905984044075 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.07769811898469925, "expert_target_speed": 6.323440686670245, "target_point": [ 45.35423964762085, -0.5599112564910328 ], "target_point_next": [ 57.59128481793824, -0.6984897695066153 ] }, "95": { "acceleration": [ -0.04115164279937744, -1.3322925567626953, 0.007114596664905548 ], "angular_velocity": [ -0.5398169159889221, 0.0015130402753129601, 4.12879753112793 ], "forward_vector": [ -0.011445497162640095, 0.9999294877052307, -0.003172272816300392 ], "right_vector": [ -0.9999344348907471, -0.011444621719419956, 0.0002940115227829665 ], "location": [ -1567.187744140625, 5741.65625, 376.1899108886719 ], "rotation": [ -0.01684570498764515, -0.18175815045833588, 90.65579986572266 ], "velocity": [ -0.06907229870557785, 5.010304927825928, -0.013344029895961285 ], "speed": 5.010781022180599, "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": 24.784706115722656, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.154296875, 5766.44091796875, 376.16204833984375 ], "velocity": [ 0.009372994303703308, 7.391392230987549, -0.018230875954031944 ], "speed_kmh": 26.60911436554996, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054015159606934, "transform": { "location": { "x": -1564.19384765625, "y": 5773.20751953125, "z": 376.1072082519531 }, "rotation": { "roll": -0.00039673244464211166, "pitch": 0.14152151346206665, "yaw": -90.12298583984375 } }, "velocity": { "x": -0.017639070749282837, "y": -8.053967475891113, "z": 0.02122470736503601 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.002282665343955159, "transform": { "location": { "x": -1567.2630615234375, "y": 5713.623046875, "z": 376.3074951171875 }, "rotation": { "roll": -0.0016784931067377329, "pitch": -0.328429639339447, "yaw": 90.14432525634766 } }, "velocity": { "x": -0.00013098056660965085, "y": 0.0022544837556779385, "z": -0.00033272913424298167 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.011419182643294334, "transform": { "location": { "x": -1567.20703125, "y": 5727.66748046875, "z": 376.24420166015625 }, "rotation": { "roll": -0.0555114671587944, "pitch": -1.1126718521118164, "yaw": 92.09244537353516 } }, "velocity": { "x": 0.008062779903411865, "y": 0.00799176748842001, "z": -0.001233274582773447 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.391420841217041, "transform": { "location": { "x": -1567.154296875, "y": 5766.44091796875, "z": 376.16204833984375 }, "rotation": { "roll": -0.00085449154721573, "pitch": 0.016706641763448715, "yaw": 89.917236328125 } }, "velocity": { "x": 0.009372994303703308, "y": 7.391392230987549, "z": -0.018230875954031944 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.022838592529297, "transform": { "location": { "x": -1567.1162109375, "y": 5782.1455078125, "z": 376.0877685546875 }, "rotation": { "roll": 0.0035510219167917967, "pitch": -0.5729708671569824, "yaw": 89.94781494140625 } }, "velocity": { "x": 0.006204304751008749, "y": 4.022822380065918, "z": -0.009541187435388565 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.09980998933315277, "expert_target_speed": 6.020886997283062, "target_point": [ 44.06055477640955, -0.6780708904345624 ], "target_point_next": [ 56.2972023485709, -0.8481729168059718 ] }, "100": { "acceleration": [ 0.06481558084487915, -2.086944580078125, 0.0030031241476535797 ], "angular_velocity": [ -0.30229511857032776, -0.06057101488113403, -3.3479859828948975 ], "forward_vector": [ -0.01258040126413107, 0.9999157786369324, -0.0031819287687540054 ], "right_vector": [ -0.9999207854270935, -0.012579578906297684, 0.00027803253033198416 ], "location": [ -1567.2061767578125, 5742.9208984375, 376.18646240234375 ], "rotation": [ -0.015930170193314552, -0.18231140077114105, 90.7208251953125 ], "velocity": [ -0.07744213938713074, 4.985922336578369, -0.013141374103724957 ], "speed": 4.986523722127867, "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": 25.52400016784668, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1512451171875, 5768.44482421875, 376.15765380859375 ], "velocity": [ 0.012354380451142788, 7.931597709655762, -0.021035674959421158 ], "speed_kmh": 28.553886813561373, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.055516242980957, "transform": { "location": { "x": -1564.1986083984375, "y": 5771.19384765625, "z": 376.1122131347656 }, "rotation": { "roll": 0.00021848001051694155, "pitch": 0.14206109941005707, "yaw": -90.1259765625 } }, "velocity": { "x": -0.018423497676849365, "y": -8.055466651916504, "z": 0.021344175562262535 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.9799925684928894, "transform": { "location": { "x": -1567.262939453125, "y": 5713.74609375, "z": 376.3056945800781 }, "rotation": { "roll": -0.0007019182667136192, "pitch": -0.1667795479297638, "yaw": 90.15019989013672 } }, "velocity": { "x": -0.0019445463549345732, "y": 0.9799875617027283, "z": -0.0024556827265769243 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.30107036232948303, "transform": { "location": { "x": -1567.2076416015625, "y": 5727.7197265625, "z": 376.2394104003906 }, "rotation": { "roll": -0.03131100535392761, "pitch": -0.5403430461883545, "yaw": 92.04733276367188 } }, "velocity": { "x": -0.004165246617048979, "y": 0.3010374903678894, "z": -0.0015608120011165738 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.93163537979126, "transform": { "location": { "x": -1567.1512451171875, "y": 5768.44482421875, "z": 376.15765380859375 }, "rotation": { "roll": 0.0014968190807849169, "pitch": -0.047913774847984314, "yaw": 89.91271209716797 } }, "velocity": { "x": 0.012354380451142788, "y": 7.931597709655762, "z": -0.021035674959421158 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.15640926361084, "transform": { "location": { "x": -1567.1143798828125, "y": 5783.30029296875, "z": 376.08294677734375 }, "rotation": { "roll": 0.0026598945260047913, "pitch": 0.009985735639929771, "yaw": 89.92658233642578 } }, "velocity": { "x": 0.009144502691924572, "y": 5.156394958496094, "z": -0.007867183536291122 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.12079533189535141, "expert_target_speed": 6.006695661856363, "target_point": [ 42.79497575937963, -0.7306453542526965 ], "target_point_next": [ 55.03142218813544, -0.9146488891290514 ] }, "105": { "acceleration": [ -0.045569539070129395, 0.7376289367675781, 0.005452148616313934 ], "angular_velocity": [ 0.035230688750743866, -0.016564691439270973, -0.577028214931488 ], "forward_vector": [ -0.014062995091080666, 0.9998967051506042, -0.0029705718625336885 ], "right_vector": [ -0.9999010562896729, -0.014062250033020973, 0.00027164132916368544 ], "location": [ -1567.226806640625, 5744.1767578125, 376.1830139160156 ], "rotation": [ -0.015563969500362873, -0.17020148038864136, 90.80577850341797 ], "velocity": [ -0.08676053583621979, 5.013960361480713, -0.013039245270192623 ], "speed": 5.014710948507241, "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": 26.098278045654297, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.148193359375, 5770.27490234375, 376.15460205078125 ], "velocity": [ 0.010947292670607567, 6.736639976501465, -0.016684245318174362 ], "speed_kmh": 24.252010314366146, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.055084228515625, "transform": { "location": { "x": -1564.203369140625, "y": 5769.1796875, "z": 376.11724853515625 }, "rotation": { "roll": -0.00018310165614821017, "pitch": 0.14376181364059448, "yaw": -90.13461303710938 } }, "velocity": { "x": -0.019256195053458214, "y": -8.055032730102539, "z": 0.021166658028960228 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.7121750116348267, "transform": { "location": { "x": -1567.263671875, "y": 5714.0771484375, "z": 376.30419921875 }, "rotation": { "roll": -0.001007080776616931, "pitch": -0.09933826327323914, "yaw": 90.0955581665039 } }, "velocity": { "x": -0.001553530222736299, "y": 1.7121683359146118, "z": -0.004524774383753538 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6955122947692871, "transform": { "location": { "x": -1567.208984375, "y": 5727.85009765625, "z": 376.2342529296875 }, "rotation": { "roll": 0.00723302410915494, "pitch": 0.04877437651157379, "yaw": 91.96305847167969 } }, "velocity": { "x": -0.002409054897725582, "y": 0.6955057382583618, "z": -0.0018295287154614925 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.736669540405273, "transform": { "location": { "x": -1567.148193359375, "y": 5770.27490234375, "z": 376.15460205078125 }, "rotation": { "roll": -0.000732416519895196, "pitch": -0.2233266830444336, "yaw": 89.90819549560547 } }, "velocity": { "x": 0.010947292670607567, "y": 6.736639976501465, "z": -0.016684245318174362 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.985731840133667, "transform": { "location": { "x": -1567.113525390625, "y": 5784.3525390625, "z": 376.0817565917969 }, "rotation": { "roll": 0.005919331219047308, "pitch": -0.36334556341171265, "yaw": 89.56974029541016 } }, "velocity": { "x": 0.010670743882656097, "y": 3.9857048988342285, "z": -0.010051078163087368 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.14596335589885712, "expert_target_speed": 6.029840137840341, "target_point": [ 41.53781816384816, -0.7971613668531914 ], "target_point_next": [ 53.77397783329514, -0.9993371528829582 ] }, "110": { "acceleration": [ -0.04920601844787598, -0.26363372802734375, 0.03691636025905609 ], "angular_velocity": [ -0.006850998383015394, 0.04310062527656555, 0.6034886240959167 ], "forward_vector": [ -0.01680995523929596, 0.9998544454574585, -0.0029145434964448214 ], "right_vector": [ -0.9998586177825928, -0.01680915802717209, 0.00029720726888626814 ], "location": [ -1567.2493896484375, 5745.42529296875, 376.1793518066406 ], "rotation": [ -0.017028793692588806, -0.16699127852916718, 90.96318817138672 ], "velocity": [ -0.09802313894033432, 4.982299327850342, -0.013758210465312004 ], "speed": 4.983263501769265, "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": 25.905977249145508, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.146484375, 5771.3310546875, 376.15484619140625 ], "velocity": [ 0.0013653718633577228, 1.2707496881484985, -0.0029261682648211718 ], "speed_kmh": 4.574713646593836, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.055185317993164, "transform": { "location": { "x": -1564.208251953125, "y": 5767.166015625, "z": 376.1222839355469 }, "rotation": { "roll": 0.0002395709598204121, "pitch": 0.14365936815738678, "yaw": -90.13178253173828 } }, "velocity": { "x": -0.018929926678538322, "y": -8.055136680603027, "z": 0.0208444781601429 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.1830711364746094, "transform": { "location": { "x": -1567.2646484375, "y": 5714.603515625, "z": 376.302734375 }, "rotation": { "roll": -0.0006103523774072528, "pitch": -0.10271921008825302, "yaw": 90.08545684814453 } }, "velocity": { "x": -0.0019326452165842056, "y": 2.183061122894287, "z": -0.006337737664580345 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.8298038244247437, "transform": { "location": { "x": -1567.212890625, "y": 5728.1748046875, "z": 376.2326965332031 }, "rotation": { "roll": 0.015045812353491783, "pitch": 0.1252724975347519, "yaw": 91.73591613769531 } }, "velocity": { "x": -0.011241130530834198, "y": 1.8297669887542725, "z": -0.0029354665894061327 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.2707538604736328, "transform": { "location": { "x": -1567.146484375, "y": 5771.3310546875, "z": 376.15484619140625 }, "rotation": { "roll": -0.0007934647146612406, "pitch": -0.5910640358924866, "yaw": 89.90901947021484 } }, "velocity": { "x": 0.0013653718633577228, "y": 1.2707496881484985, "z": -0.0029261682648211718 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.925074100494385, "transform": { "location": { "x": -1567.110107421875, "y": 5785.48681640625, "z": 376.0774841308594 }, "rotation": { "roll": -0.0012512204702943563, "pitch": 0.03317422792315483, "yaw": 89.71757507324219 } }, "velocity": { "x": 0.01225935760885477, "y": 4.925047874450684, "z": -0.010375079698860645 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.18595395982265472, "expert_target_speed": 5.968211962900556, "target_point": [ 40.286735180045824, -0.9127658395672312 ], "target_point_next": [ 52.52229379828905, -1.148528016753523 ] }, "115": { "acceleration": [ -0.05997270345687866, 0.4687976837158203, 0.005410201847553253 ], "angular_velocity": [ 0.17264240980148315, 0.023647570982575417, 0.5943918824195862 ], "forward_vector": [ -0.019390525296330452, 0.9998080134391785, -0.0028268059249967337 ], "right_vector": [ -0.9998119473457336, -0.0193895623087883, 0.0003675147600006312 ], "location": [ -1567.2750244140625, 5746.66650390625, 376.17608642578125 ], "rotation": [ -0.02105712890625, -0.1619642674922943, 91.11106872558594 ], "velocity": [ -0.11122074723243713, 4.991113662719727, -0.01319601945579052 ], "speed": 4.992352716786192, "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": 24.78061866760254, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.146484375, 5771.44677734375, 376.1521911621094 ], "velocity": [ 0.0013795673148706555, 1.0085220336914062, -0.0018299865769222379 ], "speed_kmh": 3.630688695095292, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054876327514648, "transform": { "location": { "x": -1564.213134765625, "y": 5765.15234375, "z": 376.12738037109375 }, "rotation": { "roll": 9.653675806475803e-05, "pitch": 0.14490245282649994, "yaw": -90.1370620727539 } }, "velocity": { "x": -0.018815798684954643, "y": -8.054825782775879, "z": 0.021392401307821274 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.6880437731742859, "transform": { "location": { "x": -1567.2646484375, "y": 5714.78369140625, "z": 376.3035583496094 }, "rotation": { "roll": -9.155484440270811e-05, "pitch": -0.26324230432510376, "yaw": 90.0897445678711 } }, "velocity": { "x": -0.0005508182221092284, "y": 0.6880398392677307, "z": -0.0022481821943074465 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.2158172130584717, "transform": { "location": { "x": -1567.219482421875, "y": 5728.79736328125, "z": 376.23101806640625 }, "rotation": { "roll": 0.018169857561588287, "pitch": 0.15081056952476501, "yaw": 91.34710693359375 } }, "velocity": { "x": -0.016370270401239395, "y": 3.215764045715332, "z": -0.008568048477172852 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.0085246562957764, "transform": { "location": { "x": -1567.146484375, "y": 5771.44677734375, "z": 376.1521911621094 }, "rotation": { "roll": -0.0007629375904798508, "pitch": -0.3050840497016907, "yaw": 89.91009521484375 } }, "velocity": { "x": 0.0013795673148706555, "y": 1.0085220336914062, "z": -0.0018299865769222379 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.221651077270508, "transform": { "location": { "x": -1567.1072998046875, "y": 5786.625, "z": 376.0758056640625 }, "rotation": { "roll": -0.0021362307015806437, "pitch": -0.22057411074638367, "yaw": 89.80323028564453 } }, "velocity": { "x": 0.00817565806210041, "y": 4.221630096435547, "z": -0.010434169322252274 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.22028851509094238, "expert_target_speed": 5.9629011857311705, "target_point": [ 39.042769893776466, -1.018326170451711 ], "target_point_next": [ 51.277679097140805, -1.2856748006861332 ] }, "120": { "acceleration": [ -0.06501063704490662, 0.978546142578125, -0.009719263762235641 ], "angular_velocity": [ 0.36791789531707764, 0.02855737879872322, -0.2511332333087921 ], "forward_vector": [ -0.021477097645401955, 0.9997662305831909, -0.0024831267073750496 ], "right_vector": [ -0.9997692704200745, -0.021476244553923607, 0.00036964562605135143 ], "location": [ -1567.3040771484375, 5747.92236328125, 376.1730041503906 ], "rotation": [ -0.02117919921875, -0.14227283000946045, 91.23064422607422 ], "velocity": [ -0.12510991096496582, 5.076272010803223, -0.012809027917683125 ], "speed": 5.077813507552818, "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": 23.88530158996582, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1458740234375, 5771.80712890625, 376.1495361328125 ], "velocity": [ 0.004200795665383339, 1.849878191947937, -0.0038698576390743256 ], "speed_kmh": 6.659593233820599, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054816246032715, "transform": { "location": { "x": -1564.2178955078125, "y": 5763.13916015625, "z": 376.1324462890625 }, "rotation": { "roll": -0.0003967258962802589, "pitch": 0.14639826118946075, "yaw": -90.1368408203125 } }, "velocity": { "x": -0.01992040127515793, "y": -8.054764747619629, "z": 0.02081061340868473 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.5469326972961426, "transform": { "location": { "x": -1567.2650146484375, "y": 5715.078125, "z": 376.3013916015625 }, "rotation": { "roll": 0.00032945050043053925, "pitch": -0.11153697967529297, "yaw": 90.07384490966797 } }, "velocity": { "x": -0.00160322361625731, "y": 1.5469290018081665, "z": -0.0029134845826774836 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.216256618499756, "transform": { "location": { "x": -1567.2281494140625, "y": 5729.861328125, "z": 376.2268981933594 }, "rotation": { "roll": 0.02207195572555065, "pitch": 0.28834325075149536, "yaw": 90.85659790039062 } }, "velocity": { "x": -0.01921599917113781, "y": 5.216207027435303, "z": -0.012095890007913113 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.8498870134353638, "transform": { "location": { "x": -1567.1458740234375, "y": 5771.80712890625, "z": 376.1495361328125 }, "rotation": { "roll": -0.00030517447157762945, "pitch": -0.09802687168121338, "yaw": 89.87286376953125 } }, "velocity": { "x": 0.004200795665383339, "y": 1.849878191947937, "z": -0.0038698576390743256 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.403863430023193, "transform": { "location": { "x": -1567.10498046875, "y": 5787.712890625, "z": 376.0728454589844 }, "rotation": { "roll": -6.1024991737212986e-05, "pitch": -0.14221136271953583, "yaw": 89.84017181396484 } }, "velocity": { "x": 0.009465431794524193, "y": 4.403841972351074, "z": -0.010034293867647648 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.2529153525829315, "expert_target_speed": 6.035421005347004, "target_point": [ 37.78437081264771, -1.1017103657097354 ], "target_point_next": [ 50.01869670741859, -1.3945386519054264 ] }, "125": { "acceleration": [ 0.0978754460811615, -0.17134666442871094, -0.007303040474653244 ], "angular_velocity": [ 0.005589629057794809, -0.044496286660432816, -0.48869889974594116 ], "forward_vector": [ -0.023513171821832657, 0.9997214674949646, -0.0020352588035166264 ], "right_vector": [ -0.9997235536575317, -0.023513348773121834, -6.33121162536554e-05 ], "location": [ -1567.333740234375, 5749.19482421875, 376.16949462890625 ], "rotation": [ 0.003627524711191654, -0.11661181598901749, 91.34733581542969 ], "velocity": [ -0.11037746071815491, 5.140114784240723, -0.013688268139958382 ], "speed": 5.141299755801507, "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": 23.20829963684082, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.144775390625, 5772.40234375, 376.1474914550781 ], "velocity": [ 0.00662502134218812, 2.955899238586426, -0.006316327955573797 ], "speed_kmh": 10.641288280971832, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054919242858887, "transform": { "location": { "x": -1564.2227783203125, "y": 5761.12548828125, "z": 376.1376037597656 }, "rotation": { "roll": 0.0003091270918957889, "pitch": 0.14666464924812317, "yaw": -90.14404296875 } }, "velocity": { "x": -0.019717978313565254, "y": -8.0548677444458, "z": 0.021049804985523224 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.5138680934906006, "transform": { "location": { "x": -1567.2657470703125, "y": 5715.5830078125, "z": 376.2996520996094 }, "rotation": { "roll": -0.00024414274957962334, "pitch": -0.07079491019248962, "yaw": 90.06084442138672 } }, "velocity": { "x": -0.0026360447518527508, "y": 2.5138604640960693, "z": -0.005582580342888832 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.161715984344482, "transform": { "location": { "x": -1567.235595703125, "y": 5731.25244140625, "z": 376.22467041015625 }, "rotation": { "roll": 0.012992006726562977, "pitch": 0.11390022933483124, "yaw": 90.43289947509766 } }, "velocity": { "x": -0.011119025759398937, "y": 6.161682605743408, "z": -0.01705264113843441 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.9559133052825928, "transform": { "location": { "x": -1567.144775390625, "y": 5772.40234375, "z": 376.1474914550781 }, "rotation": { "roll": 0.00028892571572214365, "pitch": -0.03665079176425934, "yaw": 89.87345123291016 } }, "velocity": { "x": 0.00662502134218812, "y": 2.955899238586426, "z": -0.006316327955573797 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.060861110687256, "transform": { "location": { "x": -1567.1029052734375, "y": 5788.74609375, "z": 376.07073974609375 }, "rotation": { "roll": -6.103198757045902e-05, "pitch": -0.23544344305992126, "yaw": 89.86090087890625 } }, "velocity": { "x": 0.008549361489713192, "y": 4.060840129852295, "z": -0.009804782457649708 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.28648415207862854, "expert_target_speed": 6.092565960653474, "target_point": [ 36.50924072941931, -1.1784401809074705 ], "target_point_next": [ 48.74294450839092, -1.4961985057923286 ] }, "130": { "acceleration": [ -0.030301660299301147, 5.411310195922852, -0.015376098453998566 ], "angular_velocity": [ 1.3960546255111694, 0.04587887227535248, -0.6082135438919067 ], "forward_vector": [ -0.02062629722058773, 0.9997863173484802, -0.0013710255734622478 ], "right_vector": [ -0.9997872114181519, -0.020626768469810486, -0.0003306117432657629 ], "location": [ -1567.35888671875, 5750.47607421875, 376.1658935546875 ], "rotation": [ 0.01894267648458481, -0.07855400443077087, 91.181884765625 ], "velocity": [ -0.09512694180011749, 5.436275959014893, -0.01341449748724699 ], "speed": 5.437108187043875, "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": 22.85356903076172, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.142822265625, 5773.32861328125, 376.1449279785156 ], "velocity": [ 0.009529957547783852, 4.357337474822998, -0.010513858869671822 ], "speed_kmh": 15.686498090758693, "color": "16,16,16" }, "other_vehicles": [ { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.055061340332031, "transform": { "location": { "x": -1564.227783203125, "y": 5759.11181640625, "z": 376.1427917480469 }, "rotation": { "roll": -9.155418229056522e-05, "pitch": 0.14797604084014893, "yaw": -90.14022064208984 } }, "velocity": { "x": -0.020946761593222618, "y": -8.055005073547363, "z": 0.021537188440561295 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.9019906520843506, "transform": { "location": { "x": -1567.2667236328125, "y": 5716.38818359375, "z": 376.2969055175781 }, "rotation": { "roll": -0.00024414008657913655, "pitch": -0.027156829833984375, "yaw": 90.06026458740234 } }, "velocity": { "x": -0.00406159833073616, "y": 3.9019742012023926, "z": -0.010604962706565857 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.484774112701416, "transform": { "location": { "x": -1567.238525390625, "y": 5732.982421875, "z": 376.2195739746094 }, "rotation": { "roll": 0.012604663148522377, "pitch": 0.1500319242477417, "yaw": 90.22280883789062 } }, "velocity": { "x": 0.001957883592694998, "y": 7.484745979309082, "z": -0.020389676094055176 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.357360363006592, "transform": { "location": { "x": -1567.142822265625, "y": 5773.32861328125, "z": 376.1449279785156 }, "rotation": { "roll": 0.0005312839639373124, "pitch": 0.00089475471759215, "yaw": 89.87338256835938 } }, "velocity": { "x": 0.009529957547783852, "y": 4.357337474822998, "z": -0.010513858869671822 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.868546485900879, "transform": { "location": { "x": -1567.1009521484375, "y": 5789.759765625, "z": 376.0682678222656 }, "rotation": { "roll": -0.0006103723426349461, "pitch": -0.21453623473644257, "yaw": 89.86434936523438 } }, "velocity": { "x": 0.008000644855201244, "y": 3.8685262203216553, "z": -0.009613541886210442 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.3017181158065796, "expert_target_speed": 6.363246742718776, "target_point": [ 35.23099490018135, -1.0717386723116802 ], "target_point_next": [ 47.465565133975225, -1.3541739729072757 ] }, "135": { "acceleration": [ 0.08686810731887817, 0.35569190979003906, 0.0001047179102897644 ], "angular_velocity": [ -0.18481552600860596, -0.04084670916199684, -0.7941351532936096 ], "forward_vector": [ -0.017181886360049248, 0.9998511672019958, -0.0015488856006413698 ], "right_vector": [ -0.9998522996902466, -0.01718251407146454, -0.0003933107072953135 ], "location": [ -1567.380859375, 5751.82861328125, 376.1623840332031 ], "rotation": [ 0.022535070776939392, -0.0887446403503418, 90.9844970703125 ], "velocity": [ -0.07653345912694931, 5.422214031219482, -0.013793696649372578 ], "speed": 5.4227541315017564, "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": 22.745426177978516, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.1400146484375, 5774.57275390625, 376.1424560546875 ], "velocity": [ 0.012011921033263206, 5.314797401428223, -0.012673444114625454 ], "speed_kmh": 19.1333739083248, "color": "16,16,16" }, "other_vehicles": [ { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.9800000786781311, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 376.3991394042969 }, "rotation": { "roll": 6.6701253409462424e-09, "pitch": 0.13735510408878326, "yaw": -90.14047241210938 } }, "velocity": { "x": 0.0, "y": 0.0, "z": -0.9800000786781311 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054696083068848, "transform": { "location": { "x": -1564.232421875, "y": 5757.09814453125, "z": 376.14801025390625 }, "rotation": { "roll": -0.00015258586790878326, "pitch": 0.14962895214557648, "yaw": -90.14775848388672 } }, "velocity": { "x": -0.02032250165939331, "y": -8.054642677307129, "z": 0.02146148681640625 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.206761837005615, "transform": { "location": { "x": -1567.266845703125, "y": 5717.5341796875, "z": 376.2937316894531 }, "rotation": { "roll": 0.002249688608571887, "pitch": -0.02099600061774254, "yaw": 90.026611328125 } }, "velocity": { "x": 0.004134726244956255, "y": 5.206750869750977, "z": -0.009769143536686897 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.36110782623291, "transform": { "location": { "x": -1567.2384033203125, "y": 5734.98291015625, "z": 376.21441650390625 }, "rotation": { "roll": 0.008395154029130936, "pitch": 0.09485083073377609, "yaw": 90.0434341430664 } }, "velocity": { "x": 0.010679262690246105, "y": 8.361069679260254, "z": -0.022927045822143555 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.314826011657715, "transform": { "location": { "x": -1567.1400146484375, "y": 5774.57275390625, "z": 376.1424560546875 }, "rotation": { "roll": -0.00033569312654435635, "pitch": -0.02333875559270382, "yaw": 89.8707046508789 } }, "velocity": { "x": 0.012011921033263206, "y": 5.314797401428223, "z": -0.012673444114625454 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.978358507156372, "transform": { "location": { "x": -1567.0989990234375, "y": 5790.7255859375, "z": 376.0657043457031 }, "rotation": { "roll": -0.00048828034778125584, "pitch": -0.15768173336982727, "yaw": 89.87511444091797 } }, "velocity": { "x": 0.00730701070278883, "y": 3.978339195251465, "z": -0.010026569478213787 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.32825422286987305, "expert_target_speed": 6.357342758814083, "target_point": [ 33.88175914213115, -0.9491605297282559 ], "target_point_next": [ 46.11722928364344, -1.189470581159677 ] }, "140": { "acceleration": [ 0.03551974892616272, 4.241609573364258, 0.0064373016357421875 ], "angular_velocity": [ 0.7350140810012817, -0.0766150951385498, -0.8766375780105591 ], "forward_vector": [ -0.013376142829656601, 0.9999033808708191, 0.0037888195365667343 ], "right_vector": [ -0.9999103546142578, -0.0133741470053792, -0.0005513180512934923 ], "location": [ -1567.400634765625, 5753.37255859375, 376.1572265625 ], "rotation": [ 0.03158842399716377, 0.2170838862657547, 90.76642608642578 ], "velocity": [ -0.07223019003868103, 6.771200180053711, -0.017256326973438263 ], "speed": 6.77158541840184, "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": 22.56014060974121, "front_vehicle_info": { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "location": [ -1567.136962890625, 5775.93115234375, 376.1394958496094 ], "velocity": [ 0.012060935609042645, 5.5348405838012695, -0.013906488195061684 ], "speed_kmh": 19.925536301816106, "color": "16,16,16" }, "other_vehicles": [ { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.5606626272201538, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 376.0037536621094 }, "rotation": { "roll": 0.0032606380991637707, "pitch": 0.14087946712970734, "yaw": -90.14049530029297 } }, "velocity": { "x": 4.508299753069878e-06, "y": -0.0013613641494885087, "z": -0.5606609582901001 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.05517578125, "transform": { "location": { "x": -1564.2374267578125, "y": 5755.08447265625, "z": 376.1532287597656 }, "rotation": { "roll": 0.00016046329983510077, "pitch": 0.14940354228019714, "yaw": -90.14505004882812 } }, "velocity": { "x": -0.02101098746061325, "y": -8.055120468139648, "z": 0.021214837208390236 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.5462870597839355, "transform": { "location": { "x": -1567.2672119140625, "y": 5718.87109375, "z": 376.2907409667969 }, "rotation": { "roll": 0.000853424658998847, "pitch": -0.09966611862182617, "yaw": 89.90018463134766 } }, "velocity": { "x": 0.005652530584484339, "y": 5.546260833740234, "z": -0.016088122501969337 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.9898200035095215, "transform": { "location": { "x": -1567.2362060546875, "y": 5736.921875, "z": 376.213623046875 }, "rotation": { "roll": 0.0033512997906655073, "pitch": -0.4537021219730377, "yaw": 89.90815734863281 } }, "velocity": { "x": 0.011467952281236649, "y": 5.989785671234131, "z": -0.016663683578372 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97393, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.5348711013793945, "transform": { "location": { "x": -1567.136962890625, "y": 5775.93115234375, "z": 376.1394958496094 }, "rotation": { "roll": -0.0003051743842661381, "pitch": -0.08450309932231903, "yaw": 89.86849212646484 } }, "velocity": { "x": 0.012060935609042645, "y": 5.5348405838012695, "z": -0.013906488195061684 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97392, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.1555755138397217, "transform": { "location": { "x": -1567.0970458984375, "y": 5791.6337890625, "z": 376.064208984375 }, "rotation": { "roll": 0.00031283299904316664, "pitch": -0.3245159387588501, "yaw": 89.86982727050781 } }, "velocity": { "x": 0.007210814394056797, "y": 3.15555477142334, "z": -0.0088404081761837 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.317653089761734, "expert_target_speed": 7.498368586942961, "target_point": [ 32.34105560838494, -0.8192769166767631 ], "target_point_next": [ 44.57735200163885, -1.0130011565105255 ] }, "145": { "acceleration": [ 0.08009634912014008, 4.443197250366211, -0.012421421706676483 ], "angular_velocity": [ 0.16342853009700775, 0.012239567935466766, -0.8315000534057617 ], "forward_vector": [ -0.009176760911941528, 0.9999443888664246, 0.005198812577873468 ], "right_vector": [ -0.9999577403068542, -0.009173490107059479, -0.0006525854114443064 ], "location": [ -1567.4171142578125, 5755.205078125, 376.152099609375 ], "rotation": [ 0.037390898913145065, 0.29787135124206543, 90.52580261230469 ], "velocity": [ -0.05421587452292442, 7.836195468902588, -0.019383668899536133 ], "speed": 7.836383016921757, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": -1502.8756103515625, "y": 5780.90283203125, "z": 375.7884216308594 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97403, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.005841255187988, "transform": { "location": { "x": -1591.8751220703125, "y": 5819.7333984375, "z": 376.2917785644531 }, "rotation": { "roll": 3.335092868539391e-09, "pitch": 0.2790815234184265, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.997014045715332, "y": 4.79788064956665, "z": -0.43155813217163086 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.00451946258545, "transform": { "location": { "x": -1573.5438232421875, "y": 5811.736328125, "z": 376.19268798828125 }, "rotation": { "roll": 0.0, "pitch": 0.2891833782196045, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.995871543884277, "y": 4.7973809242248535, "z": -0.42944908142089844 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.005575180053711, "transform": { "location": { "x": -1526.23095703125, "y": 5791.0927734375, "z": 375.9305419921875 }, "rotation": { "roll": -3.3350913142271565e-09, "pitch": 0.2734329402446747, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.996731758117676, "y": 4.797755718231201, "z": -0.43274253606796265 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.22057348489761353, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9521484375, "z": 376.02691650390625 }, "rotation": { "roll": 0.002500056754797697, "pitch": 0.14185619354248047, "yaw": -90.14049530029297 } }, "velocity": { "x": 3.4915665310109034e-05, "y": 0.0005358848138712347, "z": 0.220572829246521 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054597854614258, "transform": { "location": { "x": -1564.24267578125, "y": 5753.0703125, "z": 376.15850830078125 }, "rotation": { "roll": 0.00026689853984862566, "pitch": 0.1507491022348404, "yaw": -90.1549301147461 } }, "velocity": { "x": -0.02219576947391033, "y": -8.054536819458008, "z": 0.02193293534219265 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.953155517578125, "transform": { "location": { "x": -1567.2650146484375, "y": 5720.35009765625, "z": 376.2858581542969 }, "rotation": { "roll": -0.0003967279626522213, "pitch": -0.029328830540180206, "yaw": 89.90779876708984 } }, "velocity": { "x": 0.00783248245716095, "y": 6.953125476837158, "z": -0.0189093966037035 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.399833679199219, "transform": { "location": { "x": -1567.23388671875, "y": 5738.0859375, "z": 376.2127685546875 }, "rotation": { "roll": 0.00149317376781255, "pitch": -0.7765856385231018, "yaw": 89.86776733398438 } }, "velocity": { "x": 0.011050454340875149, "y": 4.399801731109619, "z": -0.012583150528371334 }, "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": -0.28692886233329773, "expert_target_speed": 8.469866937021235, "target_point": [ 30.51161949543113, -0.6830205639203171 ], "target_point_next": [ 42.74862197475296, -0.8253189326012949 ] }, "150": { "acceleration": [ 0.17635974287986755, 2.007427215576172, -0.00893469899892807 ], "angular_velocity": [ -0.5758865475654602, -0.10241159796714783, -1.2017419338226318 ], "forward_vector": [ -0.0046908436343073845, 0.9999743700027466, 0.005404088646173477 ], "right_vector": [ -0.9999886155128479, -0.004686166997998953, -0.0008777095936238766 ], "location": [ -1567.4281005859375, 5757.2978515625, 376.1466369628906 ], "rotation": [ 0.05028979480266571, 0.30963295698165894, 90.26876831054688 ], "velocity": [ -0.02176685445010662, 8.781774520874023, -0.022165803238749504 ], "speed": 8.781801496926747, "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": 81.79386901855469, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.031198501586914, "transform": { "location": { "x": -1505.6077880859375, "y": 5782.0947265625, "z": 375.7480773925781 }, "rotation": { "roll": -0.0007019072654657066, "pitch": 0.2230876237154007, "yaw": 156.4288330078125 } }, "velocity": { "x": -11.026711463928223, "y": 4.810888767242432, "z": -0.12931102514266968 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97403, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.711103439331055, "transform": { "location": { "x": -1594.609619140625, "y": 5820.92626953125, "z": 376.2438659667969 }, "rotation": { "roll": -0.0009460429428145289, "pitch": 0.18838343024253845, "yaw": 156.4293670654297 } }, "velocity": { "x": -10.733427047729492, "y": 4.682864665985107, "z": -0.11941470205783844 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.626763343811035, "transform": { "location": { "x": -1576.2535400390625, "y": 5812.91796875, "z": 376.1496887207031 }, "rotation": { "roll": -0.0004882774082943797, "pitch": 0.4070519208908081, "yaw": 156.42962646484375 } }, "velocity": { "x": -10.655801773071289, "y": 4.649540424346924, "z": -0.1315068155527115 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.996838569641113, "transform": { "location": { "x": -1528.9482421875, "y": 5792.27783203125, "z": 375.8817443847656 }, "rotation": { "roll": 0.0004131476453039795, "pitch": 0.14152833819389343, "yaw": 156.42831420898438 } }, "velocity": { "x": -10.078689575195312, "y": 4.397205352783203, "z": -0.12265772372484207 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.37221595644950867, "transform": { "location": { "x": -1564.2340087890625, "y": 5797.9462890625, "z": 376.0552673339844 }, "rotation": { "roll": 0.003725330112501979, "pitch": 0.1280660331249237, "yaw": -90.13418579101562 } }, "velocity": { "x": 0.003352407133206725, "y": -0.3705122172832489, "z": 0.035414181649684906 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054644584655762, "transform": { "location": { "x": -1564.2484130859375, "y": 5751.056640625, "z": 376.1637268066406 }, "rotation": { "roll": 7.894098962424323e-05, "pitch": 0.15199218690395355, "yaw": -90.15283203125 } }, "velocity": { "x": -0.021860038861632347, "y": -8.054586410522461, "z": 0.021422117948532104 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.16207218170166, "transform": { "location": { "x": -1567.262451171875, "y": 5722.3271484375, "z": 376.28021240234375 }, "rotation": { "roll": 0.00038574059726670384, "pitch": -0.01803852804005146, "yaw": 89.92483520507812 } }, "velocity": { "x": 0.012345277704298496, "y": 8.162034034729004, "z": -0.021729998290538788 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.3422186374664307, "transform": { "location": { "x": -1567.2313232421875, "y": 5739.0478515625, "z": 376.2068786621094 }, "rotation": { "roll": 0.0003246268897783011, "pitch": -0.35281339287757874, "yaw": 89.86177825927734 } }, "velocity": { "x": 0.008143692277371883, "y": 3.3421952724456787, "z": -0.009459257125854492 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3411865234375, "y": 5837.8642578125, "z": 376.52081298828125 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1650.027587890625, "y": 5844.953125, "z": 376.61151123046875 }, "rotation": { "roll": 0.0, "pitch": 0.2077333629131317, "yaw": 165.00465393066406 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.26982834935188293, "expert_target_speed": 9.156628815741678, "target_point": [ 28.421577085294015, -0.5471828013904376 ], "target_point_next": [ 40.659095186381776, -0.6345282661102839 ] }, "155": { "acceleration": [ 0.12432104349136353, 5.809879302978516, -0.005920901894569397 ], "angular_velocity": [ 0.829716145992279, 0.003625791287049651, -0.9752727150917053 ], "forward_vector": [ 0.0006199516355991364, 0.9999802708625793, 0.006250102072954178 ], "right_vector": [ -0.9999992847442627, 0.0006264388212002814, -0.0010360293090343475 ], "location": [ -1567.4285888671875, 5759.6083984375, 376.1405029296875 ], "rotation": [ 0.059361279010772705, 0.358106791973114, 89.9644775390625 ], "velocity": [ 0.02063330076634884, 9.98908519744873, -0.025620121508836746 ], "speed": 9.989106507340377, "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": 79.7721176147461, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.960787773132324, "transform": { "location": { "x": -1508.3546142578125, "y": 5783.29345703125, "z": 375.7397155761719 }, "rotation": { "roll": -0.001159672043286264, "pitch": 0.24669958651065826, "yaw": 156.42613220214844 } }, "velocity": { "x": -10.961854934692383, "y": 4.784841060638428, "z": -0.059142980724573135 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97403, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.070544242858887, "transform": { "location": { "x": -1597.359619140625, "y": 5822.1259765625, "z": 376.23358154296875 }, "rotation": { "roll": -0.0003662118688225746, "pitch": 0.2333534061908722, "yaw": 156.43003845214844 } }, "velocity": { "x": -11.06337833404541, "y": 4.826544284820557, "z": -0.06453394889831543 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.887964248657227, "transform": { "location": { "x": -1578.9976806640625, "y": 5814.11474609375, "z": 376.1448059082031 }, "rotation": { "roll": 8.538544352632016e-05, "pitch": 0.330007404088974, "yaw": 156.429443359375 } }, "velocity": { "x": -10.895947456359863, "y": 4.753647804260254, "z": -0.0696902722120285 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.626335144042969, "transform": { "location": { "x": -1531.5281982421875, "y": 5793.404296875, "z": 375.85968017578125 }, "rotation": { "roll": -0.0011291442206129432, "pitch": -0.49417099356651306, "yaw": 156.4261932373047 } }, "velocity": { "x": -9.739164352416992, "y": 4.249454975128174, "z": -0.0989849865436554 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 2.7023143768310547, "transform": { "location": { "x": -1564.2283935546875, "y": 5797.4755859375, "z": 376.05963134765625 }, "rotation": { "roll": 0.008257590234279633, "pitch": -0.053009096533060074, "yaw": -90.00531005859375 } }, "velocity": { "x": 0.03786735609173775, "y": -2.7020461559295654, "z": 0.004038162063807249 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054829597473145, "transform": { "location": { "x": -1564.25439453125, "y": 5749.04345703125, "z": 376.1690979003906 }, "rotation": { "roll": 0.0003903960168827325, "pitch": 0.15198536217212677, "yaw": -90.15829467773438 } }, "velocity": { "x": -0.021768510341644287, "y": -8.05477237701416, "z": 0.021342067047953606 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.101611614227295, "transform": { "location": { "x": -1567.2596435546875, "y": 5724.24169921875, "z": 376.27667236328125 }, "rotation": { "roll": -6.103188206907362e-05, "pitch": -0.21051324903964996, "yaw": 89.91716766357422 } }, "velocity": { "x": 0.011823528446257114, "y": 7.101569652557373, "z": -0.021311702206730843 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.9493682384490967, "transform": { "location": { "x": -1567.2294921875, "y": 5739.84228515625, "z": 376.2035217285156 }, "rotation": { "roll": 0.0004242949071340263, "pitch": -0.20706400275230408, "yaw": 89.85725402832031 } }, "velocity": { "x": 0.008143390528857708, "y": 2.949343204498291, "z": -0.008982200175523758 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.349609375, "y": 5835.7802734375, "z": 376.51092529296875 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1651.1649169921875, "y": 5845.0830078125, "z": 376.4463195800781 }, "rotation": { "roll": 0.0, "pitch": 0.2077333629131317, "yaw": 174.99813842773438 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.3269836902618408, "expert_control_brake": 0.0, "expert_control_steer": -0.23315830528736115, "expert_target_speed": 9.940525794378802, "target_point": [ 26.11352452405076, -0.3989322293773916 ], "target_point_next": [ 38.35133326455731, -0.4216420386972239 ] }, "160": { "acceleration": [ 0.011270344257354736, 3.145294189453125, -0.00856105238199234 ], "angular_velocity": [ -0.40904030203819275, 0.16141857206821442, -0.23811665177345276 ], "forward_vector": [ 0.003318202216178179, 0.9999771118164062, 0.005897249095141888 ], "right_vector": [ -0.9999942779541016, 0.003322265110909939, -0.000679252203553915 ], "location": [ -1567.4212646484375, 5762.234375, 376.1338195800781 ], "rotation": [ 0.03891896456480026, 0.3378894329071045, 89.80987548828125 ], "velocity": [ 0.03789365664124489, 10.919001579284668, -0.02690569870173931 ], "speed": 10.919067332773194, "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": 77.4979248046875, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.018030166625977, "transform": { "location": { "x": -1511.1033935546875, "y": 5784.4931640625, "z": 375.73968505859375 }, "rotation": { "roll": 0.000982623198069632, "pitch": 0.25635063648223877, "yaw": 156.42282104492188 } }, "velocity": { "x": -11.014801025390625, "y": 4.806963920593262, "z": -0.017975788563489914 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97403, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.890205383300781, "transform": { "location": { "x": -1600.10498046875, "y": 5823.32373046875, "z": 376.2330627441406 }, "rotation": { "roll": -0.000732424552552402, "pitch": 0.24794268608093262, "yaw": 156.43011474609375 } }, "velocity": { "x": -10.898215293884277, "y": 4.754524230957031, "z": -0.019612902775406837 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.083090782165527, "transform": { "location": { "x": -1581.7471923828125, "y": 5815.31494140625, "z": 376.14447021484375 }, "rotation": { "roll": -0.00048827804857864976, "pitch": 0.29002347588539124, "yaw": 156.429443359375 } }, "velocity": { "x": -11.074908256530762, "y": 4.831833839416504, "z": -0.029485421255230904 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.310785293579102, "transform": { "location": { "x": -1534.058837890625, "y": 5794.5087890625, "z": 375.8362731933594 }, "rotation": { "roll": -0.0016479571349918842, "pitch": -0.8944405317306519, "yaw": 156.41526794433594 } }, "velocity": { "x": -9.449946403503418, "y": 4.12431001663208, "z": -0.02940063364803791 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 3.798912525177002, "transform": { "location": { "x": -1564.218994140625, "y": 5796.65869140625, "z": 376.060546875 }, "rotation": { "roll": 0.0034899271558970213, "pitch": 0.011461056768894196, "yaw": -89.74431610107422 } }, "velocity": { "x": 0.05358443781733513, "y": -3.7985289096832275, "z": 0.006607398856431246 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.055388450622559, "transform": { "location": { "x": -1564.2596435546875, "y": 5747.02978515625, "z": 376.1744384765625 }, "rotation": { "roll": 0.0006246977136470377, "pitch": 0.152996227145195, "yaw": -90.15007781982422 } }, "velocity": { "x": -0.02150547131896019, "y": -8.05533218383789, "z": 0.021185893565416336 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.7869162559509277, "transform": { "location": { "x": -1567.2572021484375, "y": 5725.728515625, "z": 376.2741394042969 }, "rotation": { "roll": 1.3767488781013526e-05, "pitch": -0.43118298053741455, "yaw": 89.93904876708984 } }, "velocity": { "x": 0.009567847475409508, "y": 3.7868762016296387, "z": -0.014545879326760769 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.655707359313965, "transform": { "location": { "x": -1567.2276611328125, "y": 5740.50048828125, "z": 376.2018737792969 }, "rotation": { "roll": 0.00036904698936268687, "pitch": -0.2445685714483261, "yaw": 89.85321044921875 } }, "velocity": { "x": 0.007563611026853323, "y": 2.6556880474090576, "z": -0.006712837144732475 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3580322265625, "y": 5833.697265625, "z": 376.4981689453125 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1651.9722900390625, "y": 5845.0498046875, "z": 376.4361267089844 }, "rotation": { "roll": 0.0, "pitch": 0.25809234380722046, "yaw": -175.09066772460938 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.2100745141506195, "expert_target_speed": 10.0, "target_point": [ 23.488530415638582, -0.3290195591241557 ], "target_point_next": [ 35.72635553356967, -0.31830099612336493 ] }, "165": { "acceleration": [ -0.017298460006713867, 3.1599998474121094, 0.001353248953819275 ], "angular_velocity": [ -0.22636054456233978, 0.07201050966978073, 0.14865313470363617 ], "forward_vector": [ 0.0031531231943517923, 0.999984622001648, 0.004571063909679651 ], "right_vector": [ -0.9999950528144836, 0.0031540021300315857, -0.00018508592620491982 ], "location": [ -1567.412109375, 5765.06982421875, 376.12689208984375 ], "rotation": [ 0.010604753158986568, 0.2619035840034485, 89.8193359375 ], "velocity": [ 0.035600531846284866, 11.71847915649414, -0.029447359964251518 ], "speed": 11.718533233261548, "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": 75.06877136230469, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.958690643310547, "transform": { "location": { "x": -1513.8505859375, "y": 5785.69189453125, "z": 375.744873046875 }, "rotation": { "roll": -0.0007019025506451726, "pitch": 0.26055121421813965, "yaw": 156.42494201660156 } }, "velocity": { "x": -10.961221694946289, "y": 4.781407833099365, "z": 0.007211103104054928 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97403, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.076780319213867, "transform": { "location": { "x": -1602.8551025390625, "y": 5824.5234375, "z": 376.2380065917969 }, "rotation": { "roll": -0.0010681113926693797, "pitch": 0.255312442779541, "yaw": 156.4300994873047 } }, "velocity": { "x": -11.069270133972168, "y": 4.8290557861328125, "z": 0.010139932855963707 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.874500274658203, "transform": { "location": { "x": -1584.49169921875, "y": 5816.51220703125, "z": 376.1488342285156 }, "rotation": { "roll": 0.0009800310945138335, "pitch": 0.2888076901435852, "yaw": 156.4343719482422 } }, "velocity": { "x": -10.88418197631836, "y": 4.747455596923828, "z": -0.00025550840655341744 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.162662506103516, "transform": { "location": { "x": -1536.5577392578125, "y": 5795.60009765625, "z": 375.818115234375 }, "rotation": { "roll": 0.0011364046949893236, "pitch": -1.0893809795379639, "yaw": 156.39979553222656 } }, "velocity": { "x": -9.312931060791016, "y": 4.068048477172852, "z": 0.001750438124872744 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.911827564239502, "transform": { "location": { "x": -1564.213134765625, "y": 5795.5615234375, "z": 376.0629577636719 }, "rotation": { "roll": -0.0009765620343387127, "pitch": 0.02295626513659954, "yaw": -89.7132797241211 } }, "velocity": { "x": 0.029072675853967667, "y": -4.911731243133545, "z": 0.010133028030395508 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054594039916992, "transform": { "location": { "x": -1564.2650146484375, "y": 5745.01611328125, "z": 376.1798400878906 }, "rotation": { "roll": 0.0001845291699282825, "pitch": 0.15432128310203552, "yaw": -90.15508270263672 } }, "velocity": { "x": -0.02134864218533039, "y": -8.054536819458008, "z": 0.02148055098950863 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.39238786697387695, "transform": { "location": { "x": -1567.256103515625, "y": 5725.99658203125, "z": 376.2742919921875 }, "rotation": { "roll": -0.0022888551466166973, "pitch": -0.5394892692565918, "yaw": 89.96250915527344 } }, "velocity": { "x": 0.00023945803695823997, "y": 0.392387717962265, "z": 0.00023324966605287045 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.308241367340088, "transform": { "location": { "x": -1567.2252197265625, "y": 5741.34619140625, "z": 376.1966857910156 }, "rotation": { "roll": 0.00028374040266498923, "pitch": 0.13062052428722382, "yaw": 89.85001373291016 } }, "velocity": { "x": 0.01122820470482111, "y": 4.3082122802734375, "z": -0.01101603452116251 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3702392578125, "y": 5830.7802734375, "z": 376.4945983886719 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1653.1810302734375, "y": 5844.83837890625, "z": 376.4425048828125 }, "rotation": { "roll": 3.335111076196995e-09, "pitch": 0.3377118408679962, "yaw": -165.26170349121094 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.19271232187747955, "expert_target_speed": 10.0, "target_point": [ 20.653011739693664, -0.3327177984281688 ], "target_point_next": [ 32.89083846154924, -0.3240212189034874 ] }, "170": { "acceleration": [ -0.02917848527431488, 1.7200851440429688, 0.006442368030548096 ], "angular_velocity": [ -0.41077449917793274, 0.05140981078147888, 0.16844739019870758 ], "forward_vector": [ 0.0024443273432552814, 0.9999916553497314, 0.003283256199210882 ], "right_vector": [ -0.9999970197677612, 0.002444156678393483, 5.592614979832433e-05 ], "location": [ -1567.404052734375, 5768.08349609375, 376.1195983886719 ], "rotation": [ -0.0032043494284152985, 0.18811705708503723, 89.85994720458984 ], "velocity": [ 0.029106145724654198, 12.31902027130127, -0.029291514307260513 ], "speed": 12.319054655794435, "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": 72.51837158203125, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.99973201751709, "transform": { "location": { "x": -1516.5989990234375, "y": 5786.89111328125, "z": 375.7532043457031 }, "rotation": { "roll": -0.000549312389921397, "pitch": 0.26314669847488403, "yaw": 156.42633056640625 } }, "velocity": { "x": -10.99930477142334, "y": 4.796681880950928, "z": 0.026691989973187447 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.089421272277832, "transform": { "location": { "x": -1587.2418212890625, "y": 5817.7119140625, "z": 376.1568298339844 }, "rotation": { "roll": -0.00027466510073281825, "pitch": 0.2881315052509308, "yaw": 156.4345703125 } }, "velocity": { "x": -11.081186294555664, "y": 4.833313941955566, "z": 0.022227773442864418 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.223796844482422, "transform": { "location": { "x": -1539.0631103515625, "y": 5796.69482421875, "z": 375.826904296875 }, "rotation": { "roll": -0.0044555687345564365, "pitch": -0.8903765678405762, "yaw": 156.39926147460938 } }, "velocity": { "x": -9.368176460266113, "y": 4.094027996063232, "z": 0.04726782813668251 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.4602766036987305, "transform": { "location": { "x": -1564.205322265625, "y": 5794.25341796875, "z": 376.0658264160156 }, "rotation": { "roll": 0.0005597625277005136, "pitch": 0.07974928617477417, "yaw": -89.69874572753906 } }, "velocity": { "x": 0.030805429443717003, "y": -5.460172176361084, "z": 0.013730506412684917 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054871559143066, "transform": { "location": { "x": -1564.27001953125, "y": 5743.00244140625, "z": 376.1852722167969 }, "rotation": { "roll": 0.00020776122983079404, "pitch": 0.15451252460479736, "yaw": -90.14229583740234 } }, "velocity": { "x": -0.019470002502202988, "y": -8.054818153381348, "z": 0.021746978163719177 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.4374613761901855, "transform": { "location": { "x": -1567.255615234375, "y": 5726.251953125, "z": 376.2702941894531 }, "rotation": { "roll": -0.0019531280267983675, "pitch": -0.15902727842330933, "yaw": 89.93672943115234 } }, "velocity": { "x": 0.002165884245187044, "y": 1.4374572038650513, "z": -0.0026859091594815254 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.159680366516113, "transform": { "location": { "x": -1567.2220458984375, "y": 5742.61474609375, "z": 376.19287109375 }, "rotation": { "roll": 0.0009563863859511912, "pitch": 0.21170170605182648, "yaw": 89.85108947753906 } }, "velocity": { "x": 0.013357249088585377, "y": 5.159644603729248, "z": -0.013794917613267899 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.384765625, "y": 5827.30859375, "z": 376.4972229003906 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1655.0526123046875, "y": 5844.02099609375, "z": 376.4596252441406 }, "rotation": { "roll": 1.3340637039505054e-08, "pitch": 0.4571240544319153, "yaw": -150.67259216308594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.18968559801578522, "expert_target_speed": 10.0, "target_point": [ 17.639083180815568, -0.3469530992753232 ], "target_point_next": [ 29.876912991745474, -0.3471059819616262 ] }, "175": { "acceleration": [ -0.03658834844827652, 1.5702056884765625, 0.0034117698669433594 ], "angular_velocity": [ -0.2553750276565552, 0.01123775728046894, 0.17429500818252563 ], "forward_vector": [ 0.001696659135632217, 0.9999972581863403, 0.0016198150115087628 ], "right_vector": [ -0.9999985694885254, 0.0016963843954727054, 0.00017097462841775268 ], "location": [ -1567.3978271484375, 5771.21435546875, 376.1121826171875 ], "rotation": [ -0.009796136990189552, 0.09280860424041748, 89.90278625488281 ], "velocity": [ 0.020491663366556168, 12.709962844848633, -0.030278215184807777 ], "speed": 12.709979363700803, "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": 69.90666198730469, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.6319580078125 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.6319580078125 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.742847442626953, "transform": { "location": { "x": -1519.329345703125, "y": 5788.08251953125, "z": 375.7635192871094 }, "rotation": { "roll": 0.0005752881406806409, "pitch": 0.23558004200458527, "yaw": 156.430908203125 } }, "velocity": { "x": -10.763200759887695, "y": 4.695399284362793, "z": 0.03467267006635666 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.869355201721191, "transform": { "location": { "x": -1589.9862060546875, "y": 5818.90869140625, "z": 376.1671142578125 }, "rotation": { "roll": 0.0001416481682099402, "pitch": 0.28715479373931885, "yaw": 156.4345703125 } }, "velocity": { "x": -10.879470825195312, "y": 4.745281219482422, "z": 0.0318409726023674 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.223873138427734, "transform": { "location": { "x": -1541.568115234375, "y": 5797.7900390625, "z": 375.83941650390625 }, "rotation": { "roll": -0.0003051631501875818, "pitch": -0.835871696472168, "yaw": 156.4032440185547 } }, "velocity": { "x": -9.368412017822266, "y": 4.09349250793457, "z": 0.06120171397924423 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.789699554443359, "transform": { "location": { "x": -1564.197265625, "y": 5792.82470703125, "z": 376.069091796875 }, "rotation": { "roll": 0.0016187902074307203, "pitch": 0.09332086890935898, "yaw": -89.64061737060547 } }, "velocity": { "x": 0.03460923582315445, "y": -5.789580345153809, "z": 0.013432035222649574 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054471969604492, "transform": { "location": { "x": -1564.2750244140625, "y": 5740.98876953125, "z": 376.1907043457031 }, "rotation": { "roll": 9.228792623616755e-05, "pitch": 0.15628838539123535, "yaw": -90.14154052734375 } }, "velocity": { "x": -0.01931268721818924, "y": -8.054418563842773, "z": 0.022098541259765625 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.4486169815063477, "transform": { "location": { "x": -1567.2547607421875, "y": 5726.73486328125, "z": 376.2682800292969 }, "rotation": { "roll": -0.000274658523267135, "pitch": -0.07410071790218353, "yaw": 89.9263916015625 } }, "velocity": { "x": 0.0033072330988943577, "y": 2.4486072063446045, "z": -0.006094970740377903 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.886544704437256, "transform": { "location": { "x": -1567.2181396484375, "y": 5744.169921875, "z": 376.1891784667969 }, "rotation": { "roll": 0.0004950297297909856, "pitch": 0.1241455078125, "yaw": 89.85494995117188 } }, "velocity": { "x": 0.017410576343536377, "y": 6.886499881744385, "z": -0.01769409142434597 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.399169921875, "y": 5823.8369140625, "z": 376.50006103515625 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1656.640625, "y": 5842.82470703125, "z": 376.4750671386719 }, "rotation": { "roll": -6.670182628454313e-09, "pitch": 0.2735559046268463, "yaw": -133.6611328125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.18717321753501892, "expert_target_speed": 10.0, "target_point": [ 14.507952640936107, -0.35924949656185207 ], "target_point_next": [ 26.745778896933963, -0.3685786265989747 ] }, "180": { "acceleration": [ -0.08442670106887817, 1.0378265380859375, -0.003396272659301758 ], "angular_velocity": [ -0.21014489233493805, 0.06729643791913986, 0.3584047257900238 ], "forward_vector": [ 0.0007224835571832955, 0.9999995231628418, 0.0007251500501297414 ], "right_vector": [ -0.9999997019767761, 0.0007222627173177898, 0.00030466547468677163 ], "location": [ -1567.39404296875, 5774.43603515625, 376.1045227050781 ], "rotation": [ -0.017456049099564552, 0.04154803976416588, 89.95860290527344 ], "velocity": [ 0.005879893898963928, 13.03526496887207, -0.03247544541954994 ], "speed": 13.035266295011224, "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": 67.26219940185547, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.5408935546875, 5829.13232421875, 376.3134765625 ], "velocity": [ -4.846554824133875e-10, 2.1144980211218467e-10, -2.450000286102295 ], "speed_kmh": 8.820001029968262, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.450000286102295, "transform": { "location": { "x": -1606.5408935546875, "y": 5829.13232421875, "z": 376.3134765625 }, "rotation": { "roll": 0.0, "pitch": -0.2578122913837433, "yaw": -23.571088790893555 } }, "velocity": { "x": -4.846554824133875e-10, "y": 2.1144980211218467e-10, "z": -2.450000286102295 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.86028003692627, "transform": { "location": { "x": -1522.048095703125, "y": 5789.2685546875, "z": 375.7742004394531 }, "rotation": { "roll": 0.0006973073468543589, "pitch": 0.20474174618721008, "yaw": 156.42543029785156 } }, "velocity": { "x": -10.870373725891113, "y": 4.743350505828857, "z": 0.04289795830845833 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.092034339904785, "transform": { "location": { "x": -1592.736328125, "y": 5820.10791015625, "z": 376.17877197265625 }, "rotation": { "roll": -0.0008544911979697645, "pitch": 0.2850237786769867, "yaw": 156.43450927734375 } }, "velocity": { "x": -11.083523750305176, "y": 4.834356784820557, "z": 0.04233897104859352 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.224647521972656, "transform": { "location": { "x": -1544.0731201171875, "y": 5798.88427734375, "z": 375.8529968261719 }, "rotation": { "roll": 0.0009447304764762521, "pitch": -0.8198275566101074, "yaw": 156.4147186279297 } }, "velocity": { "x": -9.369873046875, "y": 4.092038631439209, "z": 0.06420975178480148 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.621302127838135, "transform": { "location": { "x": -1564.1875, "y": 5791.10400390625, "z": 376.0740661621094 }, "rotation": { "roll": -0.004364014137536287, "pitch": -0.01302517019212246, "yaw": -89.67947387695312 } }, "velocity": { "x": 0.020772205665707588, "y": -7.62125301361084, "z": 0.017801856622099876 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054752349853516, "transform": { "location": { "x": -1564.27978515625, "y": 5738.97509765625, "z": 376.1961975097656 }, "rotation": { "roll": 0.0004886271199211478, "pitch": 0.15669819712638855, "yaw": -90.13500213623047 } }, "velocity": { "x": -0.019393233582377434, "y": -8.054699897766113, "z": 0.021784210577607155 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.8080713748931885, "transform": { "location": { "x": -1567.2532958984375, "y": 5727.51611328125, "z": 376.2656555175781 }, "rotation": { "roll": -0.0002746583195403218, "pitch": -0.024383774027228355, "yaw": 89.91127014160156 } }, "velocity": { "x": 0.007583324331790209, "y": 3.8080503940582275, "z": -0.010166692547500134 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.344317436218262, "transform": { "location": { "x": -1567.2125244140625, "y": 5746.05712890625, "z": 376.1842346191406 }, "rotation": { "roll": -0.0007019035401754081, "pitch": 0.12213060259819031, "yaw": 89.95071411132812 } }, "velocity": { "x": 0.019757505506277084, "y": 8.344265937805176, "z": -0.021546529605984688 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.41357421875, "y": 5820.3642578125, "z": 376.50299072265625 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1657.810791015625, "y": 5841.11376953125, "z": 376.4841613769531 }, "rotation": { "roll": 0.0, "pitch": 0.09903090447187424, "yaw": -113.82402801513672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1875370293855667, "expert_target_speed": 10.0, "target_point": [ 11.285934587784267, -0.3712905559654862 ], "target_point_next": [ 23.523747095479354, -0.39187042864311394 ] }, "185": { "acceleration": [ 0.1032533347606659, -0.8185195922851562, -0.007473975419998169 ], "angular_velocity": [ -0.616448163986206, -0.16544434428215027, -0.28881874680519104 ], "forward_vector": [ -0.00017909597954712808, 0.9999995231628418, -0.0009704825934022665 ], "right_vector": [ -1.0, -0.00017893995391204953, 0.00016085496463347226 ], "location": [ -1567.3936767578125, 5777.70654296875, 376.09686279296875 ], "rotation": [ -0.009216315113008022, -0.055604565888643265, 90.01026153564453 ], "velocity": [ 0.004745063837617636, 13.045893669128418, -0.03276894614100456 ], "speed": 13.045894532067772, "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": 64.63093566894531, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.213623046875 ], "velocity": [ 0.0006060346495360136, -0.00030438441899605095, 0.1484546661376953 ], "speed_kmh": 0.5344423746523054, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.14845621585845947, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.213623046875 }, "rotation": { "roll": -0.00018310622544959188, "pitch": -0.25400105118751526, "yaw": -23.571086883544922 } }, "velocity": { "x": 0.0006060346495360136, "y": -0.00030438441899605095, "z": 0.1484546661376953 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.660910606384277, "transform": { "location": { "x": -1524.76220703125, "y": 5790.453125, "z": 375.7856140136719 }, "rotation": { "roll": 0.0004599099629558623, "pitch": 0.19994693994522095, "yaw": 156.42071533203125 } }, "velocity": { "x": -10.687238693237305, "y": 4.664459228515625, "z": 0.05090969800949097 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.86742115020752, "transform": { "location": { "x": -1595.4805908203125, "y": 5821.3056640625, "z": 376.1915588378906 }, "rotation": { "roll": -0.00033569728839211166, "pitch": 0.28644445538520813, "yaw": 156.4273681640625 } }, "velocity": { "x": -10.877071380615234, "y": 4.745821952819824, "z": 0.04652757570147514 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.223040580749512, "transform": { "location": { "x": -1546.5782470703125, "y": 5799.9775390625, "z": 375.866943359375 }, "rotation": { "roll": -0.0005188130890019238, "pitch": -0.8131954669952393, "yaw": 156.42298889160156 } }, "velocity": { "x": -9.369091033935547, "y": 4.089768409729004, "z": 0.0669686496257782 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.298517227172852, "transform": { "location": { "x": -1564.1826171875, "y": 5789.07861328125, "z": 376.0783386230469 }, "rotation": { "roll": -0.00347900390625, "pitch": 0.05638320744037628, "yaw": -89.84130859375 } }, "velocity": { "x": 0.01149828638881445, "y": -8.29848861694336, "z": 0.018542299047112465 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054903030395508, "transform": { "location": { "x": -1564.28466796875, "y": 5736.9609375, "z": 376.20166015625 }, "rotation": { "roll": -3.051585008506663e-05, "pitch": 0.15631569921970367, "yaw": -90.13716888427734 } }, "velocity": { "x": -0.018839048221707344, "y": -8.054851531982422, "z": 0.021759891882538795 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.117555141448975, "transform": { "location": { "x": -1567.251220703125, "y": 5728.6396484375, "z": 376.26263427734375 }, "rotation": { "roll": -0.00012206962855998427, "pitch": -0.01544305682182312, "yaw": 89.90301513671875 } }, "velocity": { "x": 0.010719776153564453, "y": 5.1175384521484375, "z": -0.00765681266784668 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.514068603515625, "transform": { "location": { "x": -1567.2081298828125, "y": 5748.2119140625, "z": 376.1795654296875 }, "rotation": { "roll": 0.0013672667555510998, "pitch": -0.010771207511425018, "yaw": 89.88752746582031 } }, "velocity": { "x": 0.02054602839052677, "y": 8.514016151428223, "z": -0.02172957919538021 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.42822265625, "y": 5816.892578125, "z": 376.50592041015625 }, "rotation": { "roll": -1.667527116389067e-09, "pitch": 0.04953936114907265, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3238525390625, "y": 5839.10791015625, "z": 376.486328125 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -94.92742919921875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1887410581111908, "expert_target_speed": 10.0, "target_point": [ 8.015136685560902, -0.3796393725805331 ], "target_point_next": [ 20.25292965168561, -0.4096697393174162 ] }, "190": { "acceleration": [ 0.35044556856155396, -3.0749893188476562, 0.028299689292907715 ], "angular_velocity": [ -0.8220453262329102, -0.3279455006122589, -1.6242518424987793 ], "forward_vector": [ 0.003970288205891848, 0.9999814033508301, -0.00462697260081768 ], "right_vector": [ -0.9999917149543762, 0.003966231364756823, -0.0008855129708535969 ], "location": [ -1567.386474609375, 5780.89599609375, 376.08978271484375 ], "rotation": [ 0.05073670670390129, -0.2651069462299347, 89.77251434326172 ], "velocity": [ 0.06523873656988144, 12.437700271606445, -0.03019578382372856 ], "speed": 12.4378713668806, "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": 62.1277961730957, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2395324707031 ], "velocity": [ 0.0002947251487057656, -2.702604888327187e-06, 0.0524541512131691 ], "speed_kmh": 0.18883792535467883, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.052454978227615356, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2395324707031 }, "rotation": { "roll": -6.102873521740548e-05, "pitch": -0.254151314496994, "yaw": -23.571088790893555 } }, "velocity": { "x": 0.0002947251487057656, "y": -2.702604888327187e-06, "z": 0.0524541512131691 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.868273735046387, "transform": { "location": { "x": -1527.4815673828125, "y": 5791.6396484375, "z": 375.7980041503906 }, "rotation": { "roll": 0.00021294111502356827, "pitch": 0.2009851336479187, "yaw": 156.42361450195312 } }, "velocity": { "x": -10.878477096557617, "y": 4.744604587554932, "z": 0.05806521326303482 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.093050003051758, "transform": { "location": { "x": -1598.230224609375, "y": 5822.5048828125, "z": 376.204833984375 }, "rotation": { "roll": -0.002105710795149207, "pitch": 0.27876049280166626, "yaw": 156.419677734375 } }, "velocity": { "x": -11.082390785217285, "y": 4.839430332183838, "z": 0.04899466410279274 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.225118637084961, "transform": { "location": { "x": -1549.0836181640625, "y": 5801.0703125, "z": 375.88104248046875 }, "rotation": { "roll": 0.0008011466125026345, "pitch": -0.8108185529708862, "yaw": 156.43186950683594 } }, "velocity": { "x": -9.371546745300293, "y": 4.0893473625183105, "z": 0.06626995652914047 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.925467014312744, "transform": { "location": { "x": -1564.17919921875, "y": 5787.0498046875, "z": 376.0824890136719 }, "rotation": { "roll": 0.00030630567925982177, "pitch": 0.15182143449783325, "yaw": -89.9068374633789 } }, "velocity": { "x": 0.009853341616690159, "y": -7.925441265106201, "z": 0.017741555348038673 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054733276367188, "transform": { "location": { "x": -1564.2896728515625, "y": 5734.947265625, "z": 376.20721435546875 }, "rotation": { "roll": 0.0003017967683263123, "pitch": 0.158112034201622, "yaw": -90.13036346435547 } }, "velocity": { "x": -0.018017083406448364, "y": -8.054685592651367, "z": 0.020987186580896378 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.412319183349609, "transform": { "location": { "x": -1567.2489013671875, "y": 5729.96337890625, "z": 376.2597961425781 }, "rotation": { "roll": 0.00034883368061855435, "pitch": -0.09493962675333023, "yaw": 89.89212036132812 } }, "velocity": { "x": 0.010909171774983406, "y": 5.412289142608643, "z": -0.014372061938047409 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.006250381469727, "transform": { "location": { "x": -1567.203369140625, "y": 5750.267578125, "z": 376.176513671875 }, "rotation": { "roll": 0.0012955255806446075, "pitch": -0.29800114035606384, "yaw": 89.85161590576172 } }, "velocity": { "x": 0.02031145989894867, "y": 8.006196975708008, "z": -0.021238751709461212 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4425048828125, "y": 5813.419921875, "z": 376.5089111328125 }, "rotation": { "roll": -1.667527116389067e-09, "pitch": 0.04953936114907265, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.343505859375, "y": 5837.0244140625, "z": 376.4888916015625 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.185461163520813, "expert_target_speed": 0, "target_point": [ 17.064938782236243, -0.3347767824029471 ], "target_point_next": [ 29.626872449445507, 3.5257520894373013 ] }, "195": { "acceleration": [ 0.3833669424057007, -2.7076148986816406, -0.0032902508974075317 ], "angular_velocity": [ -0.261046439409256, -0.17465044558048248, -1.9990018606185913 ], "forward_vector": [ 0.012354436330497265, 0.9998998045921326, -0.006910268682986498 ], "right_vector": [ -0.9999220371246338, 0.012341507710516453, -0.0019103394588455558 ], "location": [ -1567.359130859375, 5783.9091796875, 376.0831298828125 ], "rotation": [ 0.10945706814527512, -0.3959323763847351, 89.29210662841797 ], "velocity": [ 0.15894551575183868, 11.709454536437988, -0.029163092374801636 ], "speed": 11.7105332593305, "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": 59.836429595947266, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24554443359375 ], "velocity": [ 8.943732973420992e-05, 9.846708417171612e-05, 0.008682840503752232 ], "speed_kmh": 0.031261893826992536, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.008683859370648861, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24554443359375 }, "rotation": { "roll": -0.00012207080726511776, "pitch": -0.254151314496994, "yaw": -23.571115493774414 } }, "velocity": { "x": 8.943732973420992e-05, "y": 9.846708417171612e-05, "z": 0.008682840503752232 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.65910816192627, "transform": { "location": { "x": -1530.195556640625, "y": 5792.82421875, "z": 375.8112487792969 }, "rotation": { "roll": 0.0002299900515936315, "pitch": 0.20331422984600067, "yaw": 156.428466796875 } }, "velocity": { "x": -10.686147689819336, "y": 4.662334442138672, "z": 0.060659561306238174 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97401, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.866409301757812, "transform": { "location": { "x": -1600.9742431640625, "y": 5823.7021484375, "z": 376.2181091308594 }, "rotation": { "roll": -0.0003967258962802589, "pitch": 0.27774280309677124, "yaw": 156.4159698486328 } }, "velocity": { "x": -10.874800682067871, "y": 4.748452186584473, "z": 0.05081533268094063 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.223251342773438, "transform": { "location": { "x": -1551.5892333984375, "y": 5802.16357421875, "z": 375.8952331542969 }, "rotation": { "roll": -0.0005798498750664294, "pitch": -0.8075537085533142, "yaw": 156.43673706054688 } }, "velocity": { "x": -9.369864463806152, "y": 4.0885138511657715, "z": 0.06767427921295166 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.02668571472168, "transform": { "location": { "x": -1564.1785888671875, "y": 5785.0654296875, "z": 376.08734130859375 }, "rotation": { "roll": -0.0021362341940402985, "pitch": 0.1372389793395996, "yaw": -89.98373413085938 } }, "velocity": { "x": -0.005957641638815403, "y": -8.026662826538086, "z": 0.018202295526862144 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054393768310547, "transform": { "location": { "x": -1564.2945556640625, "y": 5732.93359375, "z": 376.2127685546875 }, "rotation": { "roll": 0.0003261761157773435, "pitch": 0.15826229751110077, "yaw": -90.1336898803711 } }, "velocity": { "x": -0.018264979124069214, "y": -8.054343223571777, "z": 0.021805115044116974 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.824245929718018, "transform": { "location": { "x": -1567.2454833984375, "y": 5731.41796875, "z": 376.2552185058594 }, "rotation": { "roll": 0.0004476242756936699, "pitch": -0.03281222656369209, "yaw": 89.9329605102539 } }, "velocity": { "x": 0.014658668078482151, "y": 6.824207782745361, "z": -0.01753195747733116 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.954495906829834, "transform": { "location": { "x": -1567.19873046875, "y": 5752.2509765625, "z": 376.1705627441406 }, "rotation": { "roll": 0.0006619328050874174, "pitch": -0.21820403635501862, "yaw": 89.84280395507812 } }, "velocity": { "x": 0.021472299471497536, "y": 7.954437255859375, "z": -0.021700987592339516 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.456787109375, "y": 5809.94775390625, "z": 376.5119934082031 }, "rotation": { "roll": 0.0, "pitch": 0.053432565182447433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3524169921875, "y": 5834.94091796875, "z": 376.49066162109375 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15999682247638702, "expert_target_speed": 0, "target_point": [ 14.053854656861745, -0.20153996910469615 ], "target_point_next": [ 26.582973011755374, 3.764195004231934 ] }, "200": { "acceleration": [ 0.09958267211914062, -0.4230690002441406, 0.010975264012813568 ], "angular_velocity": [ 0.5805087685585022, 0.21587522327899933, -0.8632344603538513 ], "forward_vector": [ 0.019292064011096954, 0.9997889399528503, -0.007060468662530184 ], "right_vector": [ -0.9998123645782471, 0.019279342144727707, -0.001865539699792862 ], "location": [ -1567.31201171875, 5786.748046875, 376.0763244628906 ], "rotation": [ 0.10689027607440948, -0.40453842282295227, 88.8945541381836 ], "velocity": [ 0.21668660640716553, 11.159280776977539, -0.027939610183238983 ], "speed": 11.161384347150522, "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": 57.752830505371094, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2463073730469 ], "velocity": [ -0.00012887398770544678, -0.0003508548834361136, 0.0015798929380252957 ], "speed_kmh": 0.005844618958520833, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0016235052607953548, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2463073730469 }, "rotation": { "roll": 0.00032301308237947524, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": -0.00012887398770544678, "y": -0.0003508548834361136, "z": 0.0015798929380252957 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.870065689086914, "transform": { "location": { "x": -1532.9151611328125, "y": 5794.01025390625, "z": 375.8249206542969 }, "rotation": { "roll": 7.614975766045973e-05, "pitch": 0.20546573400497437, "yaw": 156.43377685546875 } }, "velocity": { "x": -10.8798828125, "y": 4.745781421661377, "z": 0.06452556699514389 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.223739624023438, "transform": { "location": { "x": -1554.0946044921875, "y": 5803.2568359375, "z": 375.9094543457031 }, "rotation": { "roll": 0.0002489530888851732, "pitch": -0.8076151609420776, "yaw": 156.42672729492188 } }, "velocity": { "x": -9.370136260986328, "y": 4.089099407196045, "z": 0.068328358232975 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.04776668548584, "transform": { "location": { "x": -1564.18017578125, "y": 5783.0498046875, "z": 376.09222412109375 }, "rotation": { "roll": -0.001037604408338666, "pitch": 0.12908373773097992, "yaw": -90.0333251953125 } }, "velocity": { "x": -0.007820799015462399, "y": -8.047741889953613, "z": 0.018625831231474876 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054265975952148, "transform": { "location": { "x": -1564.29931640625, "y": 5730.919921875, "z": 376.21832275390625 }, "rotation": { "roll": 0.00018394889775663614, "pitch": 0.1584535539150238, "yaw": -90.12515258789062 } }, "velocity": { "x": -0.017960984259843826, "y": -8.054216384887695, "z": 0.021906957030296326 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.393776893615723, "transform": { "location": { "x": -1567.2415771484375, "y": 5733.38818359375, "z": 376.24932861328125 }, "rotation": { "roll": 0.0005465209833346307, "pitch": 0.01142690610140562, "yaw": 89.89366149902344 } }, "velocity": { "x": 0.018212437629699707, "y": 8.393729209899902, "z": -0.021738238632678986 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.141928672790527, "transform": { "location": { "x": -1567.1927490234375, "y": 5754.26806640625, "z": 376.1642150878906 }, "rotation": { "roll": 0.0010913372971117496, "pitch": -0.08776792883872986, "yaw": 89.84147644042969 } }, "velocity": { "x": 0.022403618320822716, "y": 8.14186954498291, "z": -0.02137606032192707 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.47119140625, "y": 5806.4755859375, "z": 376.51513671875 }, "rotation": { "roll": 3.335054676867344e-09, "pitch": 0.05734626576304436, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.36181640625, "y": 5832.85791015625, "z": 376.4925231933594 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.13321132957935333, "expert_target_speed": 0, "target_point": [ 11.215667293910254, -0.11162939878265615 ], "target_point_next": [ 23.71695177201136, 3.9409928420962195 ] }, "205": { "acceleration": [ -0.19061893224716187, -5.5587005615234375, 0.035433024168014526 ], "angular_velocity": [ -0.773456871509552, 0.24996185302734375, 0.6097206473350525 ], "forward_vector": [ 0.01870151050388813, 0.9997559785842896, -0.011755552142858505 ], "right_vector": [ -0.9998250007629395, 0.018696198239922523, -0.0005615790723823011 ], "location": [ -1567.263671875, 5789.33349609375, 376.0710754394531 ], "rotation": [ 0.03217833861708641, -0.6735590696334839, 88.9283447265625 ], "velocity": [ 0.16829919815063477, 9.488137245178223, -0.02227817475795746 ], "speed": 9.489629761135907, "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": 55.916961669921875, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24652099609375 ], "velocity": [ 1.1581145372474566e-05, -1.2737736142298672e-05, 0.0013778391294181347 ], "speed_kmh": 0.0049606080303426885, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0013779466971755028, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24652099609375 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.1581145372474566e-05, "y": -1.2737736142298672e-05, "z": 0.0013778391294181347 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.657727241516113, "transform": { "location": { "x": -1535.629150390625, "y": 5795.1943359375, "z": 375.8390808105469 }, "rotation": { "roll": -0.00027466012397781014, "pitch": 0.2089627981185913, "yaw": 156.43453979492188 } }, "velocity": { "x": -10.685359954833984, "y": 4.660621166229248, "z": 0.06550554186105728 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.442251205444336, "transform": { "location": { "x": -1556.623046875, "y": 5804.35986328125, "z": 375.9228820800781 }, "rotation": { "roll": -0.012725831009447575, "pitch": -0.7652270197868347, "yaw": 156.42384338378906 } }, "velocity": { "x": -10.486892700195312, "y": 4.576347351074219, "z": 0.0850367546081543 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.039709091186523, "transform": { "location": { "x": -1564.181640625, "y": 5781.04052734375, "z": 376.0970153808594 }, "rotation": { "roll": -0.0006713882321491838, "pitch": 0.14152833819389343, "yaw": -90.04695892333984 } }, "velocity": { "x": -0.011501557193696499, "y": -8.039680480957031, "z": 0.01816514879465103 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054524421691895, "transform": { "location": { "x": -1564.3040771484375, "y": 5728.90673828125, "z": 376.2238464355469 }, "rotation": { "roll": -6.103837949922308e-05, "pitch": 0.1583510935306549, "yaw": -90.13262939453125 } }, "velocity": { "x": -0.018208390101790428, "y": -8.054473876953125, "z": 0.021863507106900215 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.955224514007568, "transform": { "location": { "x": -1567.2373046875, "y": 5735.44384765625, "z": 376.2451171875 }, "rotation": { "roll": -0.0006103501655161381, "pitch": -0.14926011860370636, "yaw": 89.87981414794922 } }, "velocity": { "x": 0.016691338270902634, "y": 7.955177307128906, "z": -0.021781643852591515 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.117298126220703, "transform": { "location": { "x": -1567.1871337890625, "y": 5756.3037109375, "z": 376.1593322753906 }, "rotation": { "roll": 0.00021928036585450172, "pitch": -0.13626226782798767, "yaw": 89.8448715209961 } }, "velocity": { "x": 0.02199743501842022, "y": 8.117239952087402, "z": -0.02157275564968586 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4857177734375, "y": 5803.0029296875, "z": 376.5185546875 }, "rotation": { "roll": 3.335054676867344e-09, "pitch": 0.05734626576304436, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.3760986328125, "y": 5829.38623046875, "z": 376.4953918457031 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14335379004478455, "expert_target_speed": 8.056213579938694, "target_point": [ 8.629698050546306, -0.11829900605113033 ], "target_point_next": [ 21.133383321092506, 3.926909923633933 ] }, "210": { "acceleration": [ -0.16342386603355408, -4.744968414306641, 0.0006970763206481934 ], "angular_velocity": [ 0.12522649765014648, 0.08847778290510178, 0.5940609574317932 ], "forward_vector": [ 0.01594473421573639, 0.9997993111610413, -0.012126624584197998 ], "right_vector": [ -0.9998728632926941, 0.01594730280339718, 0.00011504114809213206 ], "location": [ -1567.2274169921875, 5791.5390625, 376.06597900390625 ], "rotation": [ -0.006591856945306063, -0.6948214173316956, 89.0863265991211 ], "velocity": [ 0.12415065616369247, 8.27172565460205, -0.02079051360487938 ], "speed": 8.272657293181412, "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": 54.395442962646484, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24652099609375 ], "velocity": [ 1.7236172425327823e-05, 1.131389240072167e-06, 0.0015057268319651484 ], "speed_kmh": 0.005420973260405324, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0015058259014040232, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24652099609375 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.7236172425327823e-05, "y": 1.131389240072167e-06, "z": 0.0015057268319651484 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.870347023010254, "transform": { "location": { "x": -1538.3487548828125, "y": 5796.3798828125, "z": 375.85357666015625 }, "rotation": { "roll": -0.00039672726416029036, "pitch": 0.20997366309165955, "yaw": 156.4346160888672 } }, "velocity": { "x": -10.880227088928223, "y": 4.745640277862549, "z": 0.06859401613473892 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.005706787109375, "transform": { "location": { "x": -1502.8768310546875, "y": 5780.904296875, "z": 375.8129577636719 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.996726989746094, "y": 4.797754764556885, "z": -0.4364984929561615 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.847776412963867, "transform": { "location": { "x": -1559.3721923828125, "y": 5805.55859375, "z": 375.9388732910156 }, "rotation": { "roll": -0.009338376112282276, "pitch": 0.019807547330856323, "yaw": 156.44993591308594 } }, "velocity": { "x": -10.8587646484375, "y": 4.734176158905029, "z": 0.21118256449699402 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.99906063079834, "transform": { "location": { "x": -1564.1844482421875, "y": 5779.03662109375, "z": 376.10186767578125 }, "rotation": { "roll": 0.00023566219897475094, "pitch": 0.1375463455915451, "yaw": -90.08062744140625 } }, "velocity": { "x": -0.011603441089391708, "y": -7.999032020568848, "z": 0.018163146451115608 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.05461311340332, "transform": { "location": { "x": -1564.30908203125, "y": 5726.89306640625, "z": 376.2294006347656 }, "rotation": { "roll": -0.00024413352366536856, "pitch": 0.16031135618686676, "yaw": -90.1278076171875 } }, "velocity": { "x": -0.018407516181468964, "y": -8.054564476013184, "z": 0.021069269627332687 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.9259467124938965, "transform": { "location": { "x": -1567.2330322265625, "y": 5737.40673828125, "z": 376.2398681640625 }, "rotation": { "roll": 0.001080728368833661, "pitch": -0.1633303016424179, "yaw": 89.87313842773438 } }, "velocity": { "x": 0.017594682052731514, "y": 7.92589807510376, "z": -0.021573510020971298 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.017409324645996, "transform": { "location": { "x": -1567.181640625, "y": 5758.31689453125, "z": 376.15447998046875 }, "rotation": { "roll": -9.154764848062769e-05, "pitch": -0.17804253101348877, "yaw": 89.84737396240234 } }, "velocity": { "x": 0.021320922300219536, "y": 8.017352104187012, "z": -0.02139226906001568 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5, "y": 5799.53125, "z": 376.5220947265625 }, "rotation": { "roll": 3.3350551209565538e-09, "pitch": 0.0612531341612339, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.390380859375, "y": 5825.91357421875, "z": 376.4983215332031 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15564097464084625, "expert_target_speed": 5.988667901224249, "target_point": [ 18.938261972987803, 3.869730632511878 ], "target_point_next": [ 38.58434705609053, 50.93385163447228 ] }, "215": { "acceleration": [ -0.1278272271156311, -3.249387741088867, 0.013966374099254608 ], "angular_velocity": [ 0.4071665108203888, 0.08054962009191513, 0.5583135485649109 ], "forward_vector": [ 0.013419348746538162, 0.9998513460159302, -0.010824467986822128 ], "right_vector": [ -0.9999098181724548, 0.01342418696731329, 0.0003744182176887989 ], "location": [ -1567.2005615234375, 5793.48095703125, 376.0610046386719 ], "rotation": [ -0.021453840658068657, -0.6202084422111511, 89.23106384277344 ], "velocity": [ 0.08945213258266449, 7.315855503082275, -0.01737046241760254 ], "speed": 7.316402355393175, "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": 53.091854095458984, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.241199606738519e-05, -1.1478252417873591e-05, 0.0012355276849120855 ], "speed_kmh": 0.004448316030442841, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0012356432853266597, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.241199606738519e-05, "y": -1.1478252417873591e-05, "z": 0.0012355276849120855 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.657793045043945, "transform": { "location": { "x": -1541.062744140625, "y": 5797.5634765625, "z": 375.8683166503906 }, "rotation": { "roll": -0.0012512205867096782, "pitch": 0.2144542634487152, "yaw": 156.43450927734375 } }, "velocity": { "x": -10.685399055480957, "y": 4.66063928604126, "z": 0.06941939890384674 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.693699836730957, "transform": { "location": { "x": -1505.611328125, "y": 5782.09716796875, "z": 375.7628173828125 }, "rotation": { "roll": -0.0003051768580917269, "pitch": 0.2452857345342636, "yaw": 156.42945861816406 } }, "velocity": { "x": -10.717304229736328, "y": 4.675808429718018, "z": -0.13717423379421234 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.089956283569336, "transform": { "location": { "x": -1562.1256103515625, "y": 5806.7578125, "z": 375.9774475097656 }, "rotation": { "roll": -0.268524169921875, "pitch": 0.41321277618408203, "yaw": 156.43505859375 } }, "velocity": { "x": -11.079259872436523, "y": 4.83354377746582, "z": 0.2321576029062271 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.066234588623047, "transform": { "location": { "x": -1564.1876220703125, "y": 5777.02734375, "z": 376.10675048828125 }, "rotation": { "roll": -0.0004882798239123076, "pitch": 0.1362212896347046, "yaw": -90.0915298461914 } }, "velocity": { "x": -0.01454987097531557, "y": -8.06619930267334, "z": 0.018927250057458878 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 8.054292678833008, "transform": { "location": { "x": -1564.3138427734375, "y": 5724.87939453125, "z": 376.2350769042969 }, "rotation": { "roll": -0.0005493120406754315, "pitch": 0.15998351573944092, "yaw": -90.1392822265625 } }, "velocity": { "x": -0.020127834752202034, "y": -8.054238319396973, "z": 0.021703653037548065 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.154546737670898, "transform": { "location": { "x": -1567.2281494140625, "y": 5739.431640625, "z": 376.2341003417969 }, "rotation": { "roll": 0.00023230044462252408, "pitch": -0.13564755022525787, "yaw": 89.86726379394531 } }, "velocity": { "x": 0.018895424902439117, "y": 8.154495239257812, "z": -0.021882133558392525 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.095674514770508, "transform": { "location": { "x": -1567.1768798828125, "y": 5760.3310546875, "z": 376.14898681640625 }, "rotation": { "roll": -0.0003662166709546, "pitch": -0.14254604279994965, "yaw": 89.85144805908203 } }, "velocity": { "x": 0.02105177566409111, "y": 8.095619201660156, "z": -0.021405944600701332 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5142822265625, "y": 5796.05859375, "z": 376.52581787109375 }, "rotation": { "roll": 3.3350555650457636e-09, "pitch": 0.06518049538135529, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4049072265625, "y": 5822.44189453125, "z": 376.50128173828125 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15471693873405457, "expert_target_speed": 1.73239233649941, "target_point": [ 17.005909354239076, 3.8226162488512623 ], "target_point_next": [ 36.770974638526475, 50.8368942831627 ] }, "220": { "acceleration": [ -0.1910591870546341, -11.119346618652344, 0.045409221202135086 ], "angular_velocity": [ -2.6655735969543457, 0.16518200933933258, -2.1031441688537598 ], "forward_vector": [ 0.011456870473921299, 0.999858021736145, -0.012357276864349842 ], "right_vector": [ -0.9999342560768127, 0.011462594382464886, 0.0003925207711290568 ], "location": [ -1567.1815185546875, 5795.18115234375, 376.0572509765625 ], "rotation": [ -0.02249150164425373, -0.7080378532409668, 89.343505859375 ], "velocity": [ 0.05452170595526695, 5.730324745178223, -0.0134865278378129 ], "speed": 5.7305841152209025, "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": 51.97987365722656, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 9.962357580661774e-06, -1.543538564874325e-05, 0.0014165827305987477 ], "speed_kmh": 0.0051001266606808555, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0014167018234729767, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 9.962357580661774e-06, "y": -1.543538564874325e-05, "z": 0.0014165827305987477 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.870163917541504, "transform": { "location": { "x": -1543.782470703125, "y": 5798.75, "z": 375.88330078125 }, "rotation": { "roll": -0.0005798330530524254, "pitch": 0.21482309699058533, "yaw": 156.43064880371094 } }, "velocity": { "x": -10.880084037780762, "y": 4.745498180389404, "z": 0.06933820247650146 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007070541381836, "transform": { "location": { "x": -1508.3599853515625, "y": 5783.2958984375, "z": 375.7511291503906 }, "rotation": { "roll": -0.0004882865468971431, "pitch": 0.2523754835128784, "yaw": 156.43170166015625 } }, "velocity": { "x": -11.00522518157959, "y": 4.800848484039307, "z": -0.08129744976758957 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.864630699157715, "transform": { "location": { "x": -1564.8665771484375, "y": 5807.953125, "z": 375.9988098144531 }, "rotation": { "roll": -0.2888488471508026, "pitch": -0.03546233847737312, "yaw": 156.46533203125 } }, "velocity": { "x": -10.876736640930176, "y": 4.738927364349365, "z": 0.09290877729654312 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.995590686798096, "transform": { "location": { "x": -1564.191162109375, "y": 5775.0205078125, "z": 376.1116027832031 }, "rotation": { "roll": -0.0009155215811915696, "pitch": 0.14128927886486053, "yaw": -90.10985565185547 } }, "velocity": { "x": -0.017256412655115128, "y": -7.995546817779541, "z": 0.02020636573433876 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.371337890625, "y": 5722.82470703125, "z": 376.2436218261719 }, "rotation": { "roll": 0.0, "pitch": 0.16088509559631348, "yaw": -90.14043426513672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.964358329772949, "transform": { "location": { "x": -1567.2232666015625, "y": 5741.44482421875, "z": 376.22894287109375 }, "rotation": { "roll": -0.0007934526074677706, "pitch": -0.16904033720493317, "yaw": 89.86710357666016 } }, "velocity": { "x": 0.018528640270233154, "y": 7.964308261871338, "z": -0.021371236070990562 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.077200889587402, "transform": { "location": { "x": -1567.1719970703125, "y": 5762.35400390625, "z": 376.1437683105469 }, "rotation": { "roll": -0.0006713814218528569, "pitch": -0.1363169103860855, "yaw": 89.85194396972656 } }, "velocity": { "x": 0.020919498056173325, "y": 8.077146530151367, "z": -0.02128472737967968 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.52880859375, "y": 5792.5869140625, "z": 376.5296936035156 }, "rotation": { "roll": 3.3350555650457636e-09, "pitch": 0.06518049538135529, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4193115234375, "y": 5818.96923828125, "z": 376.5041809082031 }, "rotation": { "roll": 0.0, "pitch": 0.04829626530408859, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.16770599782466888, "expert_target_speed": 0.0, "target_point": [ 15.313068165829511, 3.7888366471313413 ], "target_point_next": [ 35.170256449720895, 50.764279361785654 ] }, "225": { "acceleration": [ 0.08466078341007233, -14.740053176879883, 0.04397790506482124 ], "angular_velocity": [ -1.5234299898147583, -0.2154921293258667, -0.00025982732768170536 ], "forward_vector": [ 0.019653543829917908, 0.9991998076438904, -0.03483663126826286 ], "right_vector": [ -0.9998067617416382, 0.019659338518977165, -0.00017620809376239777 ], "location": [ -1567.17919921875, 5795.8193359375, 376.0602111816406 ], "rotation": [ 0.010102111846208572, -1.9963958263397217, 88.87317657470703 ], "velocity": [ -0.0028140039648860693, 0.004499159753322601, -0.0017607032787054777 ], "speed": 0.005306699237785425, "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": 51.56705856323242, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.2043677088513505e-05, -8.022096153581515e-06, 0.001284937490709126 ], "speed_kmh": 0.004626068300340831, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0012850189814344049, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.2043677088513505e-05, "y": -8.022096153581515e-06, "z": 0.001284937490709126 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.657282829284668, "transform": { "location": { "x": -1546.496337890625, "y": 5799.93359375, "z": 375.8983459472656 }, "rotation": { "roll": -0.001068115234375, "pitch": 0.21980230510234833, "yaw": 156.4251708984375 } }, "velocity": { "x": -10.684206008911133, "y": 4.662074089050293, "z": 0.07102309912443161 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.976166725158691, "transform": { "location": { "x": -1511.1080322265625, "y": 5784.49560546875, "z": 375.7486877441406 }, "rotation": { "roll": -0.00024413842766080052, "pitch": 0.2600184679031372, "yaw": 156.43006896972656 } }, "velocity": { "x": -10.977213859558105, "y": 4.788346767425537, "z": -0.032646212726831436 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.09045124053955, "transform": { "location": { "x": -1567.619140625, "y": 5809.15380859375, "z": 376.0152587890625 }, "rotation": { "roll": 0.012412864714860916, "pitch": 0.2875851094722748, "yaw": 156.4662322998047 } }, "velocity": { "x": -11.083949089050293, "y": 4.828317642211914, "z": 0.11150600016117096 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.060539245605469, "transform": { "location": { "x": -1564.19580078125, "y": 5773.01318359375, "z": 376.1166076660156 }, "rotation": { "roll": 2.752094042079989e-05, "pitch": 0.1388782262802124, "yaw": -90.12317657470703 } }, "velocity": { "x": -0.019007321447134018, "y": -8.060490608215332, "z": 0.02042154222726822 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.4134521484375, "y": 5720.7421875, "z": 376.2514343261719 }, "rotation": { "roll": 6.67013333455202e-09, "pitch": 0.16344641149044037, "yaw": -90.14044189453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.019927978515625, "transform": { "location": { "x": -1567.2183837890625, "y": 5743.43603515625, "z": 376.223388671875 }, "rotation": { "roll": 0.001546816318295896, "pitch": -0.15051686763763428, "yaw": 89.86532592773438 } }, "velocity": { "x": 0.02024427428841591, "y": 8.01987361907959, "z": -0.021512817591428757 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.082456588745117, "transform": { "location": { "x": -1567.1669921875, "y": 5764.37353515625, "z": 376.1387939453125 }, "rotation": { "roll": -0.0007934586610645056, "pitch": -0.1514321118593216, "yaw": 89.8544692993164 } }, "velocity": { "x": 0.0205549243837595, "y": 8.082402229309082, "z": -0.021446824073791504 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.543212890625, "y": 5789.1142578125, "z": 376.5337829589844 }, "rotation": { "roll": 0.0, "pitch": 0.06909418851137161, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.433837890625, "y": 5815.49755859375, "z": 376.5071105957031 }, "rotation": { "roll": -1.667527116389067e-09, "pitch": 0.04953936114907265, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1400717794895172, "expert_target_speed": 0, "target_point": [ 14.643344236882212, 3.9041819664932382 ], "target_point_next": [ 34.114246848153115, 51.041047541986124 ] }, "230": { "acceleration": [ 0.0012857026886194944, 0.02326948568224907, -0.008549315854907036 ], "angular_velocity": [ 3.7279341220855713, -0.05451429635286331, -0.0017894379561766982 ], "forward_vector": [ 0.01967274583876133, 0.9996184706687927, -0.019389843568205833 ], "right_vector": [ -0.9998064637184143, 0.019672097638249397, -0.00022425595670938492 ], "location": [ -1567.1790771484375, 5795.82470703125, 376.05682373046875 ], "rotation": [ 0.012851336039602757, -1.1110258102416992, 88.87255096435547 ], "velocity": [ 0.0001600206596776843, -0.011401036754250526, 0.0017652007518336177 ], "speed": 0.011402159693816563, "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": 51.56369400024414, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.1150277714477852e-05, -1.144843190559186e-05, 0.00141973199788481 ], "speed_kmh": 0.005111358983744973, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0014198219869285822, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.1150277714477852e-05, "y": -1.144843190559186e-05, "z": 0.00141973199788481 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.870673179626465, "transform": { "location": { "x": -1549.2156982421875, "y": 5801.12060546875, "z": 375.91363525390625 }, "rotation": { "roll": -0.0005187980714254081, "pitch": 0.22041702270507812, "yaw": 156.4187774658203 } }, "velocity": { "x": -10.87969970703125, "y": 4.747618675231934, "z": 0.07169349491596222 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007194519042969, "transform": { "location": { "x": -1513.857177734375, "y": 5785.69482421875, "z": 375.75225830078125 }, "rotation": { "roll": 0.00044050184078514576, "pitch": 0.2636657655239105, "yaw": 156.42724609375 } }, "velocity": { "x": -11.0052490234375, "y": 4.801792621612549, "z": -0.0014803505036979914 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.871028900146484, "transform": { "location": { "x": -1570.364013671875, "y": 5810.34912109375, "z": 376.0365295410156 }, "rotation": { "roll": 0.006785937584936619, "pitch": 0.2810349464416504, "yaw": 156.455078125 } }, "velocity": { "x": -10.882481575012207, "y": 4.741758823394775, "z": 0.09296104311943054 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000597953796387, "transform": { "location": { "x": -1564.199951171875, "y": 5771.00537109375, "z": 376.1215515136719 }, "rotation": { "roll": 0.00028207298601046205, "pitch": 0.14103657007217407, "yaw": -90.1248779296875 } }, "velocity": { "x": -0.017480948939919472, "y": -8.000551223754883, "z": 0.021111134439706802 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.423583984375, "y": 5718.6591796875, "z": 376.257568359375 }, "rotation": { "roll": 6.67013333455202e-09, "pitch": 0.16344641149044037, "yaw": -90.14044189453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.081948280334473, "transform": { "location": { "x": -1567.2135009765625, "y": 5745.4560546875, "z": 376.2179870605469 }, "rotation": { "roll": 0.00019411409448366612, "pitch": -0.1493489146232605, "yaw": 89.86363220214844 } }, "velocity": { "x": 0.019345350563526154, "y": 8.081897735595703, "z": -0.02125314250588417 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.05687141418457, "transform": { "location": { "x": -1567.162109375, "y": 5766.390625, "z": 376.1336669921875 }, "rotation": { "roll": -0.001098636887036264, "pitch": -0.14611822366714478, "yaw": 89.8548583984375 } }, "velocity": { "x": 0.020438972860574722, "y": 8.056817054748535, "z": -0.021322879940271378 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5577392578125, "y": 5785.642578125, "z": 376.5379943847656 }, "rotation": { "roll": -3.3350560091349735e-09, "pitch": 0.072987399995327, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4483642578125, "y": 5812.02490234375, "z": 376.5101013183594 }, "rotation": { "roll": 0.0, "pitch": 0.053432565182447433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14841341972351074, "expert_target_speed": 0, "target_point": [ 14.637924307680889, 3.9043763832425062 ], "target_point_next": [ 34.108253763982205, 51.04147870872246 ] }, "235": { "acceleration": [ 0.00012774078641086817, 0.021904082968831062, -0.008410154841840267 ], "angular_velocity": [ 1.5457348823547363, -0.0015072571113705635, -0.0002218728041043505 ], "forward_vector": [ 0.01967575028538704, 0.9997711181640625, -0.008403797633945942 ], "right_vector": [ -0.9998064041137695, 0.019675549119710922, -0.00010661455598892644 ], "location": [ -1567.1790771484375, 5795.82861328125, 376.0545959472656 ], "rotation": [ 0.006108779460191727, -0.481507807970047, 88.87255096435547 ], "velocity": [ 5.41051713298657e-06, -0.004917069338262081, 0.0012653772719204426 ], "speed": 0.004917072315003385, "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": 51.561180114746094, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.3490803212334868e-05, -5.5228915698535275e-06, 0.0015954729169607162 ], "speed_kmh": 0.00574394224151291, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0015955395065248013, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.3490803212334868e-05, "y": -5.5228915698535275e-06, "z": 0.0015954729169607162 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.657024383544922, "transform": { "location": { "x": -1551.9293212890625, "y": 5802.3056640625, "z": 375.9289855957031 }, "rotation": { "roll": 0.0, "pitch": 0.2220630943775177, "yaw": 156.41720581054688 } }, "velocity": { "x": -10.683259963989258, "y": 4.663578033447266, "z": 0.0721883773803711 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.952579498291016, "transform": { "location": { "x": -1516.6046142578125, "y": 5786.8935546875, "z": 375.7593994140625 }, "rotation": { "roll": -0.0004272449004929513, "pitch": 0.2655509114265442, "yaw": 156.42503356933594 } }, "velocity": { "x": -10.954824447631836, "y": 4.7807536125183105, "z": 0.019428348168730736 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.087626457214355, "transform": { "location": { "x": -1573.114501953125, "y": 5811.5478515625, "z": 376.05517578125 }, "rotation": { "roll": 0.0013305048923939466, "pitch": 0.27593278884887695, "yaw": 156.4469757080078 } }, "velocity": { "x": -11.08036994934082, "y": 4.830044746398926, "z": 0.08236221224069595 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.058389663696289, "transform": { "location": { "x": -1564.204833984375, "y": 5768.998046875, "z": 376.1265563964844 }, "rotation": { "roll": -0.0009155215811915696, "pitch": 0.14159664511680603, "yaw": -90.1314697265625 } }, "velocity": { "x": -0.020932812243700027, "y": -8.058334350585938, "z": 0.021219424903392792 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97396, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.4326171875, "y": 5716.57568359375, "z": 376.26373291015625 }, "rotation": { "roll": 6.67013333455202e-09, "pitch": 0.16344641149044037, "yaw": -90.14044189453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.970761775970459, "transform": { "location": { "x": -1567.208740234375, "y": 5747.45849609375, "z": 376.2127380371094 }, "rotation": { "roll": 0.0006076556746847928, "pitch": -0.15929366648197174, "yaw": 89.8628921508789 } }, "velocity": { "x": 0.01905139535665512, "y": 7.970710754394531, "z": -0.021321391686797142 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.88554048538208, "transform": { "location": { "x": -1567.1573486328125, "y": 5768.35546875, "z": 376.129638671875 }, "rotation": { "roll": -0.0007629345054738224, "pitch": -0.2587275505065918, "yaw": 89.85542297363281 } }, "velocity": { "x": 0.01742858625948429, "y": 6.885494232177734, "z": -0.01819620095193386 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.572265625, "y": 5782.169921875, "z": 376.5423278808594 }, "rotation": { "roll": -3.3350560091349735e-09, "pitch": 0.072987399995327, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.462646484375, "y": 5808.55322265625, "z": 376.51324462890625 }, "rotation": { "roll": 0.0, "pitch": 0.053432565182447433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1485220491886139, "expert_target_speed": 0.0, "target_point": [ 14.634030914996066, 3.904254165462601 ], "target_point_next": [ 34.104506469896336, 51.04129614356845 ] }, "240": { "acceleration": [ 0.0005396825727075338, 0.009481627494096756, -0.0006899237632751465 ], "angular_velocity": [ 0.5122000575065613, -0.005795489065349102, -6.458897132688435e-06 ], "forward_vector": [ 0.019675662741065025, 0.9997969269752502, -0.0043525551445782185 ], "right_vector": [ -0.9998064041137695, 0.019675469025969505, -8.717761375010014e-05 ], "location": [ -1567.1790771484375, 5795.8310546875, 376.05377197265625 ], "rotation": [ 0.004994956776499748, -0.2493838518857956, 88.8725814819336 ], "velocity": [ -2.132193185389042e-05, -0.0016469159163534641, 0.0018331004539504647 ], "speed": 0.001647053933639197, "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": 51.559608459472656, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.1381357580830809e-05, -5.431156296253903e-06, 0.0008411633316427469 ], "speed_kmh": 0.0030285282879712583, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0008412578608840704, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.1381357580830809e-05, "y": -5.431156296253903e-06, "z": 0.0008411633316427469 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.87031078338623, "transform": { "location": { "x": -1554.648681640625, "y": 5803.4921875, "z": 375.9444885253906 }, "rotation": { "roll": 0.0008015927160158753, "pitch": 0.2220630943775177, "yaw": 156.42752075195312 } }, "velocity": { "x": -10.879549026489258, "y": 4.747029781341553, "z": 0.0734783187508583 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.853921890258789, "transform": { "location": { "x": -1519.3394775390625, "y": 5788.08740234375, "z": 375.76904296875 }, "rotation": { "roll": 0.00042652752017602324, "pitch": 0.2554832100868225, "yaw": 156.42669677734375 } }, "velocity": { "x": -10.864628791809082, "y": 4.740706443786621, "z": 0.03148239850997925 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.872678756713867, "transform": { "location": { "x": -1575.8587646484375, "y": 5812.74462890625, "z": 376.07244873046875 }, "rotation": { "roll": 0.0013323054881766438, "pitch": 0.2724698781967163, "yaw": 156.4338836669922 } }, "velocity": { "x": -10.882345199584961, "y": 4.746527671813965, "z": 0.07439529150724411 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000113487243652, "transform": { "location": { "x": -1564.2095947265625, "y": 5766.99072265625, "z": 376.131591796875 }, "rotation": { "roll": -0.000885005749296397, "pitch": 0.1423616260290146, "yaw": -90.13922119140625 } }, "velocity": { "x": -0.021063651889562607, "y": -8.0000581741333, "z": 0.020951537415385246 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.067329406738281, "transform": { "location": { "x": -1567.2037353515625, "y": 5749.46337890625, "z": 376.20733642578125 }, "rotation": { "roll": 0.0011149720521643758, "pitch": -0.14773698151111603, "yaw": 89.86131286621094 } }, "velocity": { "x": 0.02109348773956299, "y": 8.06727409362793, "z": -0.02122863195836544 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.3706889152526855, "transform": { "location": { "x": -1567.1541748046875, "y": 5769.703125, "z": 376.1291809082031 }, "rotation": { "roll": -0.0003967614029534161, "pitch": -0.6235347390174866, "yaw": 89.85806274414062 } }, "velocity": { "x": 0.01350941602140665, "y": 5.370654106140137, "z": -0.013771867379546165 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5865478515625, "y": 5778.69775390625, "z": 376.546875 }, "rotation": { "roll": 3.3350562311795784e-09, "pitch": 0.07690109312534332, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.476806640625, "y": 5805.08056640625, "z": 376.5165100097656 }, "rotation": { "roll": 3.335054676867344e-09, "pitch": 0.05734626576304436, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1485668271780014, "expert_target_speed": 0.0, "target_point": [ 14.631577880316643, 3.904251484969796 ], "target_point_next": [ 34.10190733661796, 51.04135381044975 ] }, "245": { "acceleration": [ 0.0013204000424593687, -0.0011248851660639048, 0.0024625412188470364 ], "angular_velocity": [ 0.1483386904001236, 0.000719468283932656, -3.653527164715342e-05 ], "forward_vector": [ 0.019675984978675842, 0.9998012185096741, -0.003228777786716819 ], "right_vector": [ -0.9998064041137695, 0.019675858318805695, -7.112288585631177e-05 ], "location": [ -1567.1790771484375, 5795.8310546875, 376.0535583496094 ], "rotation": [ 0.004075062461197376, -0.18499566614627838, 88.87257385253906 ], "velocity": [ 7.643964636372402e-06, -0.0004765114572364837, 0.00019002571934834123 ], "speed": 0.00047657276367098374, "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": 51.559608459472656, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.94310396182118e-05, 8.763745285023106e-08, 0.0019112112931907177 ], "speed_kmh": 0.006880716248720122, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0019113101297989488, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.94310396182118e-05, "y": 8.763745285023106e-08, "z": 0.0019112112931907177 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.860093116760254, "transform": { "location": { "x": -1557.375732421875, "y": 5804.68212890625, "z": 375.95989990234375 }, "rotation": { "roll": -0.006042482331395149, "pitch": 0.24704109132289886, "yaw": 156.42796325683594 } }, "velocity": { "x": -10.870176315307617, "y": 4.742941856384277, "z": 0.07464483380317688 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.786986351013184, "transform": { "location": { "x": -1522.0625, "y": 5789.275390625, "z": 375.77984619140625 }, "rotation": { "roll": 0.0003643845266196877, "pitch": 0.2430727630853653, "yaw": 156.43209838867188 } }, "velocity": { "x": -10.803653717041016, "y": 4.713015556335449, "z": 0.0401160791516304 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.086627960205078, "transform": { "location": { "x": -1578.6087646484375, "y": 5813.94482421875, "z": 376.0888977050781 }, "rotation": { "roll": -0.0004577547078952193, "pitch": 0.27617186307907104, "yaw": 156.42184448242188 } }, "velocity": { "x": -11.07742691040039, "y": 4.834478378295898, "z": 0.07075285166501999 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059761047363281, "transform": { "location": { "x": -1564.2144775390625, "y": 5764.982421875, "z": 376.13665771484375 }, "rotation": { "roll": -0.00012207665713503957, "pitch": 0.14231380820274353, "yaw": -90.140869140625 } }, "velocity": { "x": -0.019805599004030228, "y": -8.059707641601562, "z": 0.02196674235165119 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.012080192565918, "transform": { "location": { "x": -1567.198974609375, "y": 5751.4755859375, "z": 376.2020568847656 }, "rotation": { "roll": -9.155419684248045e-05, "pitch": -0.15215611457824707, "yaw": 89.85545349121094 } }, "velocity": { "x": 0.020250018686056137, "y": 8.012027740478516, "z": -0.020908769220113754 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.80641508102417, "transform": { "location": { "x": -1567.1480712890625, "y": 5771.1650390625, "z": 376.1205749511719 }, "rotation": { "roll": -0.0026245112530887127, "pitch": -0.0010108679998666048, "yaw": 90.14867401123047 } }, "velocity": { "x": 0.01615520566701889, "y": 5.806376934051514, "z": -0.013563660904765129 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6007080078125, "y": 5775.2255859375, "z": 376.551513671875 }, "rotation": { "roll": 0.0, "pitch": 0.0774543434381485, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.4913330078125, "y": 5801.6083984375, "z": 376.5199890136719 }, "rotation": { "roll": 3.3350551209565538e-09, "pitch": 0.0612531341612339, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1490132361650467, "expert_target_speed": 0.0, "target_point": [ 14.631577880316643, 3.904251484969796 ], "target_point_next": [ 34.10190733661796, 51.04135381044975 ] }, "250": { "acceleration": [ 0.002851981669664383, 0.0008394691394641995, 0.002560016931965947 ], "angular_velocity": [ 0.071234792470932, 0.029602941125631332, -0.00011090794578194618 ], "forward_vector": [ 0.019676372408866882, 0.9998027086257935, -0.002721186960116029 ], "right_vector": [ -0.9998064041137695, 0.01967627927660942, -6.094609489082359e-05 ], "location": [ -1567.1790771484375, 5795.83154296875, 376.053466796875 ], "rotation": [ 0.003491966985166073, -0.15591271221637726, 88.87255096435547 ], "velocity": [ 8.929254545364529e-05, -0.00022613981855101883, 0.0003034521942026913 ], "speed": 0.0002431303687487004, "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": 51.559295654296875, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.4530494809150696e-05, 5.7703236961970106e-05, 0.0009396882960572839 ], "speed_kmh": 0.003389653582280495, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0009415704407729208, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.4530494809150696e-05, "y": 5.7703236961970106e-05, "z": 0.0009396882960572839 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.09416389465332, "transform": { "location": { "x": -1560.126953125, "y": 5805.8818359375, "z": 375.97808837890625 }, "rotation": { "roll": -0.164306640625, "pitch": 0.449180543422699, "yaw": 156.4306640625 } }, "velocity": { "x": -11.080869674682617, "y": 4.8438005447387695, "z": 0.14396625757217407 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840520858764648, "transform": { "location": { "x": -1524.7869873046875, "y": 5790.46337890625, "z": 375.7915954589844 }, "rotation": { "roll": 0.00018238571647088975, "pitch": 0.24485543370246887, "yaw": 156.4361114501953 } }, "velocity": { "x": -10.853050231933594, "y": 4.73359489440918, "z": 0.048109330236911774 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.873628616333008, "transform": { "location": { "x": -1581.352783203125, "y": 5815.142578125, "z": 376.1048278808594 }, "rotation": { "roll": 0.0008534693042747676, "pitch": 0.26621344685554504, "yaw": 156.42098999023438 } }, "velocity": { "x": -10.882146835327148, "y": 4.749483585357666, "z": 0.06584580987691879 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.9999799728393555, "transform": { "location": { "x": -1564.2193603515625, "y": 5762.97509765625, "z": 376.1417541503906 }, "rotation": { "roll": 2.0910849343636073e-05, "pitch": 0.14521664381027222, "yaw": -90.14077758789062 } }, "velocity": { "x": -0.019649824127554893, "y": -7.999928951263428, "z": 0.020863447338342667 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.036027908325195, "transform": { "location": { "x": -1567.1939697265625, "y": 5753.47998046875, "z": 376.19677734375 }, "rotation": { "roll": 0.00013531692093238235, "pitch": -0.15182143449783325, "yaw": 89.85315704345703 } }, "velocity": { "x": 0.022121712565422058, "y": 8.035966873168945, "z": -0.02216443046927452 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.6783595085144043, "transform": { "location": { "x": -1567.136962890625, "y": 5772.158203125, "z": 376.12249755859375 }, "rotation": { "roll": -0.028289811685681343, "pitch": -0.5663387775421143, "yaw": 90.98470306396484 } }, "velocity": { "x": 0.0031672846525907516, "y": 3.6783447265625, "z": -0.009884271770715714 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.615234375, "y": 5771.7529296875, "z": 376.55621337890625 }, "rotation": { "roll": 0.0, "pitch": 0.0780007541179657, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.506103515625, "y": 5798.13623046875, "z": 376.5235595703125 }, "rotation": { "roll": 3.3350551209565538e-09, "pitch": 0.0612531341612339, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14879225194454193, "expert_target_speed": 0.0, "target_point": [ 14.631089693596318, 3.9042418774103567 ], "target_point_next": [ 34.10141914989764, 51.04134420289031 ] }, "255": { "acceleration": [ -8.669507224112749e-05, 0.1957748830318451, 0.0020915986970067024 ], "angular_velocity": [ 0.05801274999976158, 0.015833614394068718, 0.0028477967716753483 ], "forward_vector": [ 0.019681749865412712, 0.9998033046722412, -0.002430436434224248 ], "right_vector": [ -0.99980628490448, 0.019681677222251892, -5.340482675819658e-05 ], "location": [ -1567.1790771484375, 5795.8349609375, 376.0533752441406 ], "rotation": [ 0.003059880342334509, -0.1392538845539093, 88.87224578857422 ], "velocity": [ 0.00035230471985414624, 0.02505594864487648, 0.0003345870936755091 ], "speed": 0.025058425351771788, "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": 51.55708694458008, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.5725119737908244e-05, 4.3673812797351275e-06, 0.0013793015386909246 ], "speed_kmh": 0.004965833120541341, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0013793980469927192, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.5725119737908244e-05, "y": 4.3673812797351275e-06, "z": 0.0013793015386909246 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.868497848510742, "transform": { "location": { "x": -1562.8699951171875, "y": 5807.0771484375, "z": 376.0067138671875 }, "rotation": { "roll": -0.4552306532859802, "pitch": 0.2990803122520447, "yaw": 156.41334533691406 } }, "velocity": { "x": -10.87545108795166, "y": 4.751962661743164, "z": 0.06821785122156143 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.787250518798828, "transform": { "location": { "x": -1527.5101318359375, "y": 5791.65087890625, "z": 375.8042907714844 }, "rotation": { "roll": 0.0003590251144487411, "pitch": 0.24653565883636475, "yaw": 156.4384765625 } }, "velocity": { "x": -10.804133415222168, "y": 4.7124457359313965, "z": 0.05318748205900192 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.08602523803711, "transform": { "location": { "x": -1584.1026611328125, "y": 5816.34228515625, "z": 376.1201477050781 }, "rotation": { "roll": 0.0001945758267538622, "pitch": 0.27040034532546997, "yaw": 156.4203338623047 } }, "velocity": { "x": -11.076770782470703, "y": 4.834559917449951, "z": 0.0646510124206543 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.05985164642334, "transform": { "location": { "x": -1564.2242431640625, "y": 5760.966796875, "z": 376.1468811035156 }, "rotation": { "roll": 0.0002120433491654694, "pitch": 0.14445848762989044, "yaw": -90.14073944091797 } }, "velocity": { "x": -0.019792359322309494, "y": -8.059799194335938, "z": 0.02141064591705799 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.708962917327881, "transform": { "location": { "x": -1567.1890869140625, "y": 5755.47119140625, "z": 376.1918029785156 }, "rotation": { "roll": 0.00037119974149391055, "pitch": -0.17115087807178497, "yaw": 89.85077667236328 } }, "velocity": { "x": 0.020032407715916634, "y": 7.7089080810546875, "z": -0.02116488851606846 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.879230499267578, "transform": { "location": { "x": -1567.140380859375, "y": 5773.1259765625, "z": 376.11669921875 }, "rotation": { "roll": -0.00756835425272584, "pitch": -0.1473066806793213, "yaw": 90.60112762451172 } }, "velocity": { "x": -0.0008547697216272354, "y": 3.879218578338623, "z": -0.009494896046817303 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6297607421875, "y": 5768.28125, "z": 376.5608825683594 }, "rotation": { "roll": 0.0, "pitch": 0.0780007541179657, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5203857421875, "y": 5794.66357421875, "z": 376.52734375 }, "rotation": { "roll": 3.3350555650457636e-09, "pitch": 0.06518049538135529, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14770328998565674, "expert_target_speed": 0.0, "target_point": [ 14.627649115600027, 3.904261812146579 ], "target_point_next": [ 34.097697612531505, 51.04148018899629 ] }, "260": { "acceleration": [ -0.0015719118528068066, -0.16408339142799377, 0.0051488871686160564 ], "angular_velocity": [ -0.041665203869342804, -0.006999360863119364, 0.020257312804460526 ], "forward_vector": [ 0.019635625183582306, 0.9998042583465576, -0.0024207807146012783 ], "right_vector": [ -0.9998071789741516, 0.019635537639260292, -5.987530676065944e-05 ], "location": [ -1567.1790771484375, 5795.83984375, 376.0533752441406 ], "rotation": [ 0.0034306123852729797, -0.13870064914226532, 88.87488555908203 ], "velocity": [ 0.00031075289007276297, 0.019242826849222183, 0.00022279738914221525 ], "speed": 0.019245335863731627, "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": 51.553932189941406, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 9.05573324416764e-06, -2.0639821741497144e-05, 0.001567332656122744 ], "speed_kmh": 0.005642980953263418, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0015674947062507272, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 9.05573324416764e-06, "y": -2.0639821741497144e-05, "z": 0.001567332656122744 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.093058586120605, "transform": { "location": { "x": -1565.61669921875, "y": 5808.27880859375, "z": 376.01422119140625 }, "rotation": { "roll": -0.0648193284869194, "pitch": 0.015415736474096775, "yaw": 156.42857360839844 } }, "velocity": { "x": -11.084712982177734, "y": 4.834303379058838, "z": 0.026905927807092667 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840286254882812, "transform": { "location": { "x": -1530.234619140625, "y": 5792.83935546875, "z": 375.81781005859375 }, "rotation": { "roll": -0.0007934567402116954, "pitch": 0.25109824538230896, "yaw": 156.4324493408203 } }, "velocity": { "x": -10.852129936218262, "y": 4.735019207000732, "z": 0.057042159140110016 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.873998641967773, "transform": { "location": { "x": -1586.8466796875, "y": 5817.54052734375, "z": 376.13531494140625 }, "rotation": { "roll": 0.0009842182043939829, "pitch": 0.26740190386772156, "yaw": 156.4197998046875 } }, "velocity": { "x": -10.882433891296387, "y": 4.749804496765137, "z": 0.06189757212996483 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000656127929688, "transform": { "location": { "x": -1564.22900390625, "y": 5758.95947265625, "z": 376.1520080566406 }, "rotation": { "roll": 0.0002802720991894603, "pitch": 0.14652803540229797, "yaw": -90.14427947998047 } }, "velocity": { "x": -0.020318537950515747, "y": -8.000601768493652, "z": 0.02141094207763672 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.487952709197998, "transform": { "location": { "x": -1567.1842041015625, "y": 5757.263671875, "z": 376.18768310546875 }, "rotation": { "roll": 0.0002917664824053645, "pitch": -0.2456340789794922, "yaw": 89.8505630493164 } }, "velocity": { "x": 0.01683918945491314, "y": 6.48790979385376, "z": -0.01655246689915657 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.9852476119995117, "transform": { "location": { "x": -1567.1422119140625, "y": 5774.103515625, "z": 376.11370849609375 }, "rotation": { "roll": 0.004347828216850758, "pitch": -0.06707928329706192, "yaw": 90.32820892333984 } }, "velocity": { "x": 0.004221918061375618, "y": 3.985233783721924, "z": -0.009639577940106392 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6441650390625, "y": 5764.80859375, "z": 376.56573486328125 }, "rotation": { "roll": 0.0, "pitch": 0.08324634283781052, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5347900390625, "y": 5791.19189453125, "z": 376.53131103515625 }, "rotation": { "roll": 0.0, "pitch": 0.06909418851137161, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14773963391780853, "expert_target_speed": 0.0, "target_point": [ 14.622945021505135, 3.903499812582682 ], "target_point_next": [ 34.095140030476294, 51.03983151449051 ] }, "265": { "acceleration": [ -0.002774524036794901, 0.188493549823761, -0.0013336178380995989 ], "angular_velocity": [ 0.0342378206551075, 0.004289104603230953, -0.0036794247571378946 ], "forward_vector": [ 0.019611909985542297, 0.9998048543930054, -0.0023708317894488573 ], "right_vector": [ -0.9998076558113098, 0.01961188018321991, -3.5317614674568176e-05 ], "location": [ -1567.1790771484375, 5795.84716796875, 376.0533752441406 ], "rotation": [ 0.0020235558040440083, -0.13583879172801971, 88.8762435913086 ], "velocity": [ 0.000483503972645849, 0.03864247351884842, -0.000284061417914927 ], "speed": 0.0386454982597775, "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": 51.5492057800293, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 9.05003344087163e-06, -6.761122222087579e-06, 0.0007967959973029792 ], "speed_kmh": 0.002868753866136574, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0007968760910443962, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 9.05003344087163e-06, "y": -6.761122222087579e-06, "z": 0.0007967959973029792 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.861937522888184, "transform": { "location": { "x": -1568.3619384765625, "y": 5809.4765625, "z": 376.02386474609375 }, "rotation": { "roll": 0.016468295827507973, "pitch": 0.301908016204834, "yaw": 156.44361877441406 } }, "velocity": { "x": -10.872809410095215, "y": 4.741607666015625, "z": 0.0687086284160614 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.78731632232666, "transform": { "location": { "x": -1532.957763671875, "y": 5794.02734375, "z": 375.831787109375 }, "rotation": { "roll": -0.0011596658732742071, "pitch": 0.25109824538230896, "yaw": 156.4254913330078 } }, "velocity": { "x": -10.803448677062988, "y": 4.714119911193848, "z": 0.05832282081246376 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.085899353027344, "transform": { "location": { "x": -1589.5965576171875, "y": 5818.74072265625, "z": 376.1502685546875 }, "rotation": { "roll": -0.001739506027661264, "pitch": 0.26733359694480896, "yaw": 156.42355346679688 } }, "velocity": { "x": -11.076592445373535, "y": 4.834681987762451, "z": 0.06247821822762489 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059285163879395, "transform": { "location": { "x": -1564.2340087890625, "y": 5756.951171875, "z": 376.1572265625 }, "rotation": { "roll": 0.00010927671246463433, "pitch": 0.14748427271842957, "yaw": -90.14476776123047 } }, "velocity": { "x": -0.020356453955173492, "y": -8.05923080444336, "z": 0.021634548902511597 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.8233208656311035, "transform": { "location": { "x": -1567.1812744140625, "y": 5758.37109375, "z": 376.1867370605469 }, "rotation": { "roll": 7.273362280102447e-05, "pitch": -0.5015202760696411, "yaw": 89.8826675415039 } }, "velocity": { "x": 0.006834767758846283, "y": 2.8233041763305664, "z": -0.006899804808199406 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.033083915710449, "transform": { "location": { "x": -1567.1422119140625, "y": 5775.0048828125, "z": 376.1131896972656 }, "rotation": { "roll": 0.00023627108021173626, "pitch": -0.2686449885368347, "yaw": 90.15880584716797 } }, "velocity": { "x": 0.006059483624994755, "y": 3.0330653190612793, "z": -0.008663482032716274 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.65869140625, "y": 5761.3369140625, "z": 376.5707702636719 }, "rotation": { "roll": -3.335057119357998e-09, "pitch": 0.0885055884718895, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5491943359375, "y": 5787.71923828125, "z": 376.5354309082031 }, "rotation": { "roll": 0.0, "pitch": 0.06909418851137161, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14958474040031433, "expert_target_speed": 0.0, "target_point": [ 14.615705038012319, 3.9030458555370804 ], "target_point_next": [ 34.088900240372986, 51.038964361390335 ] }, "270": { "acceleration": [ 0.0036643107887357473, -0.15351973474025726, -0.00527610769495368 ], "angular_velocity": [ -0.039470139890909195, 0.015236517414450645, 0.0012323955306783319 ], "forward_vector": [ 0.019602494314312935, 0.9998050332069397, -0.002377626718953252 ], "right_vector": [ -0.9998078346252441, 0.01960243470966816, -4.790629827766679e-05 ], "location": [ -1567.1790771484375, 5795.857421875, 376.0533752441406 ], "rotation": [ 0.002744836499914527, -0.13622811436653137, 88.87678527832031 ], "velocity": [ 0.0008080046973191202, 0.03961971774697304, -0.0012265014229342341 ], "speed": 0.03962795611611455, "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": 51.54258346557617, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.5178807188931387e-05, -5.441811026685173e-06, 0.0011625069892033935 ], "speed_kmh": 0.004185427734696182, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0011626188643276691, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.5178807188931387e-05, "y": -5.441811026685173e-06, "z": 0.0011625069892033935 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090803146362305, "transform": { "location": { "x": -1571.11181640625, "y": 5810.67626953125, "z": 376.0403137207031 }, "rotation": { "roll": 0.002806616248562932, "pitch": 0.28844571113586426, "yaw": 156.445556640625 } }, "velocity": { "x": -11.083186149597168, "y": 4.831789970397949, "z": 0.06559337675571442 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840195655822754, "transform": { "location": { "x": -1535.6822509765625, "y": 5795.21630859375, "z": 375.8460388183594 }, "rotation": { "roll": -0.0004882833454757929, "pitch": 0.2563779652118683, "yaw": 156.4253692626953 } }, "velocity": { "x": -10.851850509643555, "y": 4.735377788543701, "z": 0.061438605189323425 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.874221801757812, "transform": { "location": { "x": -1592.340576171875, "y": 5819.93798828125, "z": 376.16497802734375 }, "rotation": { "roll": 0.00011937283125007525, "pitch": 0.2647654414176941, "yaw": 156.42388916015625 } }, "velocity": { "x": -10.882965087890625, "y": 4.749161720275879, "z": 0.06059266999363899 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000292778015137, "transform": { "location": { "x": -1564.2388916015625, "y": 5754.94384765625, "z": 376.16241455078125 }, "rotation": { "roll": -0.00021362421102821827, "pitch": 0.14738181233406067, "yaw": -90.14495086669922 } }, "velocity": { "x": -0.020189212635159492, "y": -8.000238418579102, "z": 0.021510668098926544 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.9282095432281494, "transform": { "location": { "x": -1567.1793212890625, "y": 5759.205078125, "z": 376.18182373046875 }, "rotation": { "roll": 0.0008302649366669357, "pitch": -0.16382208466529846, "yaw": 89.87606048583984 } }, "velocity": { "x": 0.009712123312056065, "y": 3.9281861782073975, "z": -0.009460153058171272 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.3328375816345215, "transform": { "location": { "x": -1567.1417236328125, "y": 5775.63623046875, "z": 376.1125793457031 }, "rotation": { "roll": -0.003112796926870942, "pitch": -0.3888836205005646, "yaw": 90.07537078857422 } }, "velocity": { "x": 0.005592718720436096, "y": 2.3328239917755127, "z": -0.005667686462402344 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6719970703125, "y": 5758.1416015625, "z": 376.5755310058594 }, "rotation": { "roll": -3.335057119357998e-09, "pitch": 0.0885055884718895, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5633544921875, "y": 5784.24755859375, "z": 376.5396728515625 }, "rotation": { "roll": -3.3350560091349735e-09, "pitch": 0.072987399995327, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15046891570091248, "expert_target_speed": 0.0, "target_point": [ 14.605488463445031, 3.9027123958801124 ], "target_point_next": [ 34.07911071199766, 51.0384544744807 ] }, "275": { "acceleration": [ -0.0007728091441094875, 0.19722357392311096, -0.004546928685158491 ], "angular_velocity": [ 0.025399284437298775, 0.0036276457831263542, 0.012873747386038303 ], "forward_vector": [ 0.01958342269062996, 0.9998053908348083, -0.0023978922981768847 ], "right_vector": [ -0.9998082518577576, 0.019583377987146378, -4.1980991227319464e-05 ], "location": [ -1567.1790771484375, 5795.86865234375, 376.0533447265625 ], "rotation": [ 0.002405340550467372, -0.13738924264907837, 88.87787628173828 ], "velocity": [ 0.0007129645673558116, 0.051781948655843735, -0.0016585731646046042 ], "speed": 0.05178685668266362, "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": 51.535335540771484, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.2524053090601228e-05, -7.08095694790245e-06, 0.0011935184011235833 ], "speed_kmh": 0.004296978406646129, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0011936051305383444, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.2524053090601228e-05, "y": -7.08095694790245e-06, "z": 0.0011935184011235833 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.86273193359375, "transform": { "location": { "x": -1573.85595703125, "y": 5811.87255859375, "z": 376.0558166503906 }, "rotation": { "roll": 0.0006396842072717845, "pitch": 0.2804543673992157, "yaw": 156.4352264404297 } }, "velocity": { "x": -10.87338638305664, "y": 4.742373466491699, "z": 0.061362504959106445 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.78727912902832, "transform": { "location": { "x": -1538.4052734375, "y": 5796.40380859375, "z": 375.86065673828125 }, "rotation": { "roll": -0.0009155246079899371, "pitch": 0.25618672370910645, "yaw": 156.42723083496094 } }, "velocity": { "x": -10.803470611572266, "y": 4.713934898376465, "z": 0.06149239465594292 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.085894584655762, "transform": { "location": { "x": -1595.0904541015625, "y": 5821.138671875, "z": 376.1796875 }, "rotation": { "roll": -0.0016784706385806203, "pitch": 0.2680644094944, "yaw": 156.42845153808594 } }, "velocity": { "x": -11.077280044555664, "y": 4.8331122398376465, "z": 0.0611269548535347 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.05985164642334, "transform": { "location": { "x": -1564.2437744140625, "y": 5752.935546875, "z": 376.1676940917969 }, "rotation": { "roll": 0.00026140903355553746, "pitch": 0.14895959198474884, "yaw": -90.14464569091797 } }, "velocity": { "x": -0.0203398410230875, "y": -8.059798240661621, "z": 0.021292047575116158 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.224604606628418, "transform": { "location": { "x": -1567.1766357421875, "y": 5760.35595703125, "z": 376.17803955078125 }, "rotation": { "roll": 7.439837645506486e-05, "pitch": -0.0357423797249794, "yaw": 89.87110137939453 } }, "velocity": { "x": 0.011608513072133064, "y": 5.224584102630615, "z": -0.008977203629910946 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.0942885875701904, "transform": { "location": { "x": -1567.140380859375, "y": 5776.31982421875, "z": 376.10772705078125 }, "rotation": { "roll": 0.0009696802590042353, "pitch": -0.007567849010229111, "yaw": 90.01031494140625 } }, "velocity": { "x": 0.007879202254116535, "y": 3.0942726135253906, "z": -0.0060967919416725636 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.680419921875, "y": 5756.05859375, "z": 376.5788269042969 }, "rotation": { "roll": 0.0, "pitch": 0.09373068064451218, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5748291015625, "y": 5781.525390625, "z": 376.54315185546875 }, "rotation": { "roll": 3.3350562311795784e-09, "pitch": 0.07690109312534332, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15184462070465088, "expert_target_speed": 0.0, "target_point": [ 14.594355052670876, 3.902137291868171 ], "target_point_next": [ 34.069123575203484, 51.03740578344946 ] }, "280": { "acceleration": [ 0.0024611607659608126, -0.17916269600391388, -0.00548935029655695 ], "angular_velocity": [ -0.02967541292309761, -0.005353802349418402, -0.04036115109920502 ], "forward_vector": [ 0.019579369574785233, 0.9998053908348083, -0.0024176810402423143 ], "right_vector": [ -0.9998083114624023, 0.019579358398914337, -2.8621287128771655e-05 ], "location": [ -1567.1790771484375, 5795.88037109375, 376.0533142089844 ], "rotation": [ 0.0016398837324231863, -0.13852305710315704, 88.87811279296875 ], "velocity": [ 0.0008477555820718408, 0.04356611147522926, -0.0018541717436164618 ], "speed": 0.04357435895798167, "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": 51.52777099609375, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.1546052519406658e-05, -1.1478643500595354e-05, 0.001295199035666883 ], "speed_kmh": 0.004663084895110589, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0012953013647347689, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.1546052519406658e-05, "y": -1.1478643500595354e-05, "z": 0.001295199035666883 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090771675109863, "transform": { "location": { "x": -1576.605712890625, "y": 5813.07177734375, "z": 376.071044921875 }, "rotation": { "roll": -0.0011901847319677472, "pitch": 0.28052952885627747, "yaw": 156.43418884277344 } }, "velocity": { "x": -11.082284927368164, "y": 4.833828449249268, "z": 0.061820294708013535 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840250968933105, "transform": { "location": { "x": -1541.129638671875, "y": 5797.59228515625, "z": 375.8754577636719 }, "rotation": { "roll": -0.0005493123317137361, "pitch": 0.2617601454257965, "yaw": 156.42967224121094 } }, "velocity": { "x": -10.852216720581055, "y": 4.73464298248291, "z": 0.06393270194530487 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 11.874129295349121, "transform": { "location": { "x": -1597.8345947265625, "y": 5822.33544921875, "z": 376.1941833496094 }, "rotation": { "roll": -0.0005798382335342467, "pitch": 0.2587890326976776, "yaw": 156.4332275390625 } }, "velocity": { "x": -10.883598327636719, "y": 4.747496604919434, "z": 0.059232864528894424 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000033378601074, "transform": { "location": { "x": -1564.2486572265625, "y": 5750.92822265625, "z": 376.1730041503906 }, "rotation": { "roll": 0.0009724447736516595, "pitch": 0.15096083283424377, "yaw": -90.14494323730469 } }, "velocity": { "x": -0.02019621804356575, "y": -7.999979496002197, "z": 0.021488798782229424 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.004807472229004, "transform": { "location": { "x": -1502.3270263671875, "y": 5780.6640625, "z": 375.8249816894531 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.995903015136719, "y": 4.797394275665283, "z": -0.43650245666503906 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.486500263214111, "transform": { "location": { "x": -1567.1727294921875, "y": 5761.69189453125, "z": 376.17510986328125 }, "rotation": { "roll": -0.0013122583040967584, "pitch": -0.08972135931253433, "yaw": 89.98907470703125 } }, "velocity": { "x": 0.012422998435795307, "y": 5.486469745635986, "z": -0.013446034863591194 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.1108554601669312, "transform": { "location": { "x": -1567.1390380859375, "y": 5776.97509765625, "z": 376.1085510253906 }, "rotation": { "roll": -0.0012207112740725279, "pitch": -0.28442272543907166, "yaw": 89.96730041503906 } }, "velocity": { "x": 0.0037032978143543005, "y": 1.1108458042144775, "z": -0.0027910040225833654 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.68896484375, "y": 5753.97509765625, "z": 376.5821533203125 }, "rotation": { "roll": 0.0, "pitch": 0.09373068064451218, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.586669921875, "y": 5778.642578125, "z": 376.54693603515625 }, "rotation": { "roll": 3.3350562311795784e-09, "pitch": 0.07690109312534332, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1449912041425705, "expert_target_speed": 0.0, "target_point": [ 14.582650643384984, 3.9018626157919885 ], "target_point_next": [ 34.05756525883266, 51.03707074624056 ] }, "285": { "acceleration": [ 0.00017622602172195911, 0.19684664905071259, 0.0030294409953057766 ], "angular_velocity": [ 0.034778159111738205, 0.019232356920838356, 0.02778654173016548 ], "forward_vector": [ 0.01954742707312107, 0.9998059868812561, -0.00242614489980042 ], "right_vector": [ -0.9998089075088501, 0.019547412171959877, -3.02063981507672e-05 ], "location": [ -1567.1790771484375, 5795.89306640625, 376.05322265625 ], "rotation": [ 0.0017307042144238949, -0.13900800049304962, 88.87994384765625 ], "velocity": [ 0.0008737016469240189, 0.05432947352528572, -0.0012660217471420765 ], "speed": 0.05433649830549039, "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": 51.51958084106445, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.2285038792470004e-05, -2.043880385826924e-06, 0.000811955367680639 ], "speed_kmh": 0.0029233831392323746, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.000812050886452198, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.2285038792470004e-05, "y": -2.043880385826924e-06, "z": 0.000811955367680639 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.863070487976074, "transform": { "location": { "x": -1579.349609375, "y": 5814.2685546875, "z": 376.0861511230469 }, "rotation": { "roll": 0.0004206652520224452, "pitch": 0.2794981598854065, "yaw": 156.43408203125 } }, "velocity": { "x": -10.873575210571289, "y": 4.742800712585449, "z": 0.06050924211740494 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.78718376159668, "transform": { "location": { "x": -1543.852783203125, "y": 5798.7802734375, "z": 375.8904113769531 }, "rotation": { "roll": -0.0008239768212661147, "pitch": 0.261514276266098, "yaw": 156.42910766601562 } }, "velocity": { "x": -10.803571701049805, "y": 4.713428020477295, "z": 0.06427108496427536 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97399, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 12.085844993591309, "transform": { "location": { "x": -1600.5845947265625, "y": 5823.53564453125, "z": 376.20843505859375 }, "rotation": { "roll": -0.002380368299782276, "pitch": 0.2588983178138733, "yaw": 156.4373321533203 } }, "velocity": { "x": -11.077777862548828, "y": 4.831878662109375, "z": 0.0585971437394619 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.060029983520508, "transform": { "location": { "x": -1564.253662109375, "y": 5748.92041015625, "z": 376.17828369140625 }, "rotation": { "roll": -0.00039673259016126394, "pitch": 0.14937622845172882, "yaw": -90.1466293334961 } }, "velocity": { "x": -0.022418711334466934, "y": -8.059969902038574, "z": 0.02165166847407818 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.098207473754883, "transform": { "location": { "x": -1505.052734375, "y": 5781.853515625, "z": 375.77178955078125 }, "rotation": { "roll": -0.0011596682015806437, "pitch": 0.3093665838241577, "yaw": 156.42958068847656 } }, "velocity": { "x": -10.170963287353516, "y": 4.437496662139893, "z": -0.1742108166217804 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.00886344909668, "transform": { "location": { "x": -1567.169921875, "y": 5763.1767578125, "z": 376.1705322265625 }, "rotation": { "roll": -3.0517821869580075e-05, "pitch": -0.0065638115629553795, "yaw": 89.92747497558594 } }, "velocity": { "x": 0.015660690143704414, "y": 7.008822441101074, "z": -0.018206944689154625 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9587447643280029, "transform": { "location": { "x": -1567.1385498046875, "y": 5777.11669921875, "z": 376.10931396484375 }, "rotation": { "roll": -0.0007324268808588386, "pitch": -0.4496176540851593, "yaw": 89.95265197753906 } }, "velocity": { "x": 0.0027934552635997534, "y": 0.9587384462356567, "z": -0.0020904159173369408 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.69775390625, "y": 5751.8916015625, "z": 376.5855712890625 }, "rotation": { "roll": -3.3350582295810227e-09, "pitch": 0.09896260499954224, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.5989990234375, "y": 5775.68408203125, "z": 376.55084228515625 }, "rotation": { "roll": 0.0, "pitch": 0.0774543434381485, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14798884093761444, "expert_target_speed": 0, "target_point": [ 14.570076825444662, 3.901169412301287 ], "target_point_next": [ 34.04642988421996, 51.035783193572655 ] }, "290": { "acceleration": [ 0.00027033500373363495, -0.1732972264289856, -0.0002193450927734375 ], "angular_velocity": [ -0.037355076521635056, -0.0474357008934021, 0.006928136106580496 ], "forward_vector": [ 0.019501063972711563, 0.9998069405555725, -0.002423879923298955 ], "right_vector": [ -0.9998098611831665, 0.019500987604260445, -5.503813372342847e-05 ], "location": [ -1567.1790771484375, 5795.90625, 376.05322265625 ], "rotation": [ 0.0031534619629383087, -0.1388782262802124, 88.88259887695312 ], "velocity": [ 0.000851124117616564, 0.04969065636396408, -0.0013296508695930243 ], "speed": 0.04969794504952043, "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": 51.51107406616211, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090747833251953, "transform": { "location": { "x": -1582.099609375, "y": 5815.46875, "z": 376.10107421875 }, "rotation": { "roll": 0.000531500147189945, "pitch": 0.2741432785987854, "yaw": 156.43408203125 } }, "velocity": { "x": -11.08228874206543, "y": 4.833775043487549, "z": 0.06063833087682724 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840178489685059, "transform": { "location": { "x": -1546.5772705078125, "y": 5799.96923828125, "z": 375.9056091308594 }, "rotation": { "roll": -0.0015258734347298741, "pitch": 0.2671765089035034, "yaw": 156.4267120361328 } }, "velocity": { "x": -10.851930618286133, "y": 4.7350921630859375, "z": 0.06581565737724304 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.000182151794434, "transform": { "location": { "x": -1564.2586669921875, "y": 5746.9130859375, "z": 376.1836242675781 }, "rotation": { "roll": -0.0003356942906975746, "pitch": 0.15164385735988617, "yaw": -90.14681243896484 } }, "velocity": { "x": -0.022108012810349464, "y": -8.000123977661133, "z": 0.021137436851859093 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.074886322021484, "transform": { "location": { "x": -1507.78369140625, "y": 5783.044921875, "z": 375.7629089355469 }, "rotation": { "roll": -0.0018615751760080457, "pitch": 0.3178633153438568, "yaw": 156.4261932373047 } }, "velocity": { "x": -11.06690788269043, "y": 4.829012870788574, "z": -0.08418451994657516 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.595975875854492, "transform": { "location": { "x": -1567.16650390625, "y": 5764.9267578125, "z": 376.16717529296875 }, "rotation": { "roll": 0.0006219554925337434, "pitch": -0.12542958557605743, "yaw": 89.88241577148438 } }, "velocity": { "x": 0.015938187018036842, "y": 6.59593391418457, "z": -0.017348861321806908 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.0117857456207275, "transform": { "location": { "x": -1567.1383056640625, "y": 5777.49853515625, "z": 376.1038513183594 }, "rotation": { "roll": 0.0008091722265817225, "pitch": 0.11568973958492279, "yaw": 89.8668212890625 } }, "velocity": { "x": 0.0053580813109874725, "y": 2.0117764472961426, "z": -0.002949619200080633 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7061767578125, "y": 5749.80859375, "z": 376.58905029296875 }, "rotation": { "roll": -3.3350582295810227e-09, "pitch": 0.09896260499954224, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6104736328125, "y": 5772.9736328125, "z": 376.5545654296875 }, "rotation": { "roll": 0.0, "pitch": 0.0774543434381485, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14733612537384033, "expert_target_speed": 0, "target_point": [ 14.557085463899558, 3.9002036786033845 ], "target_point_next": [ 34.03573100423678, 51.033870125142236 ] }, "295": { "acceleration": [ 0.0011055555660277605, 0.19780844449996948, -0.003527258522808552 ], "angular_velocity": [ 0.027810921892523766, 0.002534035127609968, 0.022224780172109604 ], "forward_vector": [ 0.01949736848473549, 0.9998070001602173, -0.0024138663429766893 ], "right_vector": [ -0.9998099207878113, 0.019497361034154892, -2.6900552256847732e-05 ], "location": [ -1567.1790771484375, 5795.919921875, 376.0531921386719 ], "rotation": [ 0.0015412926441058517, -0.13830448687076569, 88.8828125 ], "velocity": [ 0.0009962451877072453, 0.06217551231384277, -0.0016793250106275082 ], "speed": 0.06218349327565029, "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": 51.50225830078125, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.2465515136719 ], "velocity": [ 1.3675949958269484e-05, 5.914823850616813e-05, 0.0012521041790023446 ], "speed_kmh": 0.004512870201277464, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.001253575086593628, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.2465515136719 }, "rotation": { "roll": 0.00014641694724559784, "pitch": -0.2540898621082306, "yaw": -23.571115493774414 } }, "velocity": { "x": 1.3675949958269484e-05, "y": 5.914823850616813e-05, "z": 0.0012521041790023446 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.86285400390625, "transform": { "location": { "x": -1584.843505859375, "y": 5816.66552734375, "z": 376.1158142089844 }, "rotation": { "roll": 0.0006635464378632605, "pitch": 0.274682879447937, "yaw": 156.43417358398438 } }, "velocity": { "x": -10.873393058776855, "y": 4.7426958084106445, "z": 0.05870865657925606 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.78713321685791, "transform": { "location": { "x": -1549.30029296875, "y": 5801.1572265625, "z": 375.9210205078125 }, "rotation": { "roll": -0.0007934611057862639, "pitch": 0.26675984263420105, "yaw": 156.42588806152344 } }, "velocity": { "x": -10.803397178649902, "y": 4.713685035705566, "z": 0.06544885784387589 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059181213378906, "transform": { "location": { "x": -1564.2635498046875, "y": 5744.90478515625, "z": 376.18902587890625 }, "rotation": { "roll": 0.00021077609562780708, "pitch": 0.15182143449783325, "yaw": -90.14800262451172 } }, "velocity": { "x": -0.02080395817756653, "y": -8.059126853942871, "z": 0.021133355796337128 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.880951881408691, "transform": { "location": { "x": -1510.528076171875, "y": 5784.2421875, "z": 375.76031494140625 }, "rotation": { "roll": 0.0006362152635119855, "pitch": 0.272305965423584, "yaw": 156.43482971191406 } }, "velocity": { "x": -10.889669418334961, "y": 4.750824928283691, "z": -0.04216786473989487 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.49512287974357605, "transform": { "location": { "x": -1567.16455078125, "y": 5765.82470703125, "z": 376.1688537597656 }, "rotation": { "roll": -0.0005188310751691461, "pitch": -0.6183438301086426, "yaw": 89.86468505859375 } }, "velocity": { "x": 0.001249781926162541, "y": 0.4951191842556, "z": -0.001445350586436689 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.5887211561203003, "transform": { "location": { "x": -1567.138671875, "y": 5777.8818359375, "z": 376.1046447753906 }, "rotation": { "roll": 0.006009367760270834, "pitch": -0.0765664130449295, "yaw": 89.68794250488281 } }, "velocity": { "x": 0.005681053269654512, "y": 1.5887072086334229, "z": -0.003476858139038086 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.715087890625, "y": 5747.72509765625, "z": 376.5925598144531 }, "rotation": { "roll": -3.3350582295810227e-09, "pitch": 0.09896260499954224, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6207275390625, "y": 5770.4697265625, "z": 376.55792236328125 }, "rotation": { "roll": 0.0, "pitch": 0.0780007541179657, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1488209217786789, "expert_target_speed": 0, "target_point": [ 14.543428276038583, 3.899892002114918 ], "target_point_next": [ 34.02221990432541, 51.033498075504475 ] }, "300": { "acceleration": [ -0.0015052617527544498, -0.23842141032218933, 0.006697464268654585 ], "angular_velocity": [ -0.05368390306830406, -0.0015214345185086131, -0.027510251849889755 ], "forward_vector": [ 0.0194765105843544, 0.9998073577880859, -0.0024516554549336433 ], "right_vector": [ -0.9998103380203247, 0.019476458430290222, -4.471826468943618e-05 ], "location": [ -1567.1790771484375, 5795.93408203125, 376.05316162109375 ], "rotation": [ 0.002562175504863262, -0.14046965539455414, 88.88400268554688 ], "velocity": [ 0.0008592536905780435, 0.0485781654715538, -0.0009866905165836215 ], "speed": 0.048585764144309124, "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": 51.49312973022461, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 1.4475397620117292e-05, 0.00010448678949614987, 0.0006868429481983185 ], "speed_kmh": 0.0025016251104023955, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0006948958616703749, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 1.4475397620117292e-05, "y": 0.00010448678949614987, "z": 0.0006868429481983185 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090682029724121, "transform": { "location": { "x": -1587.593505859375, "y": 5817.86474609375, "z": 376.1305847167969 }, "rotation": { "roll": 0.0006292617763392627, "pitch": 0.27641773223876953, "yaw": 156.43418884277344 } }, "velocity": { "x": -11.082209587097168, "y": 4.833785533905029, "z": 0.06110934168100357 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.840188026428223, "transform": { "location": { "x": -1552.0247802734375, "y": 5802.345703125, "z": 375.9364318847656 }, "rotation": { "roll": 0.0013680573320016265, "pitch": 0.26966267824172974, "yaw": 156.42581176757812 } }, "velocity": { "x": -10.851869583129883, "y": 4.735256195068359, "z": 0.06568189710378647 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.001209259033203, "transform": { "location": { "x": -1564.2684326171875, "y": 5742.8974609375, "z": 376.1943664550781 }, "rotation": { "roll": 7.3438131948933e-05, "pitch": 0.15268203616142273, "yaw": -90.14815521240234 } }, "velocity": { "x": -0.02066849172115326, "y": -8.001154899597168, "z": 0.021091079339385033 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.086560249328613, "transform": { "location": { "x": -1513.278076171875, "y": 5785.44189453125, "z": 375.76275634765625 }, "rotation": { "roll": 0.000638703175354749, "pitch": 0.2707350254058838, "yaw": 156.43617248535156 } }, "velocity": { "x": -11.078715324401855, "y": 4.831867218017578, "z": -0.007823591120541096 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.2766375541687012, "transform": { "location": { "x": -1567.1640625, "y": 5765.98486328125, "z": 376.1652526855469 }, "rotation": { "roll": 0.00034610170405358076, "pitch": -0.24676105380058289, "yaw": 89.86894989013672 } }, "velocity": { "x": 0.003277061739936471, "y": 1.2766307592391968, "z": -0.0025368593633174896 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0068006920628249645, "transform": { "location": { "x": -1567.133544921875, "y": 5778.19921875, "z": 376.106201171875 }, "rotation": { "roll": -0.006561303976923227, "pitch": -0.3655448853969574, "yaw": 90.17510986328125 } }, "velocity": { "x": 0.0010353827383369207, "y": 0.006681777071207762, "z": -0.0007288687629625201 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7235107421875, "y": 5745.6416015625, "z": 376.59619140625 }, "rotation": { "roll": 3.3350586736702326e-09, "pitch": 0.10421501845121384, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.633056640625, "y": 5767.51171875, "z": 376.56195068359375 }, "rotation": { "roll": 0.0, "pitch": 0.0780007541179657, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.14896798133850098, "expert_target_speed": 0.0, "target_point": [ 14.529354484692005, 3.8993041593379547 ], "target_point_next": [ 34.00915748595934, 51.0324922523526 ] }, "305": { "acceleration": [ -0.0018450524657964706, 0.1912299543619156, -0.008967402391135693 ], "angular_velocity": [ 0.03506888449192047, -0.0012277064379304647, 0.038805846124887466 ], "forward_vector": [ 0.019463758915662766, 0.999807596206665, -0.00245117861777544 ], "right_vector": [ -0.9998105764389038, 0.019463729113340378, -3.600422860472463e-05 ], "location": [ -1567.1790771484375, 5795.947265625, 376.0531311035156 ], "rotation": [ 0.0020628964994102716, -0.14044234156608582, 88.88473510742188 ], "velocity": [ 0.0008880129316821694, 0.055510420352220535, -0.0021560764871537685 ], "speed": 0.055517522771167074, "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": 51.4846305847168, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 1.757718564476818e-05, 6.0135738749522716e-05, 0.0012435611570253968 ], "speed_kmh": 0.00448249821200975, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0012451383518055081, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 1.757718564476818e-05, "y": 6.0135738749522716e-05, "z": 0.0012435611570253968 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.863037109375, "transform": { "location": { "x": -1590.3375244140625, "y": 5819.0615234375, "z": 376.145263671875 }, "rotation": { "roll": 0.0003389719349797815, "pitch": 0.2715204954147339, "yaw": 156.43418884277344 } }, "velocity": { "x": -10.87354850769043, "y": 4.742798328399658, "z": 0.05884125456213951 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.787148475646973, "transform": { "location": { "x": -1554.747802734375, "y": 5803.53369140625, "z": 375.951904296875 }, "rotation": { "roll": -0.0011596673866733909, "pitch": 0.2680097818374634, "yaw": 156.4276580810547 } }, "velocity": { "x": -10.803367614746094, "y": 4.713780403137207, "z": 0.06616346538066864 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.058981895446777, "transform": { "location": { "x": -1564.2734375, "y": 5740.88916015625, "z": 376.1998291015625 }, "rotation": { "roll": 0.00028472786652855575, "pitch": 0.154020756483078, "yaw": -90.14083862304688 } }, "velocity": { "x": -0.019861344248056412, "y": -8.058927536010742, "z": 0.021721085533499718 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.871835708618164, "transform": { "location": { "x": -1516.0225830078125, "y": 5786.638671875, "z": 375.7691955566406 }, "rotation": { "roll": -0.00030517749837599695, "pitch": 0.2725655138492584, "yaw": 156.4361114501953 } }, "velocity": { "x": -10.88188362121582, "y": 4.746042251586914, "z": 0.013614196330308914 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.2541005611419678, "transform": { "location": { "x": -1567.1630859375, "y": 5766.44482421875, "z": 376.1627197265625 }, "rotation": { "roll": 0.00012057895219186321, "pitch": -0.07690109312534332, "yaw": 89.8731918334961 } }, "velocity": { "x": 0.005823055282235146, "y": 2.2540853023529053, "z": -0.00586731918156147 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.4809259176254272, "transform": { "location": { "x": -1567.13330078125, "y": 5778.42041015625, "z": 376.1033630371094 }, "rotation": { "roll": -0.000762941490393132, "pitch": -0.10980211198329926, "yaw": 90.1644515991211 } }, "velocity": { "x": 0.002315096091479063, "y": 1.4809226989746094, "z": -0.002111587440595031 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.732421875, "y": 5743.55859375, "z": 376.5999450683594 }, "rotation": { "roll": 3.3350586736702326e-09, "pitch": 0.10421501845121384, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.644775390625, "y": 5764.71240234375, "z": 376.56585693359375 }, "rotation": { "roll": 0.0, "pitch": 0.08324634283781052, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1524713784456253, "expert_target_speed": 0.0, "target_point": [ 14.516220800171938, 3.8988708969691137 ], "target_point_next": [ 33.996596908813636, 51.03182212480486 ] }, "310": { "acceleration": [ -0.0009040033910423517, -0.21369971334934235, 0.00046672881580889225 ], "angular_velocity": [ -0.034101538360118866, -0.004871138371527195, -0.005055487155914307 ], "forward_vector": [ 0.019471265375614166, 0.9998073577880859, -0.002468821592628956 ], "right_vector": [ -0.9998103976249695, 0.019471202045679092, -5.00021233165171e-05 ], "location": [ -1567.1790771484375, 5795.9599609375, 376.0530700683594 ], "rotation": [ 0.0028649193700402975, -0.14145320653915405, 88.88430786132812 ], "velocity": [ 0.0007877126336097717, 0.04319434240460396, -0.0009215640602633357 ], "speed": 0.043201524359208855, "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": 51.476444244384766, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 6.955526714591542e-06, -6.303377176664071e-06, 0.0002493658976163715 ], "speed_kmh": 0.0008983530252712832, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.00024954252876341343, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 6.955526714591542e-06, "y": -6.303377176664071e-06, "z": 0.0002493658976163715 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090644836425781, "transform": { "location": { "x": -1593.0875244140625, "y": 5820.26171875, "z": 376.159912109375 }, "rotation": { "roll": 0.00010074309102492407, "pitch": 0.2726747989654541, "yaw": 156.42469787597656 } }, "velocity": { "x": -11.08181095123291, "y": 4.834639072418213, "z": 0.058546628803014755 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007782936096191, "transform": { "location": { "x": -1557.4827880859375, "y": 5804.7265625, "z": 375.9674072265625 }, "rotation": { "roll": -0.007843017578125, "pitch": 0.2796006202697754, "yaw": 156.42662048339844 } }, "velocity": { "x": -11.005532264709473, "y": 4.802131652832031, "z": 0.06808667629957199 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.999805927276611, "transform": { "location": { "x": -1564.2781982421875, "y": 5738.88232421875, "z": 376.20526123046875 }, "rotation": { "roll": 0.0003719665401149541, "pitch": 0.15536630153656006, "yaw": -90.14060974121094 } }, "velocity": { "x": -0.019651351496577263, "y": -7.999753475189209, "z": 0.021399153396487236 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.9895601272583, "transform": { "location": { "x": -1518.7664794921875, "y": 5787.83544921875, "z": 375.7783203125 }, "rotation": { "roll": -0.0007324140751734376, "pitch": 0.29515978693962097, "yaw": 156.42779541015625 } }, "velocity": { "x": -10.987934112548828, "y": 4.7972869873046875, "z": 0.02967076189815998 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.001467186026275158, "transform": { "location": { "x": -1567.161865234375, "y": 5766.8173828125, "z": 376.1639099121094 }, "rotation": { "roll": 0.00044850498670712113, "pitch": -0.3216882348060608, "yaw": 89.87067413330078 } }, "velocity": { "x": 0.00021814725187141448, "y": 0.0010525189572945237, "z": -0.0009986243676394224 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.4726496934890747, "transform": { "location": { "x": -1567.1334228515625, "y": 5778.62255859375, "z": 376.1026916503906 }, "rotation": { "roll": 0.0014019705122336745, "pitch": -0.06649871915578842, "yaw": 90.10498809814453 } }, "velocity": { "x": 0.002807382959872484, "y": 1.4726439714431763, "z": -0.002999105490744114 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.74072265625, "y": 5741.47509765625, "z": 376.6037292480469 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6553955078125, "y": 5762.10107421875, "z": 376.5695495605469 }, "rotation": { "roll": 0.0, "pitch": 0.08324634283781052, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.15148018300533295, "expert_target_speed": 0.0, "target_point": [ 14.503480486694656, 3.8988001590111296 ], "target_point_next": [ 33.983283487962, 51.031988252025776 ] }, "315": { "acceleration": [ 0.0826909989118576, 3.527836322784424, -0.01568756066262722 ], "angular_velocity": [ 0.8160454630851746, -0.0330929309129715, -0.3037060499191284 ], "forward_vector": [ 0.018958665430545807, 0.9998183846473694, -0.0019435868598520756 ], "right_vector": [ -0.9998202919960022, 0.018958596512675285, -5.406944183050655e-05 ], "location": [ -1567.1787109375, 5795.978515625, 376.0529479980469 ], "rotation": [ 0.0030979567673057318, -0.11135939508676529, 88.91368103027344 ], "velocity": [ 0.005182131193578243, 0.23459695279598236, -0.0018048286437988281 ], "speed": 0.23465418117917233, "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": 51.46477508544922, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 7.604733127664076e-06, -7.641576303285547e-06, 0.000618965714238584 ], "speed_kmh": 0.0022286145387889764, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0006190596031956375, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 7.604733127664076e-06, "y": -7.641576303285547e-06, "z": 0.000618965714238584 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.863167762756348, "transform": { "location": { "x": -1595.8311767578125, "y": 5821.45849609375, "z": 376.174560546875 }, "rotation": { "roll": 0.0005017209914512932, "pitch": 0.2719303071498871, "yaw": 156.4224090576172 } }, "velocity": { "x": -10.872687339782715, "y": 4.745104789733887, "z": 0.05830816179513931 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.974825859069824, "transform": { "location": { "x": -1560.232666015625, "y": 5805.9248046875, "z": 375.98583984375 }, "rotation": { "roll": -0.3368529975414276, "pitch": 0.5060964822769165, "yaw": 156.42269897460938 } }, "velocity": { "x": -10.97121524810791, "y": 4.797695636749268, "z": 0.10498307645320892 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059454917907715, "transform": { "location": { "x": -1564.2830810546875, "y": 5736.8740234375, "z": 376.2107849121094 }, "rotation": { "roll": 5.416145722847432e-05, "pitch": 0.15473109483718872, "yaw": -90.14073944091797 } }, "velocity": { "x": -0.01979435607790947, "y": -8.05940055847168, "z": 0.022139519453048706 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719844818115234, "transform": { "location": { "x": -1521.490478515625, "y": 5789.02490234375, "z": 375.7900390625 }, "rotation": { "roll": -0.0005493196658790112, "pitch": 0.3417075276374817, "yaw": 156.41705322265625 } }, "velocity": { "x": -10.740966796875, "y": 4.688791751861572, "z": 0.04024454951286316 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.2299823760986328, "transform": { "location": { "x": -1567.1614990234375, "y": 5767.01220703125, "z": 376.16162109375 }, "rotation": { "roll": 2.0550643966998905e-05, "pitch": -0.12398841977119446, "yaw": 89.8461685180664 } }, "velocity": { "x": 0.002699079690501094, "y": 1.2299758195877075, "z": -0.0029953382909297943 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6334964632987976, "transform": { "location": { "x": -1567.1312255859375, "y": 5778.8896484375, "z": 376.1021728515625 }, "rotation": { "roll": -0.00231933849863708, "pitch": -0.08505634218454361, "yaw": 90.28314208984375 } }, "velocity": { "x": 0.0029575617518275976, "y": 0.6334890723228455, "z": -0.0007624530699104071 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7493896484375, "y": 5739.3916015625, "z": 376.6076354980469 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6666259765625, "y": 5759.3798828125, "z": 376.5735778808594 }, "rotation": { "roll": -3.335057119357998e-09, "pitch": 0.0885055884718895, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1457744836807251, "expert_target_speed": 0.0, "target_point": [ 14.486940148987816, 3.8913000186307842 ], "target_point_next": [ 33.9911594653354, 51.014389620645375 ] }, "320": { "acceleration": [ 0.11302798986434937, 4.671931266784668, -0.002387617714703083 ], "angular_velocity": [ 0.9907150268554688, -0.042968444526195526, -0.44507282972335815 ], "forward_vector": [ 0.01953309401869774, 0.9998046159744263, 0.0030311299487948418 ], "right_vector": [ -0.999809205532074, 0.019533511251211166, -0.00010807776561705396 ], "location": [ -1567.1741943359375, 5796.19287109375, 376.0512390136719 ], "rotation": [ 0.006192428059875965, 0.17367121577262878, 88.8807601928711 ], "velocity": [ 0.03287150710821152, 1.3956255912780762, -0.0023598289117217064 ], "speed": 1.396012652883148, "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": 51.330413818359375, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 8.20104014565004e-06, -7.77434524934506e-06, 0.0003470730734989047 ], "speed_kmh": 0.001250125157508429, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0003472569806035608, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 8.20104014565004e-06, "y": -7.77434524934506e-06, "z": 0.0003470730734989047 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 12.090812683105469, "transform": { "location": { "x": -1598.5806884765625, "y": 5822.65869140625, "z": 376.1889343261719 }, "rotation": { "roll": -0.0015258797211572528, "pitch": 0.26447856426239014, "yaw": 156.4197998046875 } }, "velocity": { "x": -11.080392837524414, "y": 4.838324546813965, "z": 0.05716178938746452 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.006535530090332, "transform": { "location": { "x": -1562.9796142578125, "y": 5807.125, "z": 376.01318359375 }, "rotation": { "roll": -0.3528746962547302, "pitch": 0.29212716221809387, "yaw": 156.38253784179688 } }, "velocity": { "x": -11.000563621520996, "y": 4.810475826263428, "z": 0.061853520572185516 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.999717712402344, "transform": { "location": { "x": -1564.2880859375, "y": 5734.86669921875, "z": 376.21630859375 }, "rotation": { "roll": 0.0005578697891905904, "pitch": 0.15680746734142303, "yaw": -90.14080047607422 } }, "velocity": { "x": -0.019633658230304718, "y": -7.999664306640625, "z": 0.02169167436659336 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.931920051574707, "transform": { "location": { "x": -1524.2183837890625, "y": 5790.21533203125, "z": 375.8037414550781 }, "rotation": { "roll": -0.0004272418736945838, "pitch": 0.3555523157119751, "yaw": 156.4165496826172 } }, "velocity": { "x": -10.935256958007812, "y": 4.773763656616211, "z": 0.04515726864337921 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.093477964401245, "transform": { "location": { "x": -1567.16064453125, "y": 5767.4248046875, "z": 376.1601867675781 }, "rotation": { "roll": -3.051909516216256e-05, "pitch": -0.06793306022882462, "yaw": 89.8443374633789 } }, "velocity": { "x": 0.005824648775160313, "y": 2.093461751937866, "z": -0.0058598993346095085 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.22043246030807495, "transform": { "location": { "x": -1567.1312255859375, "y": 5779.06494140625, "z": 376.1023864746094 }, "rotation": { "roll": -0.0014343253569677472, "pitch": -0.1624150574207306, "yaw": 90.24075317382812 } }, "velocity": { "x": 4.2543746531009674e-05, "y": 0.22043246030807495, "z": -4.194259599898942e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7584228515625, "y": 5737.30859375, "z": 376.6116027832031 }, "rotation": { "roll": 0.0, "pitch": 0.11467886716127396, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6754150390625, "y": 5757.2958984375, "z": 376.5768127441406 }, "rotation": { "roll": 0.0, "pitch": 0.09373068064451218, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1422247439622879, "expert_target_speed": 0.0, "target_point": [ 14.270304644408041, 3.899931981028368 ], "target_point_next": [ 33.74751177032694, 51.03419284670586 ] }, "325": { "acceleration": [ 0.16697973012924194, 6.226401329040527, -0.03251209855079651 ], "angular_velocity": [ 0.7989698648452759, -0.04360891506075859, 0.2001834362745285 ], "forward_vector": [ 0.019793391227722168, 0.9997872710227966, 0.0057937768287956715 ], "right_vector": [ -0.9998040795326233, 0.0197945274412632, -0.00013843456690665334 ], "location": [ -1567.1624755859375, 5796.6904296875, 376.0496520996094 ], "rotation": [ 0.007931849919259548, 0.3319608271121979, 88.86582946777344 ], "velocity": [ 0.06339269131422043, 2.6353163719177246, -0.006337480619549751 ], "speed": 2.6360787191223367, "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": 51.021602630615234, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 9.266547749575693e-06, 1.9520894056768157e-06, 0.00011473568883957341 ], "speed_kmh": 0.0004144530055198019, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.00011512583296280354, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 9.266547749575693e-06, "y": 1.9520894056768157e-06, "z": 0.00011473568883957341 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97405, "type": "vehicle.audi.tt", "speed_kmh": 11.863237380981445, "transform": { "location": { "x": -1601.3243408203125, "y": 5823.85546875, "z": 376.2029724121094 }, "rotation": { "roll": -0.001525879604741931, "pitch": 0.26303741335868835, "yaw": 156.41636657714844 } }, "velocity": { "x": -10.872267723083496, "y": 4.746263027191162, "z": 0.05644284188747406 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.972583770751953, "transform": { "location": { "x": -1565.724365234375, "y": 5808.32666015625, "z": 376.0201110839844 }, "rotation": { "roll": -0.0690002366900444, "pitch": 0.03597460314631462, "yaw": 156.41741943359375 } }, "velocity": { "x": -10.972518920898438, "y": 4.79022216796875, "z": 0.019048184156417847 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059171676635742, "transform": { "location": { "x": -1564.29296875, "y": 5732.8583984375, "z": 376.2218322753906 }, "rotation": { "roll": 0.0001366176293231547, "pitch": 0.15594686567783356, "yaw": -90.14421844482422 } }, "velocity": { "x": -0.020342359319329262, "y": -8.059118270874023, "z": 0.02102852798998356 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719732284545898, "transform": { "location": { "x": -1526.9407958984375, "y": 5791.40380859375, "z": 375.8178405761719 }, "rotation": { "roll": 2.996270268340595e-05, "pitch": 0.35891959071159363, "yaw": 156.4161834716797 } }, "velocity": { "x": -10.740768432617188, "y": 4.688929557800293, "z": 0.044423121958971024 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.3406408429145813, "transform": { "location": { "x": -1567.1595458984375, "y": 5767.89697265625, "z": 376.1604919433594 }, "rotation": { "roll": -9.154131839750335e-05, "pitch": -0.23693925142288208, "yaw": 89.8402099609375 } }, "velocity": { "x": 7.280717545654625e-05, "y": 0.3406331241130829, "z": -0.0022936344612389803 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.5456452369689941, "transform": { "location": { "x": -1567.1314697265625, "y": 5779.27587890625, "z": 376.1004943847656 }, "rotation": { "roll": 0.0017168711638078094, "pitch": 0.0018783019622787833, "yaw": 90.16655731201172 } }, "velocity": { "x": 0.0023570347111672163, "y": 1.545641303062439, "z": -0.0026018619537353516 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7669677734375, "y": 5735.22509765625, "z": 376.6156921386719 }, "rotation": { "roll": 0.0, "pitch": 0.11467886716127396, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.683837890625, "y": 5755.212890625, "z": 376.58013916015625 }, "rotation": { "roll": 0.0, "pitch": 0.09373068064451218, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1304924339056015, "expert_target_speed": 1.4933061411844148, "target_point": [ 13.77159480365173, 3.9055198718810775 ], "target_point_next": [ 33.23651848031287, 51.04485473186228 ] }, "330": { "acceleration": [ 0.22536888718605042, 7.001810073852539, -0.012884717434644699 ], "angular_velocity": [ 0.5223928093910217, -0.0790829136967659, -0.6928653120994568 ], "forward_vector": [ 0.022303853183984756, 0.9997040033340454, 0.009717191569507122 ], "right_vector": [ -0.999751091003418, 0.02230789326131344, -0.0003077918663620949 ], "location": [ -1567.14013671875, 5797.5927734375, 376.046630859375 ], "rotation": [ 0.017636006698012352, 0.5567628145217896, 88.72191619873047 ], "velocity": [ 0.1168593019247055, 4.470103740692139, -0.010394802317023277 ], "speed": 4.471630971915748, "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": 50.47010803222656, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 1.3390033927862532e-05, -5.074925411463482e-06, 0.0004510563740041107 ], "speed_kmh": 0.0016246210109638174, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.00045128361671231687, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 1.3390033927862532e-05, "y": -5.074925411463482e-06, "z": 0.0004510563740041107 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.0060453414917, "transform": { "location": { "x": -1501.227294921875, "y": 5780.18505859375, "z": 375.84906005859375 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.997037887573242, "y": 4.797889709472656, "z": -0.43649694323539734 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.006309509277344, "transform": { "location": { "x": -1568.474853515625, "y": 5809.52685546875, "z": 376.0289611816406 }, "rotation": { "roll": 0.015483164228498936, "pitch": 0.319031298160553, "yaw": 156.4589385986328 } }, "velocity": { "x": -11.006444931030273, "y": 4.7963433265686035, "z": 0.06863876432180405 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.999971866607666, "transform": { "location": { "x": -1564.2977294921875, "y": 5730.85107421875, "z": 376.2273254394531 }, "rotation": { "roll": 0.00013452321582008153, "pitch": 0.15679381787776947, "yaw": -90.144775390625 } }, "velocity": { "x": -0.02021721377968788, "y": -7.999917507171631, "z": 0.0214548297226429 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.932204246520996, "transform": { "location": { "x": -1529.668701171875, "y": 5792.5947265625, "z": 375.8323059082031 }, "rotation": { "roll": 6.570185360033065e-05, "pitch": 0.3618360757827759, "yaw": 156.42222595214844 } }, "velocity": { "x": -10.93643856048584, "y": 4.771749496459961, "z": 0.04701320454478264 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.0586936473846436, "transform": { "location": { "x": -1567.1590576171875, "y": 5768.029296875, "z": 376.1593322753906 }, "rotation": { "roll": 0.00011371903383405879, "pitch": -0.1505783349275589, "yaw": 89.83963012695312 } }, "velocity": { "x": 0.0035795634612441063, "y": 1.0586838722229004, "z": -0.0028177164494991302 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6875888109207153, "transform": { "location": { "x": -1567.1312255859375, "y": 5779.51806640625, "z": 376.100341796875 }, "rotation": { "roll": 5.157328268978745e-05, "pitch": -0.04824162274599075, "yaw": 90.1721420288086 } }, "velocity": { "x": 0.003479541279375553, "y": 1.687582015991211, "z": -0.003319005947560072 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7757568359375, "y": 5733.1416015625, "z": 376.6197509765625 }, "rotation": { "roll": 0.0, "pitch": 0.11467886716127396, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.6927490234375, "y": 5753.12939453125, "z": 376.58349609375 }, "rotation": { "roll": 0.0, "pitch": 0.09373068064451218, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.1013956293463707, "expert_target_speed": 5.192026055583302, "target_point": [ 12.85912326300191, 3.9423103746429082 ], "target_point_next": [ 32.20557267291349, 51.130391920827996 ] }, "335": { "acceleration": [ 0.004692971706390381, -0.07920265197753906, -0.04067497327923775 ], "angular_velocity": [ -1.8283634185791016, 0.1287272721529007, -1.018844485282898 ], "forward_vector": [ 0.02586698904633522, 0.999622106552124, 0.009304746985435486 ], "right_vector": [ -0.9996652007102966, 0.025871815159916878, -0.0003986484371125698 ], "location": [ -1567.1044921875, 5798.91748046875, 376.04388427734375 ], "rotation": [ 0.022841861471533775, 0.533130407333374, 88.5177001953125 ], "velocity": [ 0.16108731925487518, 5.71502161026001, -0.014210901223123074 ], "speed": 5.717291415536175, "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": 49.68134689331055, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 8.332132892974187e-06, -8.188243555196095e-06, 0.00020347842655610293 ], "speed_kmh": 0.0007337285917209261, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0002038134989561513, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 8.332132892974187e-06, "y": -8.188243555196095e-06, "z": 0.00020347842655610293 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.0060453414917, "transform": { "location": { "x": -1503.9765625, "y": 5781.3837890625, "z": 375.7889099121094 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": -10.997037887573242, "y": 4.797889709472656, "z": -0.43649694323539734 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.97488784790039, "transform": { "location": { "x": -1571.223388671875, "y": 5810.72412109375, "z": 376.0455627441406 }, "rotation": { "roll": 0.0025475211441516876, "pitch": 0.2965872883796692, "yaw": 156.46841430664062 } }, "velocity": { "x": -10.978520393371582, "y": 4.781832695007324, "z": 0.06410171091556549 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.059371948242188, "transform": { "location": { "x": -1564.302734375, "y": 5728.8427734375, "z": 376.2328796386719 }, "rotation": { "roll": -0.0002746559912338853, "pitch": 0.15607663989067078, "yaw": -90.1446304321289 } }, "velocity": { "x": -0.02033907175064087, "y": -8.059318542480469, "z": 0.02130913734436035 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719636917114258, "transform": { "location": { "x": -1532.391357421875, "y": 5793.783203125, "z": 375.84674072265625 }, "rotation": { "roll": 0.0007373082917183638, "pitch": 0.36287426948547363, "yaw": 156.42855834960938 } }, "velocity": { "x": -10.742764472961426, "y": 4.684096813201904, "z": 0.04643687978386879 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.862555742263794, "transform": { "location": { "x": -1567.157958984375, "y": 5768.39501953125, "z": 376.1578369140625 }, "rotation": { "roll": 0.000188454010640271, "pitch": -0.07537796348333359, "yaw": 89.85970306396484 } }, "velocity": { "x": 0.004586125258356333, "y": 1.8625447750091553, "z": -0.004488458391278982 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.052443504333496, "transform": { "location": { "x": -1567.130615234375, "y": 5780.16259765625, "z": 376.0965270996094 }, "rotation": { "roll": 0.005235173273831606, "pitch": 0.22545087337493896, "yaw": 90.06571960449219 } }, "velocity": { "x": 0.007251348812133074, "y": 3.0524284839630127, "z": -0.006247310433536768 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7843017578125, "y": 5731.05859375, "z": 376.6239318847656 }, "rotation": { "roll": 0.0, "pitch": 0.11661181598901749, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.701171875, "y": 5751.0458984375, "z": 376.58697509765625 }, "rotation": { "roll": -3.3350582295810227e-09, "pitch": 0.09896260499954224, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0601830817759037, "expert_target_speed": 6.346236966407858, "target_point": [ 11.51980591478189, 3.9894824124999917 ], "target_point_next": [ 30.697960115312256, 51.246212581232164 ] }, "340": { "acceleration": [ -0.09376794099807739, 8.58205795288086, -0.008049383759498596 ], "angular_velocity": [ 1.3097728490829468, 0.31821712851524353, 2.388272523880005 ], "forward_vector": [ 0.024542177096009254, 0.9996489882469177, 0.009976458735764027 ], "right_vector": [ -0.9996987581253052, 0.024538885802030563, 0.000452182226581499 ], "location": [ -1567.0643310546875, 5800.517578125, 376.0397644042969 ], "rotation": [ -0.025909423828125, 0.5716184973716736, 88.5936279296875 ], "velocity": [ 0.16230763494968414, 7.469264984130859, -0.018067454919219017 ], "speed": 7.471028253963863, "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": 48.75729751586914, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 2.0557456082315184e-05, 1.2277867426746525e-05, 0.0005816934281028807 ], "speed_kmh": 0.0020958697877684566, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0005821860395371914, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 2.0557456082315184e-05, "y": 1.2277867426746525e-05, "z": 0.0005816934281028807 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.89962387084961, "transform": { "location": { "x": -1506.7099609375, "y": 5782.576171875, "z": 375.7575378417969 }, "rotation": { "roll": -0.00015259605424944311, "pitch": 0.17512604594230652, "yaw": 156.42605590820312 } }, "velocity": { "x": -10.906317710876465, "y": 4.758260250091553, "z": -0.11063814908266068 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007155418395996, "transform": { "location": { "x": -1573.9727783203125, "y": 5811.9208984375, "z": 376.06097412109375 }, "rotation": { "roll": 0.00030264651286415756, "pitch": 0.2857067883014679, "yaw": 156.44798278808594 } }, "velocity": { "x": -11.007277488708496, "y": 4.796660900115967, "z": 0.06061571091413498 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.4063720703125, "y": 5726.76220703125, "z": 376.2352294921875 }, "rotation": { "roll": 0.0, "pitch": 0.15832377970218658, "yaw": -90.14044952392578 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.932137489318848, "transform": { "location": { "x": -1535.11962890625, "y": 5794.97314453125, "z": 375.86151123046875 }, "rotation": { "roll": 0.0006296909996308386, "pitch": 0.3677578568458557, "yaw": 156.43991088867188 } }, "velocity": { "x": -10.937016487121582, "y": 4.770251750946045, "z": 0.04777990281581879 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.3972889184951782, "transform": { "location": { "x": -1567.156982421875, "y": 5768.916015625, "z": 376.1570739746094 }, "rotation": { "roll": 3.7299341784091666e-05, "pitch": -0.1374848634004593, "yaw": 89.8543472290039 } }, "velocity": { "x": 0.0033501898869872093, "y": 1.397277593612671, "z": -0.0045317839831113815 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.6071271896362305, "transform": { "location": { "x": -1567.12939453125, "y": 5781.0244140625, "z": 376.0960998535156 }, "rotation": { "roll": 0.002391882473602891, "pitch": 0.03941018879413605, "yaw": 89.98739624023438 } }, "velocity": { "x": 0.009706737473607063, "y": 3.607105016708374, "z": -0.008120660670101643 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.792724609375, "y": 5728.97509765625, "z": 376.62811279296875 }, "rotation": { "roll": 0.0, "pitch": 0.11661181598901749, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7100830078125, "y": 5748.962890625, "z": 376.5904541015625 }, "rotation": { "roll": -3.3350582295810227e-09, "pitch": 0.09896260499954224, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.018201394006609917, "expert_target_speed": 7.926728505384703, "target_point": [ 9.924468723422567, 3.9751262770032376 ], "target_point_next": [ 29.16508100953335, 51.206461041492425 ] }, "345": { "acceleration": [ -1.2929826974868774, 3.4938621520996094, -0.005966685712337494 ], "angular_velocity": [ -0.9547929167747498, 0.7776806950569153, 4.645073413848877 ], "forward_vector": [ 0.006908234674483538, 0.9999296069145203, 0.009648410603404045 ], "right_vector": [ -0.9999691843986511, 0.006871814839541912, 0.003802808001637459 ], "location": [ -1567.0455322265625, 5802.58251953125, 376.0348815917969 ], "rotation": [ -0.2178955078125, 0.5528218150138855, 89.60416412353516 ], "velocity": [ -0.05676189810037613, 8.791808128356934, -0.0213308148086071 ], "speed": 8.79199136026185, "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": 47.59043502807617, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 9.347274499305058e-06, -7.604081019962905e-06, 0.00029107005684636533 ], "speed_kmh": 0.001048749708792931, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0002913193602580577, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 9.347274499305058e-06, "y": -7.604081019962905e-06, "z": 0.00029107005684636533 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.072640419006348, "transform": { "location": { "x": -1509.4603271484375, "y": 5783.77587890625, "z": 375.75115966796875 }, "rotation": { "roll": 0.00035700693842954934, "pitch": 0.2287840098142624, "yaw": 156.4248809814453 } }, "velocity": { "x": -11.064942359924316, "y": 4.828418254852295, "z": -0.045304764062166214 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.975064277648926, "transform": { "location": { "x": -1576.7210693359375, "y": 5813.11962890625, "z": 376.075927734375 }, "rotation": { "roll": 6.176595343276858e-05, "pitch": 0.28602781891822815, "yaw": 156.4261932373047 } }, "velocity": { "x": -10.975960731506348, "y": 4.78819465637207, "z": 0.06035570055246353 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97398, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1564.412109375, "y": 5724.67919921875, "z": 376.2409973144531 }, "rotation": { "roll": 0.0, "pitch": 0.16088509559631348, "yaw": -90.14043426513672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719409942626953, "transform": { "location": { "x": -1537.84228515625, "y": 5796.15966796875, "z": 375.8763732910156 }, "rotation": { "roll": -9.156244050245732e-05, "pitch": 0.3687140941619873, "yaw": 156.44068908691406 } }, "velocity": { "x": -10.742490768432617, "y": 4.684148788452148, "z": 0.04683566093444824 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.8574466705322266, "transform": { "location": { "x": -1567.1568603515625, "y": 5769.02734375, "z": 376.15716552734375 }, "rotation": { "roll": 0.00014928441669326276, "pitch": -0.18395747244358063, "yaw": 89.83902740478516 } }, "velocity": { "x": 0.0021937894634902477, "y": 0.8574399948120117, "z": -0.002575397491455078 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.22403621673584, "transform": { "location": { "x": -1567.126953125, "y": 5781.9609375, "z": 376.09466552734375 }, "rotation": { "roll": 0.0010149844456464052, "pitch": -0.08063037693500519, "yaw": 89.9267807006836 } }, "velocity": { "x": 0.010973270982503891, "y": 4.224009990692139, "z": -0.010119504295289516 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.801513671875, "y": 5726.8916015625, "z": 376.63232421875 }, "rotation": { "roll": 0.0, "pitch": 0.1186540424823761, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7183837890625, "y": 5746.87939453125, "z": 376.5939636230469 }, "rotation": { "roll": 3.3350586736702326e-09, "pitch": 0.10421501845121384, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.10705699026584625, "expert_target_speed": 8.919808026488951, "target_point": [ 7.928022515922818, 3.803982477921845 ], "target_point_next": [ 27.998786562928302, 50.68857030109796 ] }, "350": { "acceleration": [ -4.769201278686523, 0.4904747009277344, 0.005984678864479065 ], "angular_velocity": [ -1.9171868562698364, 4.102077007293701, 25.714496612548828 ], "forward_vector": [ -0.05630802363157272, 0.9984081983566284, 0.003238433739170432 ], "right_vector": [ -0.9982924461364746, -0.056351397186517715, 0.015384395606815815 ], "location": [ -1567.140869140625, 5804.83837890625, 376.029052734375 ], "rotation": [ -0.8815003633499146, 0.18554890155792236, 93.22793579101562 ], "velocity": [ -0.8727925419807434, 9.164186477661133, -0.03868117183446884 ], "speed": 9.205654817484977, "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": 46.28859329223633, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 1.0790526175696868e-05, -2.9912775971752126e-06, 7.922416989458725e-05 ], "speed_kmh": 0.0002880416735616298, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.001157402759418e-05, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 1.0790526175696868e-05, "y": -2.9912775971752126e-06, "z": 7.922416989458725e-05 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.888541221618652, "transform": { "location": { "x": -1512.2054443359375, "y": 5784.97412109375, "z": 375.7527770996094 }, "rotation": { "roll": -9.155137377092615e-05, "pitch": 0.24380359053611755, "yaw": 156.42481994628906 } }, "velocity": { "x": -10.89628791809082, "y": 4.754816055297852, "z": -0.00702977180480957 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007229804992676, "transform": { "location": { "x": -1579.469970703125, "y": 5814.3193359375, "z": 376.0910339355469 }, "rotation": { "roll": -0.0001831033587222919, "pitch": 0.2855633497238159, "yaw": 156.41258239746094 } }, "velocity": { "x": -11.004024505615234, "y": 4.804313659667969, "z": 0.059827230870723724 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.932119369506836, "transform": { "location": { "x": -1540.57080078125, "y": 5797.35009765625, "z": 375.8913269042969 }, "rotation": { "roll": -0.0010070805437862873, "pitch": 0.37252533435821533, "yaw": 156.44041442871094 } }, "velocity": { "x": -10.937435150146484, "y": 4.769235610961914, "z": 0.04873035475611687 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.6640101671218872, "transform": { "location": { "x": -1567.15625, "y": 5769.3525390625, "z": 376.15545654296875 }, "rotation": { "roll": 0.0003189414564985782, "pitch": -0.08160026371479034, "yaw": 89.81043243408203 } }, "velocity": { "x": 0.004359723534435034, "y": 1.66400146484375, "z": -0.0031247995793819427 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.3347835540771484, "transform": { "location": { "x": -1567.1268310546875, "y": 5783.08984375, "z": 376.0924987792969 }, "rotation": { "roll": 0.0077600800432264805, "pitch": -0.12435724586248398, "yaw": 89.57464599609375 } }, "velocity": { "x": 0.011841471306979656, "y": 3.334752082824707, "z": -0.008413267321884632 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.8099365234375, "y": 5724.80859375, "z": 376.6365661621094 }, "rotation": { "roll": 0.0, "pitch": 0.1186540424823761, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.72705078125, "y": 5744.7958984375, "z": 376.59771728515625 }, "rotation": { "roll": 3.3350586736702326e-09, "pitch": 0.10421501845121384, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.6127369999885559, "expert_control_brake": 0.0, "expert_control_steer": 0.494566947221756, "expert_target_speed": 9.254946816559288, "target_point": [ 28.888743328303285, 48.84951345407187 ], "target_point_next": [ 29.339617817438363, 49.742045520585684 ] }, "355": { "acceleration": [ -7.514047622680664, -3.6707687377929688, -0.004385375417768955 ], "angular_velocity": [ -0.3121815025806427, 4.645037651062012, 42.943267822265625 ], "forward_vector": [ -0.20692001283168793, 0.9783565998077393, 0.00155043532140553 ], "right_vector": [ -0.9777530431747437, -0.20684756338596344, 0.03482972830533981 ], "location": [ -1567.5362548828125, 5807.09912109375, 376.0267028808594 ], "rotation": [ -1.9960023164749146, 0.08883343636989594, 101.94193267822266 ], "velocity": [ -2.4887514114379883, 8.754158020019531, 0.0006133174756541848 ], "speed": 9.10105302849109, "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": 44.79844665527344, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 8.109882401186042e-06, -4.056841135025024e-06, 0.00048786826664581895 ], "speed_kmh": 0.001756629116186189, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0004879525222349912, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 8.109882401186042e-06, "y": -4.056841135025024e-06, "z": 0.00048786826664581895 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 12.077484130859375, "transform": { "location": { "x": -1514.955322265625, "y": 5786.173828125, "z": 375.7590026855469 }, "rotation": { "roll": -0.0007934533059597015, "pitch": 0.24977999925613403, "yaw": 156.42489624023438 } }, "velocity": { "x": -11.06939697265625, "y": 4.83050537109375, "z": 0.016992492601275444 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.974979400634766, "transform": { "location": { "x": -1582.2174072265625, "y": 5815.51904296875, "z": 376.1058654785156 }, "rotation": { "roll": 0.00039864698192104697, "pitch": 0.27968940138816833, "yaw": 156.40834045410156 } }, "velocity": { "x": -10.97402286529541, "y": 4.792435646057129, "z": 0.05924741551280022 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.71967887878418, "transform": { "location": { "x": -1543.29345703125, "y": 5798.53759765625, "z": 375.9064636230469 }, "rotation": { "roll": -0.0014648399082943797, "pitch": 0.37428751587867737, "yaw": 156.4325714111328 } }, "velocity": { "x": -10.741021156311035, "y": 4.6881866455078125, "z": 0.04731464385986328 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.1344239711761475, "transform": { "location": { "x": -1567.1546630859375, "y": 5769.8642578125, "z": 376.154296875 }, "rotation": { "roll": 0.000477023160783574, "pitch": -0.08435282856225967, "yaw": 89.8038330078125 } }, "velocity": { "x": 0.0059078228659927845, "y": 2.134409189224243, "z": -0.005303764250129461 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.767560958862305, "transform": { "location": { "x": -1567.1239013671875, "y": 5784.0791015625, "z": 376.08984375 }, "rotation": { "roll": 0.0028310061898082495, "pitch": -0.1197810173034668, "yaw": 89.50631713867188 } }, "velocity": { "x": 0.019605737179517746, "y": 4.767508029937744, "z": -0.010806722566485405 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.81884765625, "y": 5722.72509765625, "z": 376.64093017578125 }, "rotation": { "roll": 0.0, "pitch": 0.1186540424823761, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7357177734375, "y": 5742.712890625, "z": 376.6014709472656 }, "rotation": { "roll": 3.3350586736702326e-09, "pitch": 0.10421501845121384, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 1.0009515285491943, "expert_target_speed": 9.235819830660793, "target_point": [ 33.66246276881472, 43.989892490391895 ], "target_point_next": [ 34.243353421044915, 44.80381346005654 ] }, "360": { "acceleration": [ -6.812295913696289, -9.419889450073242, 0.11057067662477493 ], "angular_velocity": [ -2.4696459770202637, 2.6166625022888184, 67.37126922607422 ], "forward_vector": [ -0.44050365686416626, 0.8977504968643188, 0.0007752178935334086 ], "right_vector": [ -0.896388590335846, -0.43988263607025146, 0.054687343537807465 ], "location": [ -1568.3736572265625, 5809.0830078125, 376.0311279296875 ], "rotation": [ -3.134918689727783, 0.04441671818494797, 116.13602447509766 ], "velocity": [ -4.406463623046875, 6.894957065582275, 0.03484529256820679 ], "speed": 8.182747374657142, "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": 43.11365509033203, "front_vehicle_info": { "id": 97409, "type": "vehicle.dodge.charger_2020", "location": [ -1606.541259765625, 5829.13232421875, 376.24658203125 ], "velocity": [ 8.378401616937481e-06, -1.6324129319400527e-05, 0.00017101956473197788 ], "speed_kmh": 0.0006192038337035477, "color": "0,0,0" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.00017200106231030077, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 8.378401616937481e-06, "y": -1.6324129319400527e-05, "z": 0.00017101956473197788 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.826919555664062, "transform": { "location": { "x": -1517.697509765625, "y": 5787.37060546875, "z": 375.76812744140625 }, "rotation": { "roll": 8.196296403184533e-05, "pitch": 0.23687778413295746, "yaw": 156.4249725341797 } }, "velocity": { "x": -10.839788436889648, "y": 4.730125427246094, "z": 0.03030422143638134 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007294654846191, "transform": { "location": { "x": -1584.9656982421875, "y": 5816.71923828125, "z": 376.1204528808594 }, "rotation": { "roll": 0.0006599282496608794, "pitch": 0.2810690999031067, "yaw": 156.4070281982422 } }, "velocity": { "x": -11.00351333618164, "y": 4.8056440353393555, "z": 0.059987228363752365 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.931844711303711, "transform": { "location": { "x": -1546.021728515625, "y": 5799.7275390625, "z": 375.9217224121094 }, "rotation": { "roll": -0.001586912665516138, "pitch": 0.3773406147956848, "yaw": 156.42886352539062 } }, "velocity": { "x": -10.936214447021484, "y": 4.771326065063477, "z": 0.050905101001262665 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.681225597858429, "transform": { "location": { "x": -1567.1529541015625, "y": 5770.025390625, "z": 376.1551208496094 }, "rotation": { "roll": -0.00045775985927321017, "pitch": -0.23339438438415527, "yaw": 89.93050384521484 } }, "velocity": { "x": 0.0016636030049994588, "y": 0.6812201738357544, "z": -0.0021512508392333984 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.936779022216797, "transform": { "location": { "x": -1567.118896484375, "y": 5785.12109375, "z": 376.0896301269531 }, "rotation": { "roll": 0.0028390903025865555, "pitch": -0.3918411135673523, "yaw": 89.62600708007812 } }, "velocity": { "x": 0.010589205659925938, "y": 2.936751127243042, "z": -0.00716615654528141 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.8272705078125, "y": 5720.6416015625, "z": 376.645263671875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.744140625, "y": 5740.62939453125, "z": 376.6053466796875 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.9996346831321716, "expert_target_speed": 8.634421981733427, "target_point": [ 41.27152573887943, 34.51472636185949 ], "target_point_next": [ 42.034262065169315, 35.16135963603123 ] }, "365": { "acceleration": [ -2.6123046875, -9.916019439697266, -0.007510930299758911 ], "angular_velocity": [ -0.11823155730962753, -0.9926342368125916, 63.556148529052734 ], "forward_vector": [ -0.6829276084899902, 0.7304782271385193, -0.003389590186998248 ], "right_vector": [ -0.7292672395706177, -0.6815128922462463, 0.06090519577264786 ], "location": [ -1569.58642578125, 5810.498046875, 376.0418395996094 ], "rotation": [ -3.4917919635772705, -0.19420959055423737, 133.07315063476562 ], "velocity": [ -5.502846717834473, 4.362669467926025, 0.03767566755414009 ], "speed": 7.022407485069175, "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": 19.587068557739258, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1587.7132568359375, 5817.91845703125, 376.1352233886719 ], "velocity": [ -10.974384307861328, 4.7917890548706055, 0.05916953086853027 ], "speed_kmh": 43.11018478202645, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0005456957151181996, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 1.2262687050679233e-05, "y": -1.0302793270966504e-05, "z": 0.0005454606143757701 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.889887809753418, "transform": { "location": { "x": -1520.425537109375, "y": 5788.56103515625, "z": 375.77734375 }, "rotation": { "roll": -0.00024414321524091065, "pitch": 0.1322597712278366, "yaw": 156.42514038085938 } }, "velocity": { "x": -10.897457122802734, "y": 4.755365371704102, "z": 0.03694077581167221 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.975050926208496, "transform": { "location": { "x": -1587.7132568359375, "y": 5817.91845703125, "z": 376.1352233886719 }, "rotation": { "roll": -0.0006713909097015858, "pitch": 0.2805158495903015, "yaw": 156.41551208496094 } }, "velocity": { "x": -10.974384307861328, "y": 4.7917890548706055, "z": 0.05916953086853027 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719489097595215, "transform": { "location": { "x": -1548.744384765625, "y": 5800.91552734375, "z": 375.93701171875 }, "rotation": { "roll": -0.0014648408396169543, "pitch": 0.37978580594062805, "yaw": 156.4284210205078 } }, "velocity": { "x": -10.741524696350098, "y": 4.686539173126221, "z": 0.049330100417137146 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97395, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.5230953693389893, "transform": { "location": { "x": -1567.1524658203125, "y": 5770.31103515625, "z": 376.153076171875 }, "rotation": { "roll": -0.0005493139033205807, "pitch": -0.08584864437580109, "yaw": 89.89503479003906 } }, "velocity": { "x": 0.0037197270430624485, "y": 1.5230892896652222, "z": -0.002154187997803092 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 97394, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.809268951416016, "transform": { "location": { "x": -1567.114990234375, "y": 5786.09423828125, "z": 376.08416748046875 }, "rotation": { "roll": -0.00244140625, "pitch": -0.01589384861290455, "yaw": 89.70218658447266 } }, "velocity": { "x": 0.01580073870718479, "y": 4.809230804443359, "z": -0.010849694721400738 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.6496276855469 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 1.001701831817627, "expert_target_speed": 7.763443582660875, "target_point": [ 47.67437127740821, 21.074827773919765 ], "target_point_next": [ 48.59240237270212, 21.4712116822482 ] }, "370": { "acceleration": [ 4.372520446777344, -7.6691436767578125, -0.036580488085746765 ], "angular_velocity": [ 3.119828224182129, -3.4144110679626465, 44.094947814941406 ], "forward_vector": [ -0.845390260219574, 0.5341156721115112, -0.005977713968604803 ], "right_vector": [ -0.5337436199188232, -0.8442595601081848, 0.04841085150837898 ], "location": [ -1570.93994140625, 5811.37255859375, 376.0509338378906 ], "rotation": [ -2.774871826171875, -0.34249982237815857, 147.71539306640625 ], "velocity": [ -5.171839714050293, 2.2919740676879883, 0.0316922664642334 ], "speed": 5.656948926301354, "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": 21.002723693847656, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1590.4617919921875, 5819.11865234375, 376.1498718261719 ], "velocity": [ -11.005239486694336, 4.80161714553833, 0.05858616530895233 ], "speed_kmh": 43.22613045380351, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.00032377964816987514, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 4.600509782903828e-06, "y": -1.4620590263803024e-05, "z": 0.00032341666519641876 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.676833152770996, "transform": { "location": { "x": -1523.1422119140625, "y": 5789.74609375, "z": 375.7857360839844 }, "rotation": { "roll": -0.0012207027757540345, "pitch": 0.06969524919986725, "yaw": 156.4313507080078 } }, "velocity": { "x": -10.702651023864746, "y": 4.669003009796143, "z": 0.04581328108906746 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007258415222168, "transform": { "location": { "x": -1590.4617919921875, "y": 5819.11865234375, "z": 376.1498718261719 }, "rotation": { "roll": -0.0007324262987822294, "pitch": 0.2777154743671417, "yaw": 156.42605590820312 } }, "velocity": { "x": -11.005239486694336, "y": 4.80161714553833, "z": 0.05858616530895233 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.931880950927734, "transform": { "location": { "x": -1551.4727783203125, "y": 5802.10546875, "z": 375.95245361328125 }, "rotation": { "roll": 7.00843520462513e-05, "pitch": 0.3803390562534332, "yaw": 156.4237518310547 } }, "velocity": { "x": -10.93582820892334, "y": 4.772293567657471, "z": 0.051594819873571396 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.4899999797344208, "transform": { "location": { "x": -1617.3563232421875, "y": 5833.85107421875, "z": 376.68267822265625 }, "rotation": { "roll": 0.0, "pitch": -0.2351975440979004, "yaw": -23.571086883544922 } }, "velocity": { "x": 0.0, "y": 0.0, "z": -0.4899999797344208 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.9158741235733032, "expert_target_speed": 6.59642438517092, "target_point": [ 49.84204501369775, 8.35545524085098 ], "target_point_next": [ 50.830460403566356, 8.50690263032713 ] }, "375": { "acceleration": [ 4.605712890625, -1.817007064819336, -0.00010814517736434937 ], "angular_velocity": [ 4.601794242858887, -1.947891354560852, 16.611160278320312 ], "forward_vector": [ -0.907162606716156, 0.4207349121570587, -0.006173690315335989 ], "right_vector": [ -0.4207521677017212, -0.9068351984024048, 0.024848520755767822 ], "location": [ -1572.0970458984375, 5811.859375, 376.0573425292969 ], "rotation": [ -1.4238890409469604, -0.35372865200042725, 155.11849975585938 ], "velocity": [ -4.202137470245361, 1.4582107067108154, 0.023452958092093468 ], "speed": 4.447958833443284, "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": 22.74432945251465, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1593.2099609375, 5820.3173828125, 376.1645202636719 ], "velocity": [ -10.976725578308105, 4.786435604095459, 0.05861557647585869 ], "speed_kmh": 43.11019255063429, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.9315945438575e-05, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 8.835419976094272e-06, "y": -5.576908279181225e-06, "z": 6.852396472822875e-05 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.895866394042969, "transform": { "location": { "x": -1525.8648681640625, "y": 5790.93408203125, "z": 375.7953186035156 }, "rotation": { "roll": -0.0002441410324536264, "pitch": 0.05919041484594345, "yaw": 156.43231201171875 } }, "velocity": { "x": -10.903495788574219, "y": 4.756226062774658, "z": 0.06107228994369507 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.975052833557129, "transform": { "location": { "x": -1593.2099609375, "y": 5820.3173828125, "z": 376.1645202636719 }, "rotation": { "roll": -0.00024413876235485077, "pitch": 0.2776539921760559, "yaw": 156.44219970703125 } }, "velocity": { "x": -10.976725578308105, "y": 4.786435604095459, "z": 0.05861557647585869 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.719405174255371, "transform": { "location": { "x": -1554.1953125, "y": 5803.29345703125, "z": 375.96795654296875 }, "rotation": { "roll": 0.00013545952970162034, "pitch": 0.38134992122650146, "yaw": 156.4232635498047 } }, "velocity": { "x": -10.74103832244873, "y": 4.687429904937744, "z": 0.05046084150671959 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.175290584564209, "transform": { "location": { "x": -1617.3565673828125, "y": 5833.85107421875, "z": 376.29302978515625 }, "rotation": { "roll": -0.001464841072447598, "pitch": -0.23596252501010895, "yaw": -23.571022033691406 } }, "velocity": { "x": -0.004444125108420849, "y": 0.0016447898233309388, "z": -1.175281047821045 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.647063136100769, "expert_target_speed": 5.5087152253056155, "target_point": [ 49.248637359773575, 1.8185254288527908 ], "target_point_next": [ 50.248327372231856, 1.84135465791163 ] }, "380": { "acceleration": [ 2.4425649642944336, -0.27069091796875, -0.012378878891468048 ], "angular_velocity": [ 2.4918806552886963, -0.18867065012454987, -0.6587638258934021 ], "forward_vector": [ -0.9167417287826538, 0.39946702122688293, -0.003250116016715765 ], "right_vector": [ -0.39947882294654846, -0.9167298674583435, 0.004793111234903336 ], "location": [ -1573.0247802734375, 5812.2373046875, 376.0617980957031 ], "rotation": [ -0.27462756633758545, -0.18621826171875, 156.4550018310547 ], "velocity": [ -3.3773152828216553, 1.4529621601104736, 0.02004260942339897 ], "speed": 3.6765959199092864, "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": 24.740407943725586, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1595.958984375, 5821.51611328125, 376.1791687011719 ], "velocity": [ -11.006495475769043, 4.798934459686279, 0.05828021839261055 ], "speed_kmh": 43.22640860662459, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0004555247141979635, "transform": { "location": { "x": -1606.541259765625, "y": 5829.13232421875, "z": 376.24658203125 }, "rotation": { "roll": -0.00039672182174399495, "pitch": -0.2542674243450165, "yaw": -23.571149826049805 } }, "velocity": { "x": 3.865957296511624e-06, "y": -6.972122719162144e-06, "z": 0.0004554549523163587 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.672935485839844, "transform": { "location": { "x": -1528.5816650390625, "y": 5792.119140625, "z": 375.8064880371094 }, "rotation": { "roll": 0.00035271202796138823, "pitch": 0.0571960024535656, "yaw": 156.42758178710938 } }, "velocity": { "x": -10.698697090148926, "y": 4.668037414550781, "z": 0.0687587708234787 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007335662841797, "transform": { "location": { "x": -1595.958984375, "y": 5821.51611328125, "z": 376.1791687011719 }, "rotation": { "roll": 5.454543497762643e-05, "pitch": 0.2776813209056854, "yaw": 156.44683837890625 } }, "velocity": { "x": -11.006495475769043, "y": 4.798934459686279, "z": 0.05828021839261055 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.084548950195312, "transform": { "location": { "x": -1556.9283447265625, "y": 5804.486328125, "z": 375.98358154296875 }, "rotation": { "roll": -0.005767819471657276, "pitch": 0.3668016195297241, "yaw": 156.4229278564453 } }, "velocity": { "x": -11.075648307800293, "y": 4.833592891693115, "z": 0.05231807753443718 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.14885210990905762, "transform": { "location": { "x": -1617.356689453125, "y": 5833.85107421875, "z": 376.2698059082031 }, "rotation": { "roll": -0.0021972651593387127, "pitch": -0.23635868728160858, "yaw": -23.57102394104004 } }, "velocity": { "x": 0.0006360277184285223, "y": -0.00017859727086033672, "z": 0.14885064959526062 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1502.326171875, "y": 5780.66357421875, "z": 375.81353759765625 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.6812762022018433, "expert_target_speed": 4.7885017727615855, "target_point": [ 48.276186543889985, 0.645206064486473 ], "target_point_next": [ 49.27613706798589, 0.6447120315311103 ] }, "385": { "acceleration": [ -2.9639148712158203, 1.192178726196289, 0.006234347820281982 ], "angular_velocity": [ 0.8986208438873291, 1.585455060005188, 0.3236837089061737 ], "forward_vector": [ -0.9162346720695496, 0.4006379246711731, 0.0017895688069984317 ], "right_vector": [ -0.4006360173225403, -0.9162362813949585, 0.0013491542777046561 ], "location": [ -1573.848388671875, 5812.59716796875, 376.0654296875 ], "rotation": [ -0.07730100303888321, 0.10253479331731796, 156.38189697265625 ], "velocity": [ -3.4490206241607666, 1.4986822605133057, 0.017990846186876297 ], "speed": 3.7605573767546208, "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": 26.83900260925293, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1598.7071533203125, 5822.71435546875, 376.19366455078125 ], "velocity": [ -10.977224349975586, 4.785435676574707, 0.056620385497808456 ], "speed_kmh": 43.11036524624337, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.2778704166412354, "transform": { "location": { "x": -1606.4322509765625, "y": 5829.0869140625, "z": 376.2462158203125 }, "rotation": { "roll": -0.00897216796875, "pitch": -0.04571445286273956, "yaw": -23.532604217529297 } }, "velocity": { "x": 1.1778417825698853, "y": -0.4955896735191345, "z": -0.005686111282557249 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.898283004760742, "transform": { "location": { "x": -1531.304443359375, "y": 5793.30712890625, "z": 375.81890869140625 }, "rotation": { "roll": 0.00025436963187530637, "pitch": 0.05990075692534447, "yaw": 156.42384338378906 } }, "velocity": { "x": -10.905170440673828, "y": 4.758213996887207, "z": 0.07619275897741318 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.975101470947266, "transform": { "location": { "x": -1598.7071533203125, "y": 5822.71435546875, "z": 376.19366455078125 }, "rotation": { "roll": 0.0002385323023190722, "pitch": 0.26928019523620605, "yaw": 156.4455108642578 } }, "velocity": { "x": -10.977224349975586, "y": 4.785435676574707, "z": 0.056620385497808456 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.861018180847168, "transform": { "location": { "x": -1559.6724853515625, "y": 5805.68359375, "z": 375.9994812011719 }, "rotation": { "roll": -0.0260314978659153, "pitch": 0.3670884966850281, "yaw": 156.42367553710938 } }, "velocity": { "x": -10.870027542114258, "y": 4.7450175285339355, "z": 0.10514692217111588 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.527420163154602, "transform": { "location": { "x": -1617.1849365234375, "y": 5833.77880859375, "z": 376.2912902832031 }, "rotation": { "roll": -0.00900268368422985, "pitch": -0.0012840754352509975, "yaw": -23.51694679260254 } }, "velocity": { "x": 1.4056578874588013, "y": -0.5966168642044067, "z": 0.03444717451930046 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1505.0733642578125, "y": 5781.8623046875, "z": 375.71588134765625 }, "rotation": { "roll": 0.0, "pitch": 0.2554968595504761, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.7071043848991394, "expert_target_speed": 4.877656608570643, "target_point": [ 47.376529026060496, 0.7065570961217311 ], "target_point_next": [ 48.37647936648198, 0.707339016325605 ] }, "390": { "acceleration": [ -6.267423629760742, 2.49617338180542, 0.11953867971897125 ], "angular_velocity": [ 0.7522737979888916, 1.8052022457122803, 1.47458815574646 ], "forward_vector": [ -0.9177809357643127, 0.396937757730484, 0.010888241231441498 ], "right_vector": [ -0.3969492018222809, -0.9178398251533508, 0.0011813079472631216 ], "location": [ -1574.8817138671875, 5813.04150390625, 376.0691833496094 ], "rotation": [ -0.06768798828125, 0.623862624168396, 156.6116485595703 ], "velocity": [ -4.825122833251953, 2.0481221675872803, 0.029954537749290466 ], "speed": 5.241814072373397, "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": 28.71258544921875, "front_vehicle_info": { "id": 97410, "type": "vehicle.chevrolet.impala", "location": [ -1601.4561767578125, 5823.9130859375, 376.207763671875 ], "velocity": [ -11.00625991821289, 4.799692153930664, 0.05674675852060318 ], "speed_kmh": 43.22669510513822, "color": "0,12,49" }, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.6290974617004395, "transform": { "location": { "x": -1605.9837646484375, "y": 5828.89599609375, "z": 376.2439880371094 }, "rotation": { "roll": -0.002593994839116931, "pitch": 0.021842943504452705, "yaw": -23.41193962097168 } }, "velocity": { "x": 2.417644500732422, "y": -1.0329755544662476, "z": -0.010491056367754936 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.671464920043945, "transform": { "location": { "x": -1534.021240234375, "y": 5794.4931640625, "z": 375.8320617675781 }, "rotation": { "roll": -0.0013122549280524254, "pitch": 0.060590606182813644, "yaw": 156.42762756347656 } }, "velocity": { "x": -10.697280883789062, "y": 4.667414665222168, "z": 0.08073892444372177 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97410, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.007415771484375, "transform": { "location": { "x": -1601.4561767578125, "y": 5823.9130859375, "z": 376.207763671875 }, "rotation": { "roll": -0.0007629351457580924, "pitch": 0.2693006694316864, "yaw": 156.44190979003906 } }, "velocity": { "x": -11.00625991821289, "y": 4.799692153930664, "z": 0.05674675852060318 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.088306427001953, "transform": { "location": { "x": -1562.4232177734375, "y": 5806.88232421875, "z": 376.02239990234375 }, "rotation": { "roll": -0.386962890625, "pitch": 0.5212595462799072, "yaw": 156.4071807861328 } }, "velocity": { "x": -11.078316688537598, "y": 4.8364152908325195, "z": 0.08449418842792511 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.9454593658447266, "transform": { "location": { "x": -1616.6602783203125, "y": 5833.55615234375, "z": 376.29345703125 }, "rotation": { "roll": -0.01177978515625, "pitch": 0.045434415340423584, "yaw": -23.316051483154297 } }, "velocity": { "x": 2.712815761566162, "y": -1.1473149061203003, "z": -0.005397443659603596 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1507.8228759765625, "y": 5783.0625, "z": 375.7176513671875 }, "rotation": { "roll": 0.0, "pitch": 0.25982722640037537, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.6725702881813049, "expert_target_speed": 6.269106233644862, "target_point": [ 46.25417469951702, 0.5142218871995858 ], "target_point_next": [ 47.254120136682104, 0.5109942873196154 ] }, "395": { "acceleration": [ -10.398788452148438, 4.176549911499023, 0.03403604030609131 ], "angular_velocity": [ 0.6341254115104675, 1.697895884513855, 1.7848626375198364 ], "forward_vector": [ -0.9205682277679443, 0.3904244601726532, 0.011084328405559063 ], "right_vector": [ -0.39043715596199036, -0.9206289649009705, 0.001084372284822166 ], "location": [ -1576.1580810546875, 5813.58056640625, 376.0762023925781 ], "rotation": [ -0.0621337816119194, 0.6350982785224915, 157.01759338378906 ], "velocity": [ -5.590704917907715, 2.329671621322632, 0.030378064140677452 ], "speed": 6.056678243254592, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.2568535804748535, "transform": { "location": { "x": -1605.1815185546875, "y": 5828.5537109375, "z": 376.2400207519531 }, "rotation": { "roll": -0.006134032271802425, "pitch": 0.06539905816316605, "yaw": -23.26776885986328 } }, "velocity": { "x": 3.915633201599121, "y": -1.669806957244873, "z": -0.01905825547873974 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.899190902709961, "transform": { "location": { "x": -1536.744140625, "y": 5795.6806640625, "z": 375.84600830078125 }, "rotation": { "roll": -0.0017395014874637127, "pitch": 0.06591132283210754, "yaw": 156.43275451660156 } }, "velocity": { "x": -10.906423568725586, "y": 4.757477760314941, "z": 0.08418847620487213 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.866472244262695, "transform": { "location": { "x": -1565.1640625, "y": 5808.0810546875, "z": 376.0342102050781 }, "rotation": { "roll": -0.1315917670726776, "pitch": -0.0009767169831320643, "yaw": 156.42320251464844 } }, "velocity": { "x": -10.875581741333008, "y": 4.747087478637695, "z": 0.007224464323371649 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.254814624786377, "transform": { "location": { "x": -1615.792724609375, "y": 5833.18994140625, "z": 376.2903137207031 }, "rotation": { "roll": -0.011657713912427425, "pitch": 0.04957351088523865, "yaw": -23.091712951660156 } }, "velocity": { "x": 3.9210927486419678, "y": -1.6517287492752075, "z": -0.016470441594719887 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1510.5721435546875, "y": 5784.26171875, "z": 375.7242431640625 }, "rotation": { "roll": 6.670176855294585e-09, "pitch": 0.2642873227596283, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.6123557686805725, "expert_target_speed": 10.0, "target_point": [ 44.871125774503795, 0.18438313502512216 ], "target_point_next": [ 45.87102323892524, 0.17407026191309782 ] }, "400": { "acceleration": [ -8.238916397094727, 3.074460029602051, 0.04754163324832916 ], "angular_velocity": [ 0.35127896070480347, 1.0429819822311401, 1.9316606521606445 ], "forward_vector": [ -0.9238815903663635, 0.3822813332080841, 0.01743013598024845 ], "right_vector": [ -0.38231661915779114, -0.9240303635597229, 0.0013936858158558607 ], "location": [ -1577.79931640625, 5814.2578125, 376.0837097167969 ], "rotation": [ -0.07986447215080261, 0.9987238645553589, 157.52133178710938 ], "velocity": [ -7.482978820800781, 3.0498878955841064, 0.03982274979352951 ], "speed": 8.080642809095295, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.389228820800781, "transform": { "location": { "x": -1604.0396728515625, "y": 5828.0673828125, "z": 376.2347106933594 }, "rotation": { "roll": -0.006530761253088713, "pitch": 0.00018441509746480733, "yaw": -23.14054298400879 } }, "velocity": { "x": 4.958846092224121, "y": -2.110227346420288, "z": -0.023905782029032707 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.670726776123047, "transform": { "location": { "x": -1539.4609375, "y": 5796.8662109375, "z": 375.86029052734375 }, "rotation": { "roll": -0.0007629406172782183, "pitch": 0.06543321162462234, "yaw": 156.4281768798828 } }, "velocity": { "x": -10.696625709533691, "y": 4.6669745445251465, "z": 0.08615648001432419 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.09471607208252, "transform": { "location": { "x": -1567.9154052734375, "y": 5809.28173828125, "z": 376.0390625 }, "rotation": { "roll": 0.024213707074522972, "pitch": 0.3095714747905731, "yaw": 156.4383087158203 } }, "velocity": { "x": -11.086141586303711, "y": 4.8348822593688965, "z": 0.059387873858213425 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.0506811141967773, "transform": { "location": { "x": -1614.9453125, "y": 5832.8310546875, "z": 376.2865295410156 }, "rotation": { "roll": 0.00388263794593513, "pitch": -0.342288076877594, "yaw": -23.047100067138672 } }, "velocity": { "x": 2.805840492248535, "y": -1.197393536567688, "z": -0.012790441513061523 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": -1513.3216552734375, "y": 5785.4609375, "z": 375.7379455566406 }, "rotation": { "roll": 6.670176855294585e-09, "pitch": 0.2642873227596283, "yaw": 156.42889404296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.39825159311294556, "expert_target_speed": 10.0, "target_point": [ 43.09553725213341, -0.21184039999899262 ], "target_point_next": [ 44.09530540298345, -0.2309437833155723 ] }, "405": { "acceleration": [ -8.445587158203125, 3.0033016204833984, 0.03896936774253845 ], "angular_velocity": [ -0.16270701587200165, 0.01031214464455843, 2.2834935188293457 ], "forward_vector": [ -0.9275435209274292, 0.37337571382522583, 0.015924734994769096 ], "right_vector": [ -0.3733985126018524, -0.9276696443557739, 0.0016301791183650494 ], "location": [ -1579.8482666015625, 5815.0859375, 376.0949401855469 ], "rotation": [ -0.09341426938772202, 0.912458598613739, 158.0731201171875 ], "velocity": [ -8.677948951721191, 3.4572277069091797, 0.045795075595378876 ], "speed": 9.341264444715149, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.620647430419922, "transform": { "location": { "x": -1602.7725830078125, "y": 5827.52880859375, "z": 376.2281799316406 }, "rotation": { "roll": -0.005310057662427425, "pitch": -0.1673874408006668, "yaw": -23.055126190185547 } }, "velocity": { "x": 5.1732659339904785, "y": -2.19734787940979, "z": -0.0256365817040205 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97414, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.899582862854004, "transform": { "location": { "x": -1542.183837890625, "y": 5798.0537109375, "z": 375.8750305175781 }, "rotation": { "roll": -0.0003662107919808477, "pitch": 0.07145743817090988, "yaw": 156.43069458007812 } }, "velocity": { "x": -10.90607738494873, "y": 4.759170055389404, "z": 0.08852149546146393 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97412, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.866342544555664, "transform": { "location": { "x": -1570.659912109375, "y": 5810.478515625, "z": 376.0548400878906 }, "rotation": { "roll": 0.006069031078368425, "pitch": 0.3083078861236572, "yaw": 156.4457550048828 } }, "velocity": { "x": -10.878267288208008, "y": 4.7402448654174805, "z": 0.05884494632482529 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.005161653738468885, "transform": { "location": { "x": -1614.524169921875, "y": 5832.65087890625, "z": 376.28448486328125 }, "rotation": { "roll": -0.001464838976971805, "pitch": -0.7837778329849243, "yaw": -23.051345825195312 } }, "velocity": { "x": 0.004581050015985966, "y": -0.0023578170221298933, "z": -0.00031200802186504006 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97417, "type": "vehicle.dodge.charger_2020", "speed_kmh": 11.701749801635742, "transform": { "location": { "x": -1516.0587158203125, "y": 5786.65478515625, "z": 375.7518310546875 }, "rotation": { "roll": -6.103526538936421e-05, "pitch": 0.22187867760658264, "yaw": 156.428955078125 } }, "velocity": { "x": -10.725285530090332, "y": 4.679323673248291, "z": 0.05595932900905609 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.30832552909851074, "expert_target_speed": 10.0, "target_point": [ 40.88152639980479, -0.6237484881090953 ], "target_point_next": [ 41.881064224736285, -0.6524788072765428 ] }, "410": { "acceleration": [ -6.0660552978515625, 1.7775154113769531, 0.026988983154296875 ], "angular_velocity": [ -0.1839926838874817, 0.05027158185839653, 2.89471173286438 ], "forward_vector": [ -0.9316495060920715, 0.3628782331943512, 0.018670428544282913 ], "right_vector": [ -0.36289945244789124, -0.9318252801895142, 0.0023564842995256186 ], "location": [ -1582.285888671875, 5816.04296875, 376.1072998046875 ], "rotation": [ -0.1350402534008026, 1.0697988271713257, 158.71905517578125 ], "velocity": [ -10.558469772338867, 4.073319435119629, 0.05513598397374153 ], "speed": 11.316943719658452, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.946300029754639, "transform": { "location": { "x": -1601.203857421875, "y": 5826.86181640625, "z": 376.22021484375 }, "rotation": { "roll": 0.008054830133914948, "pitch": 0.10963135957717896, "yaw": -23.044198989868164 } }, "velocity": { "x": 7.306765556335449, "y": -3.1230533123016357, "z": -0.03734733164310455 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.9179166555404663, "transform": { "location": { "x": -1614.4288330078125, "y": 5832.6103515625, "z": 376.2840576171875 }, "rotation": { "roll": -0.004089353606104851, "pitch": -0.2877216935157776, "yaw": -23.087169647216797 } }, "velocity": { "x": 0.8451089262962341, "y": -0.35827022790908813, "z": -0.002087183063849807 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.16502757370471954, "expert_target_speed": 10.0, "target_point": [ 38.253145343237485, -1.0775134286706383 ], "target_point_next": [ 39.25229577255319, -1.1175098573424496 ] }, "415": { "acceleration": [ -5.413169860839844, 1.1957454681396484, 0.004838928580284119 ], "angular_velocity": [ -0.3353162705898285, -0.220829039812088, 3.9713211059570312 ], "forward_vector": [ -0.9372883439064026, 0.34811824560165405, 0.01744527369737625 ], "right_vector": [ -0.3481091558933258, -0.9374468922615051, 0.0036538252606987953 ], "location": [ -1585.107421875, 5817.10791015625, 376.1223449707031 ], "rotation": [ -0.2093810886144638, 0.9995912909507751, 159.62449645996094 ], "velocity": [ -11.950465202331543, 4.402163982391357, 0.0614766962826252 ], "speed": 12.73548845863404, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.233606338500977, "transform": { "location": { "x": -1599.2906494140625, "y": 5826.041015625, "z": 376.2103576660156 }, "rotation": { "roll": 0.013088980689644814, "pitch": -0.13266275823116302, "yaw": -23.23038673400879 } }, "velocity": { "x": 7.564711570739746, "y": -3.250511646270752, "z": -0.039820365607738495 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.2065560817718506, "transform": { "location": { "x": -1614.0654296875, "y": 5832.45556640625, "z": 376.2826232910156 }, "rotation": { "roll": -9.155223233392462e-05, "pitch": -0.04126117005944252, "yaw": -23.102426528930664 } }, "velocity": { "x": 2.0289647579193115, "y": -0.8672363758087158, "z": -0.009633064270019531 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.0275023952126503, "expert_target_speed": 10.0, "target_point": [ 35.215566547775836, -1.6659482775698606 ], "target_point_next": [ 36.21396016230911, -1.7217289656926642 ] }, "420": { "acceleration": [ -2.6396942138671875, 1.2712955474853516, 0.024268031120300293 ], "angular_velocity": [ 0.3862342834472656, -1.0904465913772583, -1.483257532119751 ], "forward_vector": [ -0.9389581680297852, 0.3436542749404907, 0.016104239970445633 ], "right_vector": [ -0.34367725253105164, -0.9390867352485657, 0.0014043680857867002 ], "location": [ -1588.2572021484375, 5818.26611328125, 376.1390075683594 ], "rotation": [ -0.08047483116388321, 0.922744870185852, 159.89761352539062 ], "velocity": [ -13.091086387634277, 4.823091506958008, 0.06853975355625153 ], "speed": 13.951299383677275, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.811156749725342, "transform": { "location": { "x": -1597.4656982421875, "y": 5825.2568359375, "z": 376.2008972167969 }, "rotation": { "roll": 0.005403687711805105, "pitch": -0.307768315076828, "yaw": -23.270153045654297 } }, "velocity": { "x": 7.174540996551514, "y": -3.0884878635406494, "z": -0.03710553050041199 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.7559378147125244, "transform": { "location": { "x": -1613.374755859375, "y": 5832.16064453125, "z": 376.27935791015625 }, "rotation": { "roll": -0.0005798342172056437, "pitch": 0.04909539595246315, "yaw": -23.12982940673828 } }, "velocity": { "x": 3.454028844833374, "y": -1.4753000736236572, "z": -0.015616493299603462 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.3622381687164307, "transform": { "location": { "x": -1570.9779052734375, "y": 5810.6162109375, "z": 376.1346740722656 }, "rotation": { "roll": -0.00015258729399647564, "pitch": 0.2887052595615387, "yaw": 156.4289093017578 } }, "velocity": { "x": 0.0004442974168341607, "y": -8.070671174209565e-05, "z": -2.3622381687164307 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.08440524339675903, "expert_target_speed": 10.0, "target_point": [ 31.851257364256963, -1.8287132799601888 ], "target_point_next": [ 32.849373761820836, -1.8892521238735895 ] }, "425": { "acceleration": [ -3.9055633544921875, 2.5863170623779297, 0.025023669004440308 ], "angular_velocity": [ 0.929278552532196, -0.13956914842128754, -4.717265605926514 ], "forward_vector": [ -0.9336385726928711, 0.35796764492988586, 0.013350327499210835 ], "right_vector": [ -0.3580315411090851, -0.9337056875228882, -0.002670655259862542 ], "location": [ -1591.5865478515625, 5819.517578125, 376.1569519042969 ], "rotation": [ 0.1530310958623886, 0.7649401426315308, 159.02261352539062 ], "velocity": [ -13.790751457214355, 5.3072638511657715, 0.0712730810046196 ], "speed": 14.776734258304533, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.985891342163086, "transform": { "location": { "x": -1595.6451416015625, "y": 5824.4697265625, "z": 376.19134521484375 }, "rotation": { "roll": 0.009453863836824894, "pitch": -0.26055803894996643, "yaw": -23.386186599731445 } }, "velocity": { "x": 7.328384876251221, "y": -3.1729867458343506, "z": -0.03734583407640457 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.194179534912109, "transform": { "location": { "x": -1612.3372802734375, "y": 5831.71728515625, "z": 376.2748107910156 }, "rotation": { "roll": -0.001708984375, "pitch": 0.049792077392339706, "yaw": -23.13294219970703 } }, "velocity": { "x": 4.776500225067139, "y": -2.0406503677368164, "z": -0.01706974022090435 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.094637431204319, "transform": { "location": { "x": -1570.978515625, "y": 5810.6162109375, "z": 375.9910583496094 }, "rotation": { "roll": 0.00031922876951284707, "pitch": 0.29298093914985657, "yaw": 156.4288330078125 } }, "velocity": { "x": 0.0004509287828113884, "y": -0.0002104766754200682, "z": 0.09463611990213394 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.119407057762146, "expert_target_speed": 10.0, "target_point": [ 28.318762585680204, -1.3654952585077407 ], "target_point_next": [ 29.317687064631546, -1.410785213906811 ] }, "430": { "acceleration": [ -2.8570938110351562, 2.660198211669922, 0.0034481287002563477 ], "angular_velocity": [ 0.4924215078353882, -0.40462204813957214, -5.830177307128906 ], "forward_vector": [ -0.9246482253074646, 0.380594938993454, 0.013154841959476471 ], "right_vector": [ -0.3806978464126587, -0.9246773719787598, -0.006390394642949104 ], "location": [ -1595.1396484375, 5820.9287109375, 376.1755676269531 ], "rotation": [ 0.3661768138408661, 0.7537386417388916, 157.62742614746094 ], "velocity": [ -14.563068389892578, 5.9826531410217285, 0.07636500895023346 ], "speed": 15.74404965485264, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.390485763549805, "transform": { "location": { "x": -1593.8778076171875, "y": 5823.70361328125, "z": 376.18218994140625 }, "rotation": { "roll": 0.003628859529271722, "pitch": -0.3682496249675751, "yaw": -23.417943954467773 } }, "velocity": { "x": 6.780898094177246, "y": -2.9389333724975586, "z": -0.03703691065311432 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.794058799743652, "transform": { "location": { "x": -1611.0758056640625, "y": 5831.17822265625, "z": 376.2688293457031 }, "rotation": { "roll": -0.0018615701701492071, "pitch": -0.0786496251821518, "yaw": -23.11905860900879 } }, "velocity": { "x": 5.328055381774902, "y": -2.27647066116333, "z": -0.024988370016217232 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.9595267176628113, "transform": { "location": { "x": -1571.042724609375, "y": 5810.6435546875, "z": 376.024169921875 }, "rotation": { "roll": -0.006927482318133116, "pitch": 0.5185343027114868, "yaw": 156.43174743652344 } }, "velocity": { "x": -0.8762215375900269, "y": 0.37435272336006165, "z": 0.11308114975690842 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.10768373310565948, "expert_target_speed": 10.0, "target_point": [ 24.52084573602395, -0.7230599659433707 ], "target_point_next": [ 25.52057681211379, -0.7440139681505649 ] }, "435": { "acceleration": [ -2.859325408935547, 2.2806358337402344, 0.02927437424659729 ], "angular_velocity": [ -0.13735944032669067, -0.0771990418434143, -2.9427402019500732 ], "forward_vector": [ -0.9179999828338623, 0.3963854908943176, 0.012427248060703278 ], "right_vector": [ -0.3964828848838806, -0.9180182814598083, -0.006610176991671324 ], "location": [ -1598.875732421875, 5822.49755859375, 376.1951904296875 ], "rotation": [ 0.3787672519683838, 0.7120471596717834, 156.6456756591797 ], "velocity": [ -15.286052703857422, 6.563304901123047, 0.07926427572965622 ], "speed": 16.63551557632683, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.9789137840271, "transform": { "location": { "x": -1592.2427978515625, "y": 5822.994140625, "z": 376.17340087890625 }, "rotation": { "roll": 0.0026441982481628656, "pitch": -0.36889851093292236, "yaw": -23.467260360717773 } }, "velocity": { "x": 6.401640892028809, "y": -2.7790558338165283, "z": -0.03279916197061539 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.167930603027344, "transform": { "location": { "x": -1609.66015625, "y": 5830.56982421875, "z": 376.26202392578125 }, "rotation": { "roll": 0.008807187899947166, "pitch": 0.02313384972512722, "yaw": -23.21858024597168 } }, "velocity": { "x": 6.583263874053955, "y": -2.8352856636047363, "z": -0.03195779770612717 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.885353922843933, "transform": { "location": { "x": -1571.37451171875, "y": 5810.78564453125, "z": 376.0418701171875 }, "rotation": { "roll": -0.01135255303233862, "pitch": 0.6827319860458374, "yaw": 156.54087829589844 } }, "velocity": { "x": -1.734513759613037, "y": 0.737566351890564, "z": 0.04491368308663368 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.09830868989229202, "expert_target_speed": 10.0, "target_point": [ 20.477728337785557, -0.34354871948357424 ], "target_point_next": [ 21.47767168081647, -0.34737042544012464 ] }, "440": { "acceleration": [ -3.170604705810547, 1.5134143829345703, 0.011723339557647705 ], "angular_velocity": [ -0.5958722233772278, 0.22249120473861694, 0.3361092805862427 ], "forward_vector": [ -0.9160797595977783, 0.4008137285709381, 0.012096229009330273 ], "right_vector": [ -0.40088552236557007, -0.9161188006401062, -0.004142259247601032 ], "location": [ -1602.7969970703125, 5824.1953125, 376.2154541015625 ], "rotation": [ 0.23735199868679047, 0.6930797696113586, 156.36911010742188 ], "velocity": [ -16.056821823120117, 6.994518756866455, 0.08139362186193466 ], "speed": 17.514131999604864, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.825264930725098, "transform": { "location": { "x": -1590.656982421875, "y": 5822.3046875, "z": 376.16497802734375 }, "rotation": { "roll": 0.0027426055166870356, "pitch": -0.3269338309764862, "yaw": -23.476667404174805 } }, "velocity": { "x": 6.258824825286865, "y": -2.722174882888794, "z": -0.033364515751600266 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.474799156188965, "transform": { "location": { "x": -1607.7979736328125, "y": 5829.7666015625, "z": 376.2530517578125 }, "rotation": { "roll": 0.006945598870515823, "pitch": 0.03374796360731125, "yaw": -23.324960708618164 } }, "velocity": { "x": 7.780572891235352, "y": -3.3590915203094482, "z": -0.03762771934270859 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.9818460941314697, "transform": { "location": { "x": -1571.92822265625, "y": 5811.02197265625, "z": 376.0494384765625 }, "rotation": { "roll": -0.01055909413844347, "pitch": 0.7439031600952148, "yaw": 156.67657470703125 } }, "velocity": { "x": -2.7439606189727783, "y": 1.1668113470077515, "z": 0.025256071239709854 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1092926412820816, "expert_target_speed": 10.0, "target_point": [ 16.206161405052125, -0.26111894559218385 ], "target_point_next": [ 17.206111546081555, -0.260113876701614 ] }, "445": { "acceleration": [ -3.3250808715820312, 1.2250804901123047, 0.0013136863708496094 ], "angular_velocity": [ -0.5891464948654175, 0.11345791816711426, 0.9258110523223877 ], "forward_vector": [ -0.9173773527145386, 0.39784353971481323, 0.011802160181105137 ], "right_vector": [ -0.39788538217544556, -0.9174340963363647, -0.0013397412840276957 ], "location": [ -1606.9168701171875, 5825.9873046875, 376.2363586425781 ], "rotation": [ 0.07676688581705093, 0.6762296557426453, 156.55484008789062 ], "velocity": [ -16.874069213867188, 7.325553894042969, 0.08408132195472717 ], "speed": 18.39559598623835, "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": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 97409, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.413941860198975, "transform": { "location": { "x": -1589.1395263671875, "y": 5821.64501953125, "z": 376.156982421875 }, "rotation": { "roll": 0.001871481304988265, "pitch": -0.35696616768836975, "yaw": -23.524456024169922 } }, "velocity": { "x": 5.88086462020874, "y": -2.5598864555358887, "z": -0.03262288123369217 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97416, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.692709922790527, "transform": { "location": { "x": -1605.9588623046875, "y": 5828.97216796875, "z": 376.24407958984375 }, "rotation": { "roll": 0.0021516599226742983, "pitch": -0.3049064576625824, "yaw": -23.36134147644043 } }, "velocity": { "x": 7.061711311340332, "y": -3.051044225692749, "z": -0.03385724872350693 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 97419, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.385341167449951, "transform": { "location": { "x": -1572.787109375, "y": 5811.38720703125, "z": 376.0549011230469 }, "rotation": { "roll": -0.008972164243459702, "pitch": 0.8632402420043945, "yaw": 156.818359375 } }, "velocity": { "x": -4.036602020263672, "y": 1.7136168479919434, "z": 0.024083470925688744 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 97407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.836181640625, "y": 5718.55859375, "z": 376.64959716796875 }, "rotation": { "roll": 0.0, "pitch": 0.12185056507587433, "yaw": -90.23780059814453 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 97408, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": -1658.7457275390625, "y": 5740.212890625, "z": 376.6060791015625 }, "rotation": { "roll": 0.0, "pitch": 0.10947426408529282, "yaw": -90.23779296875 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.13538728654384613, "expert_target_speed": 10.0, "target_point": [ 11.712506138154096, -0.30878206675638875 ], "target_point_next": [ 12.712454283626828, -0.3110183748514004 ] } }