{
    "0": {
        "acceleration": [
            -0.0029366009403020144,
            0.006234955508261919,
            -0.6187146902084351
        ],
        "angular_velocity": [
            0.019653374329209328,
            -0.022218827158212662,
            4.0547718526795506e-05
        ],
        "forward_vector": [
            -0.9999594688415527,
            0.006665686145424843,
            0.006045542657375336
        ],
        "right_vector": [
            -0.006665302440524101,
            -0.9999777674674988,
            8.362171502085403e-05
        ],
        "location": [
            733.07958984375,
            4286.78369140625,
            369.4612121582031
        ],
        "rotation": [
            -0.004791258834302425,
            0.346386194229126,
            179.61807250976562
        ],
        "velocity": [
            0.0007753425743430853,
            -0.0001567476720083505,
            0.14286646246910095
        ],
        "speed": 0.0007910284067396063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.45299842953681946,
                "transform": {
                    "location": {
                        "x": 642.491943359375,
                        "y": 4286.18115234375,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.23165887594223022,
                        "pitch": 0.43796536326408386,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": 0.004485404584556818,
                    "y": 0.012166882865130901,
                    "z": 0.4528127908706665
                },
                "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": -5.9415495343273506e-05,
        "expert_target_speed": 10.0,
        "target_point": [
            51.54336635730816,
            0.03888316402752756
        ],
        "target_point_next": [
            102.5433292621658,
            0.07707386547628481
        ]
    },
    "5": {
        "acceleration": [
            -0.0014907709555700421,
            -0.0021706356201320887,
            -0.26043838262557983
        ],
        "angular_velocity": [
            0.0019114938331767917,
            -0.009242851287126541,
            6.677188503090292e-05
        ],
        "forward_vector": [
            -0.9999598860740662,
            0.006665688939392567,
            0.005980813410133123
        ],
        "right_vector": [
            -0.006665639113634825,
            -0.9999777674674988,
            2.8229003874002956e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48199462890625
        ],
        "rotation": [
            -0.0016174317570403218,
            0.34267741441726685,
            179.61807250976562
        ],
        "velocity": [
            0.00022942217765375972,
            -0.0002540560672059655,
            0.04268233850598335
        ],
        "speed": 0.0003423142136744476,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.29515838623047,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                653.4404296875,
                4297.00537109375,
                370.13299560546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4404296875,
                        "y": 4297.00537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4212036132812,
                        "y": 4293.75537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045189261436462,
                "transform": {
                    "location": {
                        "x": 762.8302001953125,
                        "y": 4285.6904296875,
                        "z": 369.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0007324216421693563,
                        "pitch": 0.383897602558136,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.003318601753562689,
                    "y": 0.00029535844805650413,
                    "z": -0.5045079588890076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6357187032699585,
                "transform": {
                    "location": {
                        "x": 747.9967651367188,
                        "y": 4286.4599609375,
                        "z": 369.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0007713203667663038,
                        "pitch": 0.33871588110923767,
                        "yaw": 177.8912353515625
                    }
                },
                "velocity": {
                    "x": -0.0036576269194483757,
                    "y": 6.46749249426648e-05,
                    "z": -0.6357081532478333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43485963344573975,
                "transform": {
                    "location": {
                        "x": 718.1520385742188,
                        "y": 4286.8720703125,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -0.002469983883202076,
                    "y": -0.00010898907203227282,
                    "z": -0.43485260009765625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23282060027122498,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.7037658691406
                    },
                    "rotation": {
                        "roll": 0.001393489888869226,
                        "pitch": 0.33289656043052673,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.0013229140313342214,
                    "y": 3.070899401791394e-05,
                    "z": -0.23281683027744293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45631492137908936,
                "transform": {
                    "location": {
                        "x": 763.0471801757812,
                        "y": 4288.93310546875,
                        "z": 369.3104248046875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3814045786857605,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.00308401882648468,
                    "y": 0.00024381028197240084,
                    "z": -0.4563044309616089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45543402433395386,
                "transform": {
                    "location": {
                        "x": 748.1165161132812,
                        "y": 4289.70751953125,
                        "z": 369.40191650390625
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.33302634954452515,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": -0.0026521566323935986,
                    "y": 0.00014246904174797237,
                    "z": -0.45542627573013306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2321363240480423,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.61663818359375
                    },
                    "rotation": {
                        "roll": 0.0024136954452842474,
                        "pitch": 0.33435139060020447,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -0.0013205118011683226,
                    "y": 0.0002017271617660299,
                    "z": -0.23213247954845428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5145211815834045,
                "transform": {
                    "location": {
                        "x": 703.1715698242188,
                        "y": 4290.2109375,
                        "z": 369.6522521972656
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.3321520686149597,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -0.002972028451040387,
                    "y": 0.00014319577894639224,
                    "z": -0.5145125985145569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3239947259426117,
                "transform": {
                    "location": {
                        "x": 642.4929809570312,
                        "y": 4286.181640625,
                        "z": 370.003662109375
                    },
                    "rotation": {
                        "roll": -0.0943298190832138,
                        "pitch": 0.384498655796051,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00032208068296313286,
                    "y": -0.009597599506378174,
                    "z": 0.32385239005088806
                },
                "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": 0.0017913132905960083,
        "expert_target_speed": 1.0383724375299317,
        "target_point": [
            51.54342740964375,
            0.03885899304478729
        ],
        "target_point_next": [
            102.54339033270632,
            0.0770253758161602
        ]
    },
    "10": {
        "acceleration": [
            0.0004636615631170571,
            0.002939534606412053,
            -0.05671827122569084
        ],
        "angular_velocity": [
            -0.00020672834943979979,
            0.0022435213904827833,
            5.516047531273216e-05
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.005966269876807928
        ],
        "right_vector": [
            -0.006664845161139965,
            -0.9999777674674988,
            1.5978674809957738e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4877014160156
        ],
        "rotation": [
            -9.155269071925431e-05,
            0.3418441116809845,
            179.61813354492188
        ],
        "velocity": [
            8.392330346396193e-05,
            -0.0001263693266082555,
            0.011281115002930164
        ],
        "speed": 0.00015169814623695372,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.23189544677734,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                655.5183715820312,
                4296.9931640625,
                369.9817810058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.5183715820312,
                        "y": 4296.9931640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.4991455078125,
                        "y": 4293.7431640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025436520576477,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.2929992675781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": 0.3847103714942932,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": 0.000690049899276346,
                    "y": -9.282471728511155e-05,
                    "z": 0.10254128277301788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061174292117357254,
                "transform": {
                    "location": {
                        "x": 747.9963989257812,
                        "y": 4286.4599609375,
                        "z": 369.3731689453125
                    },
                    "rotation": {
                        "roll": 0.000871284632012248,
                        "pitch": 0.34060102701187134,
                        "yaw": 177.89122009277344
                    }
                },
                "velocity": {
                    "x": 0.00037549142143689096,
                    "y": -8.296708074340131e-06,
                    "z": 0.06117313727736473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0274041835218668,
                "transform": {
                    "location": {
                        "x": 718.15185546875,
                        "y": 4286.8720703125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.33960381150245667,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0001842377969296649,
                    "y": -0.00012511353997979313,
                    "z": 0.027403278276324272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02493421360850334,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.6972961425781
                    },
                    "rotation": {
                        "roll": 0.001135597936809063,
                        "pitch": 0.3331014811992645,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.000176285466295667,
                    "y": -4.4604203139897436e-05,
                    "z": 0.024933550506830215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09441056847572327,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.30328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3812406361103058,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0006493785767816007,
                    "y": -0.00010532941087149084,
                    "z": 0.09440827369689941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09427197277545929,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.3948059082031
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3332790732383728,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": 0.0005661581526510417,
                    "y": -8.152468217303976e-05,
                    "z": 0.0942702367901802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024769581854343414,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.610107421875
                    },
                    "rotation": {
                        "roll": 0.0018934343243017793,
                        "pitch": 0.3349592983722687,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0001544644619571045,
                    "y": 0.00035380563349463046,
                    "z": 0.024766573682427406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1063017025589943,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.6437683105469
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": 0.33179691433906555,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0006267820717766881,
                    "y": -0.00017751703853718936,
                    "z": 0.10629970580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.057063329964876175,
                "transform": {
                    "location": {
                        "x": 642.4939575195312,
                        "y": 4286.181640625,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.018715541809797287,
                        "pitch": 0.2854540944099426,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -0.0005597444251179695,
                    "y": -0.0009280548547394574,
                    "z": -0.057053036987781525
                },
                "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": 0.0020550794433802366,
        "expert_target_speed": 1.0067051995566016,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "15": {
        "acceleration": [
            -0.0005503364372998476,
            0.0014982093125581741,
            -0.009045833721756935
        ],
        "angular_velocity": [
            -0.034285034984350204,
            -0.0009327855659648776,
            0.0002818036009557545
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006664736196398735,
            0.005962335970252752
        ],
        "right_vector": [
            -0.006664874032139778,
            -0.9999777674674988,
            -3.257042180848657e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48883056640625
        ],
        "rotation": [
            0.00018661808280739933,
            0.34161871671676636,
            179.61813354492188
        ],
        "velocity": [
            1.8455124518368393e-05,
            0.0001134208359871991,
            0.0017011617310345173
        ],
        "speed": 0.00011491247824768031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.16633605957031,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                657.6002807617188,
                4296.98046875,
                369.9375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.6002807617188,
                        "y": 4296.98046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.5810546875,
                        "y": 4293.73046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023524481803178787,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.3082580566406
                    },
                    "rotation": {
                        "roll": 7.595754595968174e-06,
                        "pitch": 0.3843074142932892,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0001689358032308519,
                    "y": 2.7320020308252424e-05,
                    "z": 0.023523859679698944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1389744132757187,
                "transform": {
                    "location": {
                        "x": 747.9893798828125,
                        "y": 4286.4599609375,
                        "z": 369.4047546386719
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.3541930913925171,
                        "yaw": 177.89453125
                    }
                },
                "velocity": {
                    "x": -0.08124236017465591,
                    "y": 0.0009029434877447784,
                    "z": 0.1127508357167244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8802815675735474,
                "transform": {
                    "location": {
                        "x": 718.0856323242188,
                        "y": 4286.87158203125,
                        "z": 369.571044921875
                    },
                    "rotation": {
                        "roll": -0.00921630673110485,
                        "pitch": 0.5455613136291504,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -0.87979656457901,
                    "y": -0.005085095763206482,
                    "z": 0.02877085655927658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9055242538452148,
                "transform": {
                    "location": {
                        "x": 703.0865478515625,
                        "y": 4286.96044921875,
                        "z": 369.70068359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.4072636663913727,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -0.9053999781608582,
                    "y": -0.007333825808018446,
                    "z": 0.013086671940982342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020953742787241936,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.3172302246094
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.38114503026008606,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.00015021853323560208,
                    "y": -0.0001034343586070463,
                    "z": 0.020952949300408363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020843490958213806,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.3332858979701996,
                        "yaw": 177.8913116455078
                    }
                },
                "velocity": {
                    "x": 0.00014303937496151775,
                    "y": 6.13619340583682e-05,
                    "z": 0.020842909812927246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9213072061538696,
                "transform": {
                    "location": {
                        "x": 718.1052856445312,
                        "y": 4290.12158203125,
                        "z": 369.6134948730469
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.40968838334083557,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -0.9211761951446533,
                    "y": -0.007747138384729624,
                    "z": 0.013466023840010166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02309280075132847,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.33230918645858765,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 0.00014444772386923432,
                    "y": -3.2976691727526486e-05,
                    "z": 0.023092325776815414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05881591513752937,
                "transform": {
                    "location": {
                        "x": 642.493896484375,
                        "y": 4286.181640625,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.006253334693610668,
                        "pitch": 0.29145780205726624,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -0.0001237491815118119,
                    "y": 0.0006633757147938013,
                    "z": -0.05881204456090927
                },
                "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": 0.002707713982090354,
        "expert_target_speed": 1.0023390941679,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "20": {
        "acceleration": [
            0.00046537892194464803,
            -0.0013289280468598008,
            0.011491665616631508
        ],
        "angular_velocity": [
            -0.0010219139512628317,
            0.0024971719831228256,
            8.837131463224068e-05
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006663782522082329,
            0.0059562562964856625
        ],
        "right_vector": [
            -0.0066640013828873634,
            -0.9999777674674988,
            -1.690782664809376e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48919677734375
        ],
        "rotation": [
            0.0009687643614597619,
            0.341270387172699,
            179.61817932128906
        ],
        "velocity": [
            3.373716026544571e-05,
            8.067402632150333e-06,
            0.0023956983350217342
        ],
        "speed": 3.468831169148471e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.10096740722656,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                659.6831665039062,
                4296.96826171875,
                369.9178466796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6831665039062,
                        "y": 4296.96826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6638793945312,
                        "y": 4293.71826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9624414443969727,
                "transform": {
                    "location": {
                        "x": 762.6216430664062,
                        "y": 4285.701171875,
                        "z": 369.31097412109375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.4233282804489136,
                        "yaw": 176.26351928710938
                    }
                },
                "velocity": {
                    "x": -1.9601579904556274,
                    "y": 0.09399950504302979,
                    "z": 0.01101123820990324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7023549675941467,
                "transform": {
                    "location": {
                        "x": 747.8656616210938,
                        "y": 4286.46240234375,
                        "z": 369.416015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.4783249497413635,
                        "yaw": 177.92434692382812
                    }
                },
                "velocity": {
                    "x": -0.7022427320480347,
                    "y": 0.012511569075286388,
                    "z": 0.0010335540864616632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8672748804092407,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.8701171875,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.014770508743822575,
                        "pitch": 0.7257280349731445,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -1.8671436309814453,
                    "y": -0.011976280249655247,
                    "z": 0.018614167347550392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8437989950180054,
                "transform": {
                    "location": {
                        "x": 702.7273559570312,
                        "y": 4286.958984375,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": 0.4365173578262329,
                        "yaw": 179.8267822265625
                    }
                },
                "velocity": {
                    "x": -1.8436987400054932,
                    "y": -0.015339852310717106,
                    "z": 0.011584796942770481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1327996253967285,
                "transform": {
                    "location": {
                        "x": 762.8187255859375,
                        "y": 4288.9443359375,
                        "z": 369.3216857910156
                    },
                    "rotation": {
                        "roll": 0.009196165949106216,
                        "pitch": 0.19323286414146423,
                        "yaw": 176.25099182128906
                    }
                },
                "velocity": {
                    "x": -2.1304445266723633,
                    "y": 0.09921599179506302,
                    "z": 0.013990955427289009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1806137561798096,
                "transform": {
                    "location": {
                        "x": 747.890625,
                        "y": 4289.712890625,
                        "z": 369.4130859375
                    },
                    "rotation": {
                        "roll": 0.009538781829178333,
                        "pitch": 0.14528495073318481,
                        "yaw": 178.08070373535156
                    }
                },
                "velocity": {
                    "x": -2.1803085803985596,
                    "y": 0.03475413843989372,
                    "z": 0.011095733381807804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.872437596321106,
                "transform": {
                    "location": {
                        "x": 717.7435913085938,
                        "y": 4290.1201171875,
                        "z": 369.6162109375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.43943384289741516,
                        "yaw": 179.81565856933594
                    }
                },
                "velocity": {
                    "x": -1.8723291158676147,
                    "y": -0.016089793294668198,
                    "z": 0.012134618125855923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1024563312530518,
                "transform": {
                    "location": {
                        "x": 703.0511474609375,
                        "y": 4290.21044921875,
                        "z": 369.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0027465815655887127,
                        "pitch": 0.36385098099708557,
                        "yaw": 179.70703125
                    }
                },
                "velocity": {
                    "x": -1.1024144887924194,
                    "y": -0.00721356738358736,
                    "z": 0.006342162843793631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006155104376375675,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0027160644531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.3038546144962311,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.35122851235792e-05,
                    "y": -2.5314999220427126e-05,
                    "z": 0.006154724396765232
                },
                "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": 0.0025624127592891455,
        "expert_target_speed": 1.018647795344497,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "25": {
        "acceleration": [
            1.8270311556989327e-05,
            0.0026536837685853243,
            0.003949969541281462
        ],
        "angular_velocity": [
            -0.03961616009473801,
            -0.002078139455989003,
            0.00031555333407595754
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663782987743616,
            0.0059545873664319515
        ],
        "right_vector": [
            -0.006664012558758259,
            -0.9999777674674988,
            -1.8786820874083787e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4892578125
        ],
        "rotation": [
            0.0010764246108010411,
            0.34117475152015686,
            179.61817932128906
        ],
        "velocity": [
            1.3790912817057688e-05,
            0.00013203569687902927,
            0.0015376489609479904
        ],
        "speed": 0.00013275396237649023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.03668975830078,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                661.7659912109375,
                4296.9560546875,
                369.90142822265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7659912109375,
                        "y": 4296.9560546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7467651367188,
                        "y": 4293.7060546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.954958200454712,
                "transform": {
                    "location": {
                        "x": 761.99169921875,
                        "y": 4285.73388671875,
                        "z": 369.3148498535156
                    },
                    "rotation": {
                        "roll": 0.000642845465335995,
                        "pitch": 0.410419225692749,
                        "yaw": 176.56158447265625
                    }
                },
                "velocity": {
                    "x": -2.951572895050049,
                    "y": 0.14024300873279572,
                    "z": 0.018084602430462837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6119256019592285,
                "transform": {
                    "location": {
                        "x": 747.5776977539062,
                        "y": 4286.4697265625,
                        "z": 369.41259765625
                    },
                    "rotation": {
                        "roll": -0.009582518599927425,
                        "pitch": 0.5344759225845337,
                        "yaw": 178.0966796875
                    }
                },
                "velocity": {
                    "x": -1.611609935760498,
                    "y": 0.030400477349758148,
                    "z": -0.009663152508437634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9849061965942383,
                "transform": {
                    "location": {
                        "x": 717.1282348632812,
                        "y": 4286.86669921875,
                        "z": 369.5803527832031
                    },
                    "rotation": {
                        "roll": -0.014343264512717724,
                        "pitch": 0.7958126068115234,
                        "yaw": 179.9939422607422
                    }
                },
                "velocity": {
                    "x": -2.984772205352783,
                    "y": -0.021640010178089142,
                    "z": 0.01820565201342106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9991533756256104,
                "transform": {
                    "location": {
                        "x": 702.122314453125,
                        "y": 4286.95556640625,
                        "z": 369.7068176269531
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.45056024193763733,
                        "yaw": -179.98480224609375
                    }
                },
                "velocity": {
                    "x": -2.9989874362945557,
                    "y": -0.02612335793673992,
                    "z": 0.017652425915002823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3427064418792725,
                "transform": {
                    "location": {
                        "x": 762.1182861328125,
                        "y": 4288.97900390625,
                        "z": 369.32562255859375
                    },
                    "rotation": {
                        "roll": 0.007742029149085283,
                        "pitch": 0.23228788375854492,
                        "yaw": 176.57057189941406
                    }
                },
                "velocity": {
                    "x": -3.3390941619873047,
                    "y": 0.15403757989406586,
                    "z": 0.020218972116708755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3360886573791504,
                "transform": {
                    "location": {
                        "x": 747.1873779296875,
                        "y": 4289.7265625,
                        "z": 369.41650390625
                    },
                    "rotation": {
                        "roll": 0.006681015249341726,
                        "pitch": 0.18753649294376373,
                        "yaw": 178.37228393554688
                    }
                },
                "velocity": {
                    "x": -3.3356075286865234,
                    "y": 0.053618915379047394,
                    "z": 0.018295086920261383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9810941219329834,
                "transform": {
                    "location": {
                        "x": 717.1384887695312,
                        "y": 4290.11669921875,
                        "z": 369.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.4510451853275299,
                        "yaw": 179.99435424804688
                    }
                },
                "velocity": {
                    "x": -2.9809346199035645,
                    "y": -0.02512659691274166,
                    "z": 0.017862863838672638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7386195659637451,
                "transform": {
                    "location": {
                        "x": 702.6842041015625,
                        "y": 4290.208984375,
                        "z": 369.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.35850977897644043,
                        "yaw": 179.81295776367188
                    }
                },
                "velocity": {
                    "x": -1.7385467290878296,
                    "y": -0.013371847569942474,
                    "z": 0.008636074140667915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003319001756608486,
        "expert_target_speed": 1.0394075256287105,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "30": {
        "acceleration": [
            -0.0006415143143385649,
            0.0025498471222817898,
            -0.03400390222668648
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663544103503227,
            0.005957925226539373
        ],
        "right_vector": [
            -0.006663808599114418,
            -0.9999778270721436,
            -2.4517032215953805e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48931884765625
        ],
        "rotation": [
            0.0014047473669052124,
            0.3413659930229187,
            179.61819458007812
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.9734878540039,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                663.848876953125,
                4296.94384765625,
                369.8895568847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.848876953125,
                        "y": 4296.94384765625,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.8296508789062,
                        "y": 4293.69384765625,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7215301990509033,
                "transform": {
                    "location": {
                        "x": 761.1531982421875,
                        "y": 4285.77587890625,
                        "z": 369.3203430175781
                    },
                    "rotation": {
                        "roll": 0.0018736777128651738,
                        "pitch": 0.39598703384399414,
                        "yaw": 176.84603881835938
                    }
                },
                "velocity": {
                    "x": -3.7173964977264404,
                    "y": 0.17370493710041046,
                    "z": 0.024015702307224274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.12589955329895,
                "transform": {
                    "location": {
                        "x": 747.0094604492188,
                        "y": 4286.48193359375,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -0.013244626112282276,
                        "pitch": 0.6452479362487793,
                        "yaw": 178.36044311523438
                    }
                },
                "velocity": {
                    "x": -3.1253464221954346,
                    "y": 0.055956415832042694,
                    "z": 0.01808849349617958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.384318828582764,
                "transform": {
                    "location": {
                        "x": 716.195068359375,
                        "y": 4286.8603515625,
                        "z": 369.5854187011719
                    },
                    "rotation": {
                        "roll": -0.013763426803052425,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.8003692626953
                    }
                },
                "velocity": {
                    "x": -4.384103775024414,
                    "y": -0.03520318120718002,
                    "z": 0.025385074317455292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374879837036133,
                "transform": {
                    "location": {
                        "x": 701.1904296875,
                        "y": 4286.94921875,
                        "z": 369.71197509765625
                    },
                    "rotation": {
                        "roll": 0.0004474956658668816,
                        "pitch": 0.4760231673717499,
                        "yaw": -179.7861785888672
                    }
                },
                "velocity": {
                    "x": -4.374629974365234,
                    "y": -0.039465732872486115,
                    "z": 0.024999350309371948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.465246200561523,
                "transform": {
                    "location": {
                        "x": 761.137939453125,
                        "y": 4289.02685546875,
                        "z": 369.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006022654939442873,
                        "pitch": 0.25584521889686584,
                        "yaw": 176.87184143066406
                    }
                },
                "velocity": {
                    "x": -4.460405349731445,
                    "y": 0.20574620366096497,
                    "z": 0.029574546962976456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.471312999725342,
                "transform": {
                    "location": {
                        "x": 746.2045288085938,
                        "y": 4289.7451171875,
                        "z": 369.4219055175781
                    },
                    "rotation": {
                        "roll": 0.006520191207528114,
                        "pitch": 0.2156495451927185,
                        "yaw": 178.64529418945312
                    }
                },
                "velocity": {
                    "x": -4.470666885375977,
                    "y": 0.07140378654003143,
                    "z": 0.026057662442326546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.370018482208252,
                "transform": {
                    "location": {
                        "x": 716.2079467773438,
                        "y": 4290.1103515625,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.47869378328323364,
                        "yaw": -179.80140686035156
                    }
                },
                "velocity": {
                    "x": -4.369767189025879,
                    "y": -0.03906865790486336,
                    "z": 0.02586238831281662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.253244638442993,
                "transform": {
                    "location": {
                        "x": 702.1843872070312,
                        "y": 4290.20654296875,
                        "z": 369.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35028624534606934,
                        "yaw": 179.96206665039062
                    }
                },
                "velocity": {
                    "x": -2.253136396408081,
                    "y": -0.018017632886767387,
                    "z": 0.01277344673871994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0041988384909927845,
        "expert_target_speed": 1.0643589458714138,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "35": {
        "acceleration": [
            -3.819167613983154e-05,
            0.00020201179722789675,
            0.0032295670825988054
        ],
        "angular_velocity": [
            -0.01220634113997221,
            -0.002740709111094475,
            0.00014884077245369554
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663544103503227,
            0.0059562562964856625
        ],
        "right_vector": [
            -0.006663786247372627,
            -0.9999778270721436,
            -2.07925168069778e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4893798828125
        ],
        "rotation": [
            0.001191344577819109,
            0.341270387172699,
            179.61819458007812
        ],
        "velocity": [
            7.209852356027113e-06,
            4.363070547697134e-05,
            0.0007859735051169991
        ],
        "speed": 4.422239739559499e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.97579193115234,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                665.868408203125,
                4296.94287109375,
                369.87408447265625
            ],
            "velocity": [
                8.055631637573242,
                0.04458218812942505,
                -0.057188842445611954
            ],
            "speed_kmh": 29.001448781612382,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05595874786377,
                "transform": {
                    "location": {
                        "x": 665.868408203125,
                        "y": 4296.94287109375,
                        "z": 369.87408447265625
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -0.3161626160144806,
                        "yaw": 0.06552726775407791
                    }
                },
                "velocity": {
                    "x": 8.055631637573242,
                    "y": 0.04458218812942505,
                    "z": -0.057188842445611954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046765327453613,
                "transform": {
                    "location": {
                        "x": 665.8673095703125,
                        "y": 4293.6943359375,
                        "z": 369.8813171386719
                    },
                    "rotation": {
                        "roll": -0.0568847618997097,
                        "pitch": -0.3480527698993683,
                        "yaw": 0.07085400074720383
                    }
                },
                "velocity": {
                    "x": 8.046582221984863,
                    "y": 0.04415159299969673,
                    "z": -0.03144945949316025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.451961517333984,
                "transform": {
                    "location": {
                        "x": 760.1292114257812,
                        "y": 4285.8251953125,
                        "z": 369.3271484375
                    },
                    "rotation": {
                        "roll": 0.0038021302316337824,
                        "pitch": 0.38960763812065125,
                        "yaw": 177.0806427001953
                    }
                },
                "velocity": {
                    "x": -4.44717264175415,
                    "y": 0.20432931184768677,
                    "z": 0.02949841506779194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.013422966003418,
                "transform": {
                    "location": {
                        "x": 745.9855346679688,
                        "y": 4286.501953125,
                        "z": 369.4181823730469
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": 0.7981348633766174,
                        "yaw": 178.63963317871094
                    }
                },
                "velocity": {
                    "x": -5.012607574462891,
                    "y": 0.08461152017116547,
                    "z": 0.031883981078863144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.411758899688721,
                "transform": {
                    "location": {
                        "x": 714.939697265625,
                        "y": 4286.85498046875,
                        "z": 369.59320068359375
                    },
                    "rotation": {
                        "roll": 0.01933136209845543,
                        "pitch": 0.8842430710792542,
                        "yaw": -179.8705291748047
                    }
                },
                "velocity": {
                    "x": -5.411653995513916,
                    "y": -0.010935147292912006,
                    "z": 0.03186902031302452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324244499206543,
                "transform": {
                    "location": {
                        "x": 699.9428100585938,
                        "y": 4286.9453125,
                        "z": 369.7197265625
                    },
                    "rotation": {
                        "roll": 0.008706972002983093,
                        "pitch": 0.4497884213924408,
                        "yaw": -179.79385375976562
                    }
                },
                "velocity": {
                    "x": -5.3241424560546875,
                    "y": -0.008787357248365879,
                    "z": 0.03175091743469238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2888503074646,
                "transform": {
                    "location": {
                        "x": 759.8945922851562,
                        "y": 4289.0859375,
                        "z": 369.3399658203125
                    },
                    "rotation": {
                        "roll": 0.005559108220040798,
                        "pitch": 0.2765201926231384,
                        "yaw": 177.10623168945312
                    }
                },
                "velocity": {
                    "x": -5.283191204071045,
                    "y": 0.24199631810188293,
                    "z": 0.03557756170630455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285097122192383,
                "transform": {
                    "location": {
                        "x": 744.95654296875,
                        "y": 4289.76611328125,
                        "z": 369.42919921875
                    },
                    "rotation": {
                        "roll": 0.004804009571671486,
                        "pitch": 0.24019725620746613,
                        "yaw": 178.82749938964844
                    }
                },
                "velocity": {
                    "x": -5.284327507019043,
                    "y": 0.08415006101131439,
                    "z": 0.03240690007805824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3108439445495605,
                "transform": {
                    "location": {
                        "x": 714.9620361328125,
                        "y": 4290.10595703125,
                        "z": 369.6326904296875
                    },
                    "rotation": {
                        "roll": 0.009589609690010548,
                        "pitch": 0.45263659954071045,
                        "yaw": -179.83421325683594
                    }
                },
                "velocity": {
                    "x": -5.310747146606445,
                    "y": -0.008863654918968678,
                    "z": 0.030809134244918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.81040620803833,
                "transform": {
                    "location": {
                        "x": 701.54833984375,
                        "y": 4290.20263671875,
                        "z": 369.6699523925781
                    },
                    "rotation": {
                        "roll": 0.0005600251606665552,
                        "pitch": 0.3497466444969177,
                        "yaw": -179.87600708007812
                    }
                },
                "velocity": {
                    "x": -2.8102612495422363,
                    "y": -0.024291157722473145,
                    "z": 0.015007228590548038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018561629112809896,
        "expert_target_speed": 1.0908227802844876,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "40": {
        "acceleration": [
            0.00042707170359790325,
            -0.0007541751838289201,
            0.0008487439481541514
        ],
        "angular_velocity": [
            0.015312319621443748,
            0.005502977874130011,
            -1.5479714420507662e-05
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663544103503227,
            0.0059562562964856625
        ],
        "right_vector": [
            -0.006663786247372627,
            -0.9999778270721436,
            -2.07925168069778e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4893798828125
        ],
        "rotation": [
            0.001191344577819109,
            0.341270387172699,
            179.61819458007812
        ],
        "velocity": [
            3.190923234797083e-05,
            -4.338412327342667e-05,
            0.0004179660463705659
        ],
        "speed": 5.385518787675584e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.98255920410156,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                667.88623046875,
                4296.951171875,
                369.8617248535156
            ],
            "velocity": [
                8.085064888000488,
                0.029939740896224976,
                -0.045740436762571335
            ],
            "speed_kmh": 29.106898943925447,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085248947143555,
                "transform": {
                    "location": {
                        "x": 667.88623046875,
                        "y": 4296.951171875,
                        "z": 369.8617248535156
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.31390181183815,
                        "yaw": 0.28379473090171814
                    }
                },
                "velocity": {
                    "x": 8.085064888000488,
                    "y": 0.029939740896224976,
                    "z": -0.045740436762571335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.273276329040527,
                "transform": {
                    "location": {
                        "x": 667.9088745117188,
                        "y": 4293.70166015625,
                        "z": 369.87139892578125
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.3121669590473175,
                        "yaw": 0.29141145944595337
                    }
                },
                "velocity": {
                    "x": 8.273103713989258,
                    "y": 0.02926020137965679,
                    "z": -0.04474995657801628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198419094085693,
                "transform": {
                    "location": {
                        "x": 758.9177856445312,
                        "y": 4285.88232421875,
                        "z": 369.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0023308543022722006,
                        "pitch": 0.38381561636924744,
                        "yaw": 177.24977111816406
                    }
                },
                "velocity": {
                    "x": -5.192943572998047,
                    "y": 0.23608581721782684,
                    "z": 0.03404930979013443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3736629784107208,
                "transform": {
                    "location": {
                        "x": 745.1633911132812,
                        "y": 4286.51318359375,
                        "z": 369.4324951171875
                    },
                    "rotation": {
                        "roll": 0.020963484421372414,
                        "pitch": -0.3235187232494354,
                        "yaw": 178.4874725341797
                    }
                },
                "velocity": {
                    "x": -0.3736533522605896,
                    "y": -0.0018799739191308618,
                    "z": 0.0019164085388183594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.235318660736084,
                "transform": {
                    "location": {
                        "x": 713.55419921875,
                        "y": 4286.8525390625,
                        "z": 369.60186767578125
                    },
                    "rotation": {
                        "roll": 0.01583186723291874,
                        "pitch": 0.7170127034187317,
                        "yaw": -179.9879913330078
                    }
                },
                "velocity": {
                    "x": -6.235206604003906,
                    "y": -0.006532677914947271,
                    "z": 0.036835458129644394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573041915893555,
                "transform": {
                    "location": {
                        "x": 698.5835571289062,
                        "y": 4286.943359375,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.005704930983483791,
                        "pitch": 0.3880230188369751,
                        "yaw": -179.76416015625
                    }
                },
                "velocity": {
                    "x": -5.57294225692749,
                    "y": -0.010125351138412952,
                    "z": 0.03171096742153168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.735456466674805,
                "transform": {
                    "location": {
                        "x": 758.5300903320312,
                        "y": 4289.14990234375,
                        "z": 369.3482971191406
                    },
                    "rotation": {
                        "roll": 0.005324273370206356,
                        "pitch": 0.30017995834350586,
                        "yaw": 177.29974365234375
                    }
                },
                "velocity": {
                    "x": -5.729562759399414,
                    "y": 0.25769102573394775,
                    "z": 0.03417787328362465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711518287658691,
                "transform": {
                    "location": {
                        "x": 743.595458984375,
                        "y": 4289.7890625,
                        "z": 369.4368591308594
                    },
                    "rotation": {
                        "roll": 0.005426398012787104,
                        "pitch": 0.2827083468437195,
                        "yaw": 178.96971130371094
                    }
                },
                "velocity": {
                    "x": -5.710806846618652,
                    "y": 0.08388219773769379,
                    "z": 0.032985057681798935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791581869125366,
                "transform": {
                    "location": {
                        "x": 713.7154541015625,
                        "y": 4290.1025390625,
                        "z": 369.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0062414915300905704,
                        "pitch": 0.2548002004623413,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -3.79152250289917,
                    "y": -0.004075090866535902,
                    "z": 0.02085009589791298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4125113487243652,
                "transform": {
                    "location": {
                        "x": 700.7705078125,
                        "y": 4290.1982421875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0037837540730834007,
                        "pitch": 0.3515361547470093,
                        "yaw": -179.77566528320312
                    }
                },
                "velocity": {
                    "x": -3.412445068359375,
                    "y": -0.010269862599670887,
                    "z": 0.018618058413267136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0025268199387937784,
        "expert_target_speed": 1.111025531475662,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "45": {
        "acceleration": [
            -7.759482105029747e-05,
            -0.0020642513409256935,
            -0.007998938672244549
        ],
        "angular_velocity": [
            0.02038027159869671,
            -0.00357169471681118,
            -3.6479228583630174e-05
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663544103503227,
            0.0059562562964856625
        ],
        "right_vector": [
            -0.006663786247372627,
            -0.9999778270721436,
            -2.07925168069778e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4893798828125
        ],
        "rotation": [
            0.001191344577819109,
            0.341270387172699,
            179.61819458007812
        ],
        "velocity": [
            4.429630735103274e-06,
            -6.286147254286334e-05,
            0.0007677397225052118
        ],
        "speed": 6.301734966425145e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.992820739746094,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                669.90185546875,
                4296.9580078125,
                369.8507385253906
            ],
            "velocity": [
                8.041783332824707,
                0.021257927641272545,
                -0.044585056602954865
            ],
            "speed_kmh": 28.95096607937615,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041934967041016,
                "transform": {
                    "location": {
                        "x": 669.90185546875,
                        "y": 4296.9580078125,
                        "z": 369.8507385253906
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": -0.3135671317577362,
                        "yaw": 0.1992821842432022
                    }
                },
                "velocity": {
                    "x": 8.041783332824707,
                    "y": 0.021257927641272545,
                    "z": -0.044585056602954865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055225372314453,
                "transform": {
                    "location": {
                        "x": 669.94873046875,
                        "y": 4293.70849609375,
                        "z": 369.85980224609375
                    },
                    "rotation": {
                        "roll": 0.0067604840733110905,
                        "pitch": -0.31249478459358215,
                        "yaw": 0.21083275973796844
                    }
                },
                "velocity": {
                    "x": 8.055068969726562,
                    "y": 0.021401124075055122,
                    "z": -0.04538459703326225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.264791965484619,
                "transform": {
                    "location": {
                        "x": 757.6014404296875,
                        "y": 4285.94189453125,
                        "z": 369.3435974121094
                    },
                    "rotation": {
                        "roll": 0.003823882667347789,
                        "pitch": 0.3648345470428467,
                        "yaw": 177.35755920410156
                    }
                },
                "velocity": {
                    "x": -5.259466648101807,
                    "y": 0.2344181388616562,
                    "z": 0.033071525394916534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2443599700927734,
                "transform": {
                    "location": {
                        "x": 744.8844604492188,
                        "y": 4286.5185546875,
                        "z": 369.4303894042969
                    },
                    "rotation": {
                        "roll": 0.006011891644448042,
                        "pitch": 0.1216183453798294,
                        "yaw": 178.5475616455078
                    }
                },
                "velocity": {
                    "x": -2.2439727783203125,
                    "y": 0.03966367244720459,
                    "z": 0.012837314046919346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682073593139648,
                "transform": {
                    "location": {
                        "x": 711.7977294921875,
                        "y": 4286.85107421875,
                        "z": 369.6112365722656
                    },
                    "rotation": {
                        "roll": 0.007605086080729961,
                        "pitch": 0.9264604449272156,
                        "yaw": -179.9710235595703
                    }
                },
                "velocity": {
                    "x": -7.681939125061035,
                    "y": -0.008049601688981056,
                    "z": 0.044728219509124756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.567538738250732,
                "transform": {
                    "location": {
                        "x": 697.029052734375,
                        "y": 4286.9404296875,
                        "z": 369.7366027832031
                    },
                    "rotation": {
                        "roll": 0.0034895373973995447,
                        "pitch": 0.42578715085983276,
                        "yaw": -179.85198974609375
                    }
                },
                "velocity": {
                    "x": -6.567423343658447,
                    "y": -0.010659423656761646,
                    "z": 0.03740137815475464
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132969856262207,
                "transform": {
                    "location": {
                        "x": 756.9819946289062,
                        "y": 4289.220703125,
                        "z": 369.3585205078125
                    },
                    "rotation": {
                        "roll": 0.004292186815291643,
                        "pitch": 0.22072437405586243,
                        "yaw": 177.40184020996094
                    }
                },
                "velocity": {
                    "x": -7.125746726989746,
                    "y": 0.3177978992462158,
                    "z": 0.0446748249232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.152634620666504,
                "transform": {
                    "location": {
                        "x": 742.0408935546875,
                        "y": 4289.8125,
                        "z": 369.44659423828125
                    },
                    "rotation": {
                        "roll": 0.0032856708858162165,
                        "pitch": 0.19471502304077148,
                        "yaw": 179.04177856445312
                    }
                },
                "velocity": {
                    "x": -7.151772975921631,
                    "y": 0.10282380878925323,
                    "z": 0.04180806875228882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6170775890350342,
                "transform": {
                    "location": {
                        "x": 713.3250122070312,
                        "y": 4290.1025390625,
                        "z": 369.64581298828125
                    },
                    "rotation": {
                        "roll": 0.004927413538098335,
                        "pitch": -0.002226641634479165,
                        "yaw": -179.97061157226562
                    }
                },
                "velocity": {
                    "x": -0.617064893245697,
                    "y": -0.00044369156239554286,
                    "z": 0.003937187138944864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219234466552734,
                "transform": {
                    "location": {
                        "x": 699.8165283203125,
                        "y": 4290.19580078125,
                        "z": 369.6798095703125
                    },
                    "rotation": {
                        "roll": 0.00335704511962831,
                        "pitch": 0.35683637857437134,
                        "yaw": -179.81971740722656
                    }
                },
                "velocity": {
                    "x": -4.219157695770264,
                    "y": -0.008086901158094406,
                    "z": 0.024142693728208542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0020675617270171642,
        "expert_target_speed": 1.130616253782441,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "50": {
        "acceleration": [
            0.0005186527851037681,
            0.001466655172407627,
            0.006129550281912088
        ],
        "angular_velocity": [
            -0.0036813588812947273,
            0.0011334320297464728,
            0.00010246355668641627
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663544103503227,
            0.0059562562964856625
        ],
        "right_vector": [
            -0.006663786247372627,
            -0.9999778270721436,
            -2.07925168069778e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4893798828125
        ],
        "rotation": [
            0.001191344577819109,
            0.341270387172699,
            179.61819458007812
        ],
        "velocity": [
            1.806124964787159e-05,
            1.181024344987236e-05,
            0.0004874922160524875
        ],
        "speed": 2.157986536538156e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.08396911621094,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                671.8368530273438,
                4296.962890625,
                369.8401794433594
            ],
            "velocity": [
                7.398837089538574,
                0.0038705291226506233,
                -0.041267380118370056
            ],
            "speed_kmh": 26.63623147119824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.398952960968018,
                "transform": {
                    "location": {
                        "x": 671.8368530273438,
                        "y": 4296.962890625,
                        "z": 369.8401794433594
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": -0.3292834162712097,
                        "yaw": 0.12161242961883545
                    }
                },
                "velocity": {
                    "x": 7.398837089538574,
                    "y": 0.0038705291226506233,
                    "z": -0.041267380118370056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.28223991394043,
                "transform": {
                    "location": {
                        "x": 671.9920043945312,
                        "y": 4293.71337890625,
                        "z": 369.8484191894531
                    },
                    "rotation": {
                        "roll": 0.005359696689993143,
                        "pitch": -0.31427064538002014,
                        "yaw": 0.12271633744239807
                    }
                },
                "velocity": {
                    "x": 8.282112121582031,
                    "y": 0.004174006637185812,
                    "z": -0.04590478166937828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18796539306640625,
                "transform": {
                    "location": {
                        "x": 756.9094848632812,
                        "y": 4285.97314453125,
                        "z": 369.3485107421875
                    },
                    "rotation": {
                        "roll": 0.0032302408944815397,
                        "pitch": 0.2630852162837982,
                        "yaw": 177.38333129882812
                    }
                },
                "velocity": {
                    "x": -0.18776865303516388,
                    "y": 0.008507546968758106,
                    "z": 0.0012413787189871073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7403095364570618,
                "transform": {
                    "location": {
                        "x": 744.3090209960938,
                        "y": 4286.52880859375,
                        "z": 369.4309997558594
                    },
                    "rotation": {
                        "roll": 0.0012304619885981083,
                        "pitch": 0.46695950627326965,
                        "yaw": 178.57833862304688
                    }
                },
                "velocity": {
                    "x": -0.740265965461731,
                    "y": 0.006630172953009605,
                    "z": 0.004525585100054741
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.546327114105225,
                "transform": {
                    "location": {
                        "x": 709.842041015625,
                        "y": 4286.85107421875,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": 0.021138150244951248,
                        "pitch": 0.585463285446167,
                        "yaw": -179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.5461907386779785,
                    "y": 0.009189454838633537,
                    "z": 0.04439432919025421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.001215934753418,
                "transform": {
                    "location": {
                        "x": 695.5901489257812,
                        "y": 4286.939453125,
                        "z": 369.7469177246094
                    },
                    "rotation": {
                        "roll": 0.0015586616937071085,
                        "pitch": 0.15517506003379822,
                        "yaw": -179.70909118652344
                    }
                },
                "velocity": {
                    "x": -4.001155376434326,
                    "y": -0.007257326506078243,
                    "z": 0.020767154172062874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.515552043914795,
                "transform": {
                    "location": {
                        "x": 755.1239013671875,
                        "y": 4289.3037109375,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": 0.0026438154745846987,
                        "pitch": 0.274682879447937,
                        "yaw": 177.4391326904297
                    }
                },
                "velocity": {
                    "x": -7.508052349090576,
                    "y": 0.3326932191848755,
                    "z": 0.04461463913321495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195838928222656,
                "transform": {
                    "location": {
                        "x": 740.1083374023438,
                        "y": 4289.8408203125,
                        "z": 369.4577331542969
                    },
                    "rotation": {
                        "roll": 0.002593334298580885,
                        "pitch": 0.20786996185779572,
                        "yaw": 179.1290283203125
                    }
                },
                "velocity": {
                    "x": -8.194869041442871,
                    "y": 0.116941437125206,
                    "z": 0.047264497727155685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1729753017425537,
                "transform": {
                    "location": {
                        "x": 712.935302734375,
                        "y": 4290.1025390625,
                        "z": 369.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0030590954702347517,
                        "pitch": 0.37620678544044495,
                        "yaw": -179.97811889648438
                    }
                },
                "velocity": {
                    "x": -2.1729331016540527,
                    "y": -0.0026007541455328465,
                    "z": 0.013275489211082458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.184385299682617,
                "transform": {
                    "location": {
                        "x": 698.638427734375,
                        "y": 4290.193359375,
                        "z": 369.6867370605469
                    },
                    "rotation": {
                        "roll": 0.001704079331830144,
                        "pitch": 0.3631884455680847,
                        "yaw": -179.86141967773438
                    }
                },
                "velocity": {
                    "x": -5.184272289276123,
                    "y": -0.009416542947292328,
                    "z": 0.032933156937360764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0028167429845780134,
        "expert_target_speed": 1.144250480779379,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "55": {
        "acceleration": [
            -3.1777358055114746,
            0.02631060779094696,
            0.031339071691036224
        ],
        "angular_velocity": [
            -0.03486214578151703,
            0.8036783337593079,
            -0.8447662591934204
        ],
        "forward_vector": [
            -0.9999261498451233,
            0.006583212409168482,
            0.010214150883257389
        ],
        "right_vector": [
            -0.006583996117115021,
            -0.9999783039093018,
            -4.313905810704455e-05
        ],
        "location": [
            732.9618530273438,
            4286.78466796875,
            369.4892578125
        ],
        "rotation": [
            0.00247181486338377,
            0.5852379202842712,
            179.62278747558594
        ],
        "velocity": [
            -0.959107518196106,
            0.008247638121247292,
            0.006035652011632919
        ],
        "speed": 0.9591429794326145,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.100826263427734,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                673.7300415039062,
                4296.96240234375,
                369.8295593261719
            ],
            "velocity": [
                7.9587554931640625,
                -0.014792134054005146,
                -0.04299904406070709
            ],
            "speed_kmh": 28.6519874206984,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.958885192871094,
                "transform": {
                    "location": {
                        "x": 673.7300415039062,
                        "y": 4296.96240234375,
                        "z": 369.8295593261719
                    },
                    "rotation": {
                        "roll": 0.0005791570292785764,
                        "pitch": -0.30823275446891785,
                        "yaw": -0.037078857421875
                    }
                },
                "velocity": {
                    "x": 7.9587554931640625,
                    "y": -0.014792134054005146,
                    "z": -0.04299904406070709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064675331115723,
                "transform": {
                    "location": {
                        "x": 674.0341796875,
                        "y": 4293.712890625,
                        "z": 369.8372497558594
                    },
                    "rotation": {
                        "roll": 0.014741482213139534,
                        "pitch": -0.32040414214134216,
                        "yaw": -0.0509033128619194
                    }
                },
                "velocity": {
                    "x": 8.06453800201416,
                    "y": -0.014977553859353065,
                    "z": -0.04471491277217865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7280324101448059,
                "transform": {
                    "location": {
                        "x": 756.8338623046875,
                        "y": 4285.97607421875,
                        "z": 369.3484191894531
                    },
                    "rotation": {
                        "roll": 0.0029678484424948692,
                        "pitch": 0.3376777172088623,
                        "yaw": 177.3728790283203
                    }
                },
                "velocity": {
                    "x": -0.7273529767990112,
                    "y": 0.031191224232316017,
                    "z": 0.003998746629804373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9059060215950012,
                "transform": {
                    "location": {
                        "x": 744.2117919921875,
                        "y": 4286.53076171875,
                        "z": 369.434326171875
                    },
                    "rotation": {
                        "roll": 0.011613784357905388,
                        "pitch": 0.12124267965555191,
                        "yaw": 178.6624755859375
                    }
                },
                "velocity": {
                    "x": -0.9057453870773315,
                    "y": 0.016072357073426247,
                    "z": 0.005715026520192623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.821290493011475,
                "transform": {
                    "location": {
                        "x": 708.1426391601562,
                        "y": 4286.85400390625,
                        "z": 369.63592529296875
                    },
                    "rotation": {
                        "roll": 0.015253432095050812,
                        "pitch": -0.015135698020458221,
                        "yaw": 179.91363525390625
                    }
                },
                "velocity": {
                    "x": -5.821171283721924,
                    "y": 0.013878312893211842,
                    "z": 0.034577321261167526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.310060977935791,
                "transform": {
                    "location": {
                        "x": 694.8157958984375,
                        "y": 4286.939453125,
                        "z": 369.75103759765625
                    },
                    "rotation": {
                        "roll": 0.004593972582370043,
                        "pitch": 0.20243996381759644,
                        "yaw": -179.8207550048828
                    }
                },
                "velocity": {
                    "x": -3.3100008964538574,
                    "y": 0.007281843107193708,
                    "z": 0.01854472979903221
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.182641983032227,
                "transform": {
                    "location": {
                        "x": 753.1724853515625,
                        "y": 4289.38818359375,
                        "z": 369.38092041015625
                    },
                    "rotation": {
                        "roll": 0.009082003496587276,
                        "pitch": 0.27784526348114014,
                        "yaw": 177.53118896484375
                    }
                },
                "velocity": {
                    "x": -8.176149368286133,
                    "y": 0.32254353165626526,
                    "z": 0.04672471806406975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.148000717163086,
                "transform": {
                    "location": {
                        "x": 737.9338989257812,
                        "y": 4289.87060546875,
                        "z": 369.4701843261719
                    },
                    "rotation": {
                        "roll": 0.009978070855140686,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.23463439941406
                    }
                },
                "velocity": {
                    "x": -9.147330284118652,
                    "y": 0.09730372577905655,
                    "z": 0.05285564437508583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.345181941986084,
                "transform": {
                    "location": {
                        "x": 712.3787231445312,
                        "y": 4290.10302734375,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001913300366140902,
                        "pitch": 0.36709532141685486,
                        "yaw": -179.95449829101562
                    }
                },
                "velocity": {
                    "x": -2.345134735107422,
                    "y": -0.004080724902451038,
                    "z": 0.014307918027043343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.384279727935791,
                "transform": {
                    "location": {
                        "x": 697.3192138671875,
                        "y": 4290.19140625,
                        "z": 369.6946105957031
                    },
                    "rotation": {
                        "roll": 0.002316082362085581,
                        "pitch": 0.34209683537483215,
                        "yaw": -179.86766052246094
                    }
                },
                "velocity": {
                    "x": -5.384188175201416,
                    "y": -0.009405352175235748,
                    "z": 0.029984435066580772
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0025186873972415924,
        "expert_target_speed": 2.1066049175267967,
        "target_point": [
            51.42562869550647,
            0.03483266753148273
        ],
        "target_point_next": [
            102.425594577294,
            0.06881623766832357
        ]
    },
    "60": {
        "acceleration": [
            -3.614780902862549,
            0.05420910194516182,
            0.045553967356681824
        ],
        "angular_velocity": [
            -0.03742248937487602,
            0.17651519179344177,
            0.8920149803161621
        ],
        "forward_vector": [
            -0.9999041557312012,
            0.007758180610835552,
            0.011465654708445072
        ],
        "right_vector": [
            -0.007759750355035067,
            -0.9999698996543884,
            -9.244438115274534e-05
        ],
        "location": [
            732.6311645507812,
            4286.7880859375,
            369.4908447265625
        ],
        "rotation": [
            0.005297021009027958,
            0.6569480299949646,
            179.55545043945312
        ],
        "velocity": [
            -1.693611979484558,
            0.018105467781424522,
            0.010120048187673092
        ],
        "speed": 1.6937087544844265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.72689437866211,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                675.80810546875,
                4296.9580078125,
                369.818115234375
            ],
            "velocity": [
                8.324883460998535,
                -0.023175885900855064,
                -0.04457534849643707
            ],
            "speed_kmh": 29.970126210023505,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.325035095214844,
                "transform": {
                    "location": {
                        "x": 675.80810546875,
                        "y": 4296.9580078125,
                        "z": 369.818115234375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.30700331926345825,
                        "yaw": -0.141082763671875
                    }
                },
                "velocity": {
                    "x": 8.324883460998535,
                    "y": -0.023175885900855064,
                    "z": -0.04457534849643707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.291574478149414,
                "transform": {
                    "location": {
                        "x": 676.079833984375,
                        "y": 4293.70849609375,
                        "z": 369.8258972167969
                    },
                    "rotation": {
                        "roll": 0.006153893191367388,
                        "pitch": -0.31582111120224,
                        "yaw": -0.15765380859375
                    }
                },
                "velocity": {
                    "x": 8.291412353515625,
                    "y": -0.02429223246872425,
                    "z": -0.04592520743608475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.485896110534668,
                "transform": {
                    "location": {
                        "x": 756.5612182617188,
                        "y": 4285.98828125,
                        "z": 369.34979248046875
                    },
                    "rotation": {
                        "roll": 0.00259631616063416,
                        "pitch": 0.3694312572479248,
                        "yaw": 177.3610076904297
                    }
                },
                "velocity": {
                    "x": -1.4844251871109009,
                    "y": 0.06558722257614136,
                    "z": 0.008195200003683567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7343705892562866,
                "transform": {
                    "location": {
                        "x": 743.9050903320312,
                        "y": 4286.53662109375,
                        "z": 369.4328918457031
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": 0.5288273692131042,
                        "yaw": 178.7755126953125
                    }
                },
                "velocity": {
                    "x": -1.734129548072815,
                    "y": 0.027332177385687828,
                    "z": 0.009427547454833984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01837300695478916,
                "transform": {
                    "location": {
                        "x": 707.4540405273438,
                        "y": 4286.85302734375,
                        "z": 369.6448669433594
                    },
                    "rotation": {
                        "roll": -0.031341552734375,
                        "pitch": -1.398836374282837,
                        "yaw": 179.6298065185547
                    }
                },
                "velocity": {
                    "x": -0.017638644203543663,
                    "y": -0.004975725430995226,
                    "z": -0.0012991541298106313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.59899377822876,
                "transform": {
                    "location": {
                        "x": 693.8187255859375,
                        "y": 4286.9404296875,
                        "z": 369.7549133300781
                    },
                    "rotation": {
                        "roll": 0.004147262312471867,
                        "pitch": 0.40840432047843933,
                        "yaw": -179.95541381835938
                    }
                },
                "velocity": {
                    "x": -4.59890604019165,
                    "y": 0.011419336311519146,
                    "z": 0.0260136891156435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.981466293334961,
                "transform": {
                    "location": {
                        "x": 751.0265502929688,
                        "y": 4289.47314453125,
                        "z": 369.39361572265625
                    },
                    "rotation": {
                        "roll": 0.004459237214177847,
                        "pitch": 0.24990977346897125,
                        "yaw": 177.71923828125
                    }
                },
                "velocity": {
                    "x": -8.974641799926758,
                    "y": 0.3460603654384613,
                    "z": 0.05271494761109352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.969143867492676,
                "transform": {
                    "location": {
                        "x": 735.5403442382812,
                        "y": 4289.8955078125,
                        "z": 369.484130859375
                    },
                    "rotation": {
                        "roll": 0.0034904177300632,
                        "pitch": 0.24368064105510712,
                        "yaw": 179.39122009277344
                    }
                },
                "velocity": {
                    "x": -9.968490600585938,
                    "y": 0.09872545301914215,
                    "z": 0.05723952129483223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.453361749649048,
                "transform": {
                    "location": {
                        "x": 711.6644897460938,
                        "y": 4290.1015625,
                        "z": 369.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0026039239019155502,
                        "pitch": 0.4303770363330841,
                        "yaw": -179.94654846191406
                    }
                },
                "velocity": {
                    "x": -3.453301429748535,
                    "y": -0.004772179294377565,
                    "z": 0.019817542284727097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.976630210876465,
                "transform": {
                    "location": {
                        "x": 695.8699340820312,
                        "y": 4290.18896484375,
                        "z": 369.7027893066406
                    },
                    "rotation": {
                        "roll": 0.0033772254828363657,
                        "pitch": 0.346386194229126,
                        "yaw": -179.93429565429688
                    }
                },
                "velocity": {
                    "x": -5.976533889770508,
                    "y": -0.0019768928177654743,
                    "z": 0.033911313861608505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0056205554865300655,
        "expert_target_speed": 2.82417604999655,
        "target_point": [
            51.09484718696912,
            0.09613070858536948
        ],
        "target_point_next": [
            102.09473789425589,
            0.19005978468445162
        ]
    },
    "65": {
        "acceleration": [
            -4.483776092529297,
            -0.1204652339220047,
            0.02198353409767151
        ],
        "angular_velocity": [
            -0.10708879679441452,
            0.4444993734359741,
            -0.5849195718765259
        ],
        "forward_vector": [
            -0.9998887777328491,
            0.008449682034552097,
            0.012289690785109997
        ],
        "right_vector": [
            -0.008450077846646309,
            -0.9999642968177795,
            1.970589619304519e-05
        ],
        "location": [
            732.1052856445312,
            4286.79296875,
            369.4938049316406
        ],
        "rotation": [
            -0.0011291499249637127,
            0.7041651606559753,
            179.5158233642578
        ],
        "velocity": [
            -2.5808236598968506,
            0.019517933949828148,
            0.014575013890862465
        ],
        "speed": 2.5808974627499333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.22563171386719,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                677.8229370117188,
                4296.95166015625,
                369.80712890625
            ],
            "velocity": [
                7.872648239135742,
                -0.03162769973278046,
                -0.04466792941093445
            ],
            "speed_kmh": 28.342218550933527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.872838497161865,
                "transform": {
                    "location": {
                        "x": 677.8229370117188,
                        "y": 4296.95166015625,
                        "z": 369.80712890625
                    },
                    "rotation": {
                        "roll": 0.0006867855554446578,
                        "pitch": -0.32592979073524475,
                        "yaw": -0.2002563327550888
                    }
                },
                "velocity": {
                    "x": 7.872648239135742,
                    "y": -0.03162769973278046,
                    "z": -0.04466792941093445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073862075805664,
                "transform": {
                    "location": {
                        "x": 678.124267578125,
                        "y": 4293.70166015625,
                        "z": 369.81463623046875
                    },
                    "rotation": {
                        "roll": 0.0068736751563847065,
                        "pitch": -0.32211169600486755,
                        "yaw": -0.227630615234375
                    }
                },
                "velocity": {
                    "x": 8.073659896850586,
                    "y": -0.03544646501541138,
                    "z": -0.0448586642742157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1546475887298584,
                "transform": {
                    "location": {
                        "x": 756.0968627929688,
                        "y": 4286.0087890625,
                        "z": 369.3525695800781
                    },
                    "rotation": {
                        "roll": 0.0028540887869894505,
                        "pitch": 0.37044212222099304,
                        "yaw": 177.3863525390625
                    }
                },
                "velocity": {
                    "x": -2.152512311935425,
                    "y": 0.09495271742343903,
                    "z": 0.013435096479952335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3513186275959015,
                "transform": {
                    "location": {
                        "x": 743.4358520507812,
                        "y": 4286.5458984375,
                        "z": 369.4369201660156
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.36829742789268494,
                        "yaw": 179.02871704101562
                    }
                },
                "velocity": {
                    "x": -0.35115763545036316,
                    "y": 0.010398355312645435,
                    "z": 0.0022302151191979647
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.121898889541626,
                "transform": {
                    "location": {
                        "x": 707.3109130859375,
                        "y": 4286.853515625,
                        "z": 369.6416320800781
                    },
                    "rotation": {
                        "roll": -0.007202148903161287,
                        "pitch": -0.3099949359893799,
                        "yaw": 179.66709899902344
                    }
                },
                "velocity": {
                    "x": -1.1218732595443726,
                    "y": 0.002913128584623337,
                    "z": 0.007006626110523939
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.503878116607666,
                "transform": {
                    "location": {
                        "x": 692.6315307617188,
                        "y": 4286.94287109375,
                        "z": 369.7622985839844
                    },
                    "rotation": {
                        "roll": 0.002288318471983075,
                        "pitch": 0.3479229807853699,
                        "yaw": 179.94903564453125
                    }
                },
                "velocity": {
                    "x": -4.503789901733398,
                    "y": 0.012032697908580303,
                    "z": 0.025490837171673775
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.885249137878418,
                "transform": {
                    "location": {
                        "x": 748.6630859375,
                        "y": 4289.564453125,
                        "z": 369.40753173828125
                    },
                    "rotation": {
                        "roll": 0.0005207762005738914,
                        "pitch": 0.244807630777359,
                        "yaw": 177.78604125976562
                    }
                },
                "velocity": {
                    "x": -9.877784729003906,
                    "y": 0.3797614276409149,
                    "z": 0.057493992149829865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.163617134094238,
                "transform": {
                    "location": {
                        "x": 732.9793090820312,
                        "y": 4289.919921875,
                        "z": 369.4985046386719
                    },
                    "rotation": {
                        "roll": 0.005633451975882053,
                        "pitch": 0.3015938103199005,
                        "yaw": 179.47360229492188
                    }
                },
                "velocity": {
                    "x": -10.163130760192871,
                    "y": 0.07897388935089111,
                    "z": 0.06041037291288376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.774946689605713,
                "transform": {
                    "location": {
                        "x": 710.6270751953125,
                        "y": 4290.1005859375,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": 0.008046934381127357,
                        "pitch": 0.4704838991165161,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -4.774855136871338,
                    "y": 0.010333729907870293,
                    "z": 0.02769923210144043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52582,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.366565227508545,
                "transform": {
                    "location": {
                        "x": 694.4514770507812,
                        "y": 4290.18896484375,
                        "z": 369.71112060546875
                    },
                    "rotation": {
                        "roll": 0.0022456746082752943,
                        "pitch": 0.3152678608894348,
                        "yaw": 179.9525604248047
                    }
                },
                "velocity": {
                    "x": -5.366468906402588,
                    "y": 0.008229169994592667,
                    "z": 0.031037472188472748
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007077937945723534,
        "expert_target_speed": 3.692167039469528,
        "target_point": [
            50.56886705383252,
            0.1319214865412865
        ],
        "target_point_next": [
            101.5686805653199,
            0.2611368882680838
        ]
    },
    "70": {
        "acceleration": [
            -5.295681953430176,
            -0.006761718541383743,
            0.03668650984764099
        ],
        "angular_velocity": [
            -0.0163339301943779,
            0.4829486608505249,
            0.4934910237789154
        ],
        "forward_vector": [
            -0.9998669028282166,
            0.006878911983221769,
            0.01479309517890215
        ],
        "right_vector": [
            -0.006875756662338972,
            -0.9999762773513794,
            0.00026415660977363586
        ],
        "location": [
            731.2904663085938,
            4286.796875,
            369.49798583984375
        ],
        "rotation": [
            -0.015136714093387127,
            0.8476127982139587,
            179.60581970214844
        ],
        "velocity": [
            -3.903461456298828,
            0.015281886793673038,
            0.022632846608757973
        ],
        "speed": 3.903491370154998,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.46379089355469,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                679.8180541992188,
                4296.943359375,
                369.7958984375
            ],
            "velocity": [
                8.147318840026855,
                -0.03870652616024017,
                -0.04488031938672066
            ],
            "speed_kmh": 29.33112382234999,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.147534370422363,
                "transform": {
                    "location": {
                        "x": 679.8180541992188,
                        "y": 4296.943359375,
                        "z": 369.7958984375
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.3182389736175537,
                        "yaw": -0.25628662109375
                    }
                },
                "velocity": {
                    "x": 8.147318840026855,
                    "y": -0.03870652616024017,
                    "z": -0.04488031938672066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.300421714782715,
                "transform": {
                    "location": {
                        "x": 680.1722412109375,
                        "y": 4293.6923828125,
                        "z": 369.8031311035156
                    },
                    "rotation": {
                        "roll": 0.0021366102155297995,
                        "pitch": -0.3199123740196228,
                        "yaw": -0.276458740234375
                    }
                },
                "velocity": {
                    "x": 8.300199508666992,
                    "y": -0.03962762653827667,
                    "z": -0.04599533602595329
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8966481685638428,
                "transform": {
                    "location": {
                        "x": 755.6063842773438,
                        "y": 4286.03076171875,
                        "z": 369.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0017174712847918272,
                        "pitch": 0.3467208743095398,
                        "yaw": 177.40847778320312
                    }
                },
                "velocity": {
                    "x": -1.8947761058807373,
                    "y": 0.08347246050834656,
                    "z": 0.011409101076424122
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.477864146232605,
                "transform": {
                    "location": {
                        "x": 743.2438354492188,
                        "y": 4286.548828125,
                        "z": 369.43902587890625
                    },
                    "rotation": {
                        "roll": 0.001342450617812574,
                        "pitch": 0.25107091665267944,
                        "yaw": 179.01780700683594
                    }
                },
                "velocity": {
                    "x": -1.4776874780654907,
                    "y": 0.021141357719898224,
                    "z": 0.008651056326925755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9168622493743896,
                "transform": {
                    "location": {
                        "x": 706.9266967773438,
                        "y": 4286.85498046875,
                        "z": 369.6414794921875
                    },
                    "rotation": {
                        "roll": -0.004028319381177425,
                        "pitch": 0.3748885691165924,
                        "yaw": 179.6851348876953
                    }
                },
                "velocity": {
                    "x": -1.9168223142623901,
                    "y": 0.006825766526162624,
                    "z": 0.010339651256799698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.909850120544434,
                "transform": {
                    "location": {
                        "x": 691.4926147460938,
                        "y": 4286.9462890625,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": 0.0029311280231922865,
                        "pitch": 0.3582229018211365,
                        "yaw": 179.89962768554688
                    }
                },
                "velocity": {
                    "x": -4.909759521484375,
                    "y": 0.013420877046883106,
                    "z": 0.02670445293188095
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.524951934814453,
                "transform": {
                    "location": {
                        "x": 746.1968383789062,
                        "y": 4289.64599609375,
                        "z": 369.4210205078125
                    },
                    "rotation": {
                        "roll": 0.01035089511424303,
                        "pitch": 0.34246566891670227,
                        "yaw": 178.13043212890625
                    }
                },
                "velocity": {
                    "x": -9.520383834838867,
                    "y": 0.2896159589290619,
                    "z": 0.05596037581562996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.230179786682129,
                "transform": {
                    "location": {
                        "x": 730.5696411132812,
                        "y": 4289.9384765625,
                        "z": 369.51177978515625
                    },
                    "rotation": {
                        "roll": 0.0014524721773341298,
                        "pitch": 0.397066205739975,
                        "yaw": 179.5673370361328
                    }
                },
                "velocity": {
                    "x": -9.229777336120605,
                    "y": 0.06640171259641647,
                    "z": 0.05486218258738518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341159343719482,
                "transform": {
                    "location": {
                        "x": 709.327392578125,
                        "y": 4290.1025390625,
                        "z": 369.6658020019531
                    },
                    "rotation": {
                        "roll": 0.003970598801970482,
                        "pitch": 0.4117306172847748,
                        "yaw": 179.99392700195312
                    }
                },
                "velocity": {
                    "x": -5.341063499450684,
                    "y": 0.011645819991827011,
                    "z": 0.029831932857632637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.403320550918579,
                "transform": {
                    "location": {
                        "x": 762.5869140625,
                        "y": 4288.9638671875,
                        "z": 369.6006164550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.38111087679862976,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -3.0723345279693604,
                    "y": 0.20554444193840027,
                    "z": -1.449518084526062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0032128910534083843,
        "expert_target_speed": 4.9593527349175615,
        "target_point": [
            49.75418498129115,
            0.050769443593115415
        ],
        "target_point_next": [
            100.75413856404813,
            0.0998549115538443
        ]
    },
    "75": {
        "acceleration": [
            -4.765825271606445,
            -0.03581950441002846,
            0.1411420851945877
        ],
        "angular_velocity": [
            -0.07221058011054993,
            0.010313526727259159,
            0.5935037732124329
        ],
        "forward_vector": [
            -0.9998699426651001,
            0.004561728797852993,
            0.01546714548021555
        ],
        "right_vector": [
            -0.004557471256703138,
            -0.9999895095825195,
            0.0003104873758275062
        ],
        "location": [
            730.15576171875,
            4286.80078125,
            369.5045166015625
        ],
        "rotation": [
            -0.0177917443215847,
            0.8862375020980835,
            179.7386016845703
        ],
        "velocity": [
            -5.111763000488281,
            0.009069639258086681,
            0.034176863729953766
        ],
        "speed": 5.111771046468848,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.3507194519043,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                681.8572998046875,
                4296.93359375,
                369.78448486328125
            ],
            "velocity": [
                8.081610679626465,
                -0.04015606269240379,
                -0.04541151970624924
            ],
            "speed_kmh": 29.09461689672834,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08183765411377,
                "transform": {
                    "location": {
                        "x": 681.8572998046875,
                        "y": 4296.93359375,
                        "z": 369.78448486328125
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.32037684321403503,
                        "yaw": -0.2763671576976776
                    }
                },
                "velocity": {
                    "x": 8.081610679626465,
                    "y": -0.04015606269240379,
                    "z": -0.04541151970624924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08341121673584,
                "transform": {
                    "location": {
                        "x": 682.2191162109375,
                        "y": 4293.6826171875,
                        "z": 369.7917785644531
                    },
                    "rotation": {
                        "roll": 0.0008284862851724029,
                        "pitch": -0.32306110858917236,
                        "yaw": -0.2910155653953552
                    }
                },
                "velocity": {
                    "x": 8.083175659179688,
                    "y": -0.042439449578523636,
                    "z": -0.044751133769750595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9155182838439941,
                "transform": {
                    "location": {
                        "x": 755.0960693359375,
                        "y": 4286.05322265625,
                        "z": 369.3588562011719
                    },
                    "rotation": {
                        "roll": 0.001460640225559473,
                        "pitch": 0.3484967350959778,
                        "yaw": 177.426025390625
                    }
                },
                "velocity": {
                    "x": -1.9136326313018799,
                    "y": 0.08403754234313965,
                    "z": 0.012583456002175808
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5984060764312744,
                "transform": {
                    "location": {
                        "x": 742.7154541015625,
                        "y": 4286.556640625,
                        "z": 369.4389343261719
                    },
                    "rotation": {
                        "roll": 0.0009845568565651774,
                        "pitch": 0.6517912745475769,
                        "yaw": 179.06663513183594
                    }
                },
                "velocity": {
                    "x": -2.5981059074401855,
                    "y": 0.036636292934417725,
                    "z": 0.014752883464097977
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.120297431945801,
                "transform": {
                    "location": {
                        "x": 706.2978515625,
                        "y": 4286.857421875,
                        "z": 369.64385986328125
                    },
                    "rotation": {
                        "roll": -0.0032348630484193563,
                        "pitch": 0.6973485946655273,
                        "yaw": 179.7232208251953
                    }
                },
                "velocity": {
                    "x": -3.1202261447906494,
                    "y": 0.01053764671087265,
                    "z": 0.01829443871974945
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.348317623138428,
                "transform": {
                    "location": {
                        "x": 690.1849975585938,
                        "y": 4286.94970703125,
                        "z": 369.7762756347656
                    },
                    "rotation": {
                        "roll": 0.003214901313185692,
                        "pitch": 0.3674983084201813,
                        "yaw": 179.72967529296875
                    }
                },
                "velocity": {
                    "x": -5.34818172454834,
                    "y": 0.023466547951102257,
                    "z": 0.03004263900220394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.702444076538086,
                "transform": {
                    "location": {
                        "x": 743.9426879882812,
                        "y": 4289.71484375,
                        "z": 369.43365478515625
                    },
                    "rotation": {
                        "roll": 0.0023992490023374557,
                        "pitch": 0.41020065546035767,
                        "yaw": 178.26161193847656
                    }
                },
                "velocity": {
                    "x": -8.69845962524414,
                    "y": 0.2580516040325165,
                    "z": 0.05241960287094116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.785801887512207,
                "transform": {
                    "location": {
                        "x": 728.404052734375,
                        "y": 4289.9541015625,
                        "z": 369.5240783691406
                    },
                    "rotation": {
                        "roll": 0.0009622974903322756,
                        "pitch": 0.444665789604187,
                        "yaw": 179.58792114257812
                    }
                },
                "velocity": {
                    "x": -7.7854905128479,
                    "y": 0.0531497448682785,
                    "z": 0.0449630431830883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.784947395324707,
                "transform": {
                    "location": {
                        "x": 707.9443359375,
                        "y": 4290.10595703125,
                        "z": 369.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0032203232403844595,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -5.7848381996154785,
                    "y": 0.011887063272297382,
                    "z": 0.033511266112327576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0141584873199463,
                "transform": {
                    "location": {
                        "x": 761.8308715820312,
                        "y": 4289.00732421875,
                        "z": 369.2779541015625
                    },
                    "rotation": {
                        "roll": -0.028167715296149254,
                        "pitch": 0.3661527633666992,
                        "yaw": 176.4002227783203
                    }
                },
                "velocity": {
                    "x": -3.0102858543395996,
                    "y": 0.15179120004177094,
                    "z": -0.017027320340275764
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005055408459156752,
        "expert_target_speed": 6.075600726789522,
        "target_point": [
            48.619458431387535,
            -0.06580252949089269
        ],
        "target_point_next": [
            99.61938881917615,
            -0.13490583801156603
        ]
    },
    "80": {
        "acceleration": [
            0.15338897705078125,
            0.014119800180196762,
            -0.006113797426223755
        ],
        "angular_velocity": [
            0.026716133579611778,
            -1.2589712142944336,
            -0.10568729788064957
        ],
        "forward_vector": [
            -0.9999332427978516,
            0.00313658663071692,
            0.011119850911200047
        ],
        "right_vector": [
            -0.00313546578399837,
            -0.9999950528144836,
            0.00011823703243862838
        ],
        "location": [
            728.82568359375,
            4286.8046875,
            369.5133056640625
        ],
        "rotation": [
            -0.006774901412427425,
            0.6371336579322815,
            179.82028198242188
        ],
        "velocity": [
            -5.336824417114258,
            0.012254412285983562,
            0.03257003799080849
        ],
        "speed": 5.336838486381934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.0877685546875,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                683.86328125,
                4296.923828125,
                369.7732849121094
            ],
            "velocity": [
                8.024161338806152,
                -0.04387552663683891,
                -0.044807035475969315
            ],
            "speed_kmh": 28.88786300659854,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.024406433105469,
                "transform": {
                    "location": {
                        "x": 683.86328125,
                        "y": 4296.923828125,
                        "z": 369.7732849121094
                    },
                    "rotation": {
                        "roll": -9.15526325115934e-05,
                        "pitch": -0.3242495656013489,
                        "yaw": -0.3019409477710724
                    }
                },
                "velocity": {
                    "x": 8.024161338806152,
                    "y": -0.04387552663683891,
                    "z": -0.044807035475969315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.310270309448242,
                "transform": {
                    "location": {
                        "x": 684.26953125,
                        "y": 4293.67138671875,
                        "z": 369.78021240234375
                    },
                    "rotation": {
                        "roll": 0.0019362495513632894,
                        "pitch": -0.3216540813446045,
                        "yaw": -0.312591552734375
                    }
                },
                "velocity": {
                    "x": 8.310018539428711,
                    "y": -0.045339878648519516,
                    "z": -0.04618365690112114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.043003797531128,
                "transform": {
                    "location": {
                        "x": 754.6350708007812,
                        "y": 4286.07373046875,
                        "z": 369.36175537109375
                    },
                    "rotation": {
                        "roll": 0.002333621494472027,
                        "pitch": 0.3451157808303833,
                        "yaw": 177.4392547607422
                    }
                },
                "velocity": {
                    "x": -2.0410079956054688,
                    "y": 0.08954672515392303,
                    "z": 0.011495151557028294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.173911094665527,
                "transform": {
                    "location": {
                        "x": 741.8972778320312,
                        "y": 4286.568359375,
                        "z": 369.44329833984375
                    },
                    "rotation": {
                        "roll": 0.0002995094400830567,
                        "pitch": 0.6957367062568665,
                        "yaw": 179.11343383789062
                    }
                },
                "velocity": {
                    "x": -4.173430442810059,
                    "y": 0.05870646983385086,
                    "z": 0.02378665842115879
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.513840675354004,
                "transform": {
                    "location": {
                        "x": 705.3289794921875,
                        "y": 4286.861328125,
                        "z": 369.6488342285156
                    },
                    "rotation": {
                        "roll": 0.002595535246655345,
                        "pitch": 0.8815383315086365,
                        "yaw": 179.73495483398438
                    }
                },
                "velocity": {
                    "x": -4.513718605041504,
                    "y": 0.020799526944756508,
                    "z": 0.025883693248033524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.125038146972656,
                "transform": {
                    "location": {
                        "x": 688.7974853515625,
                        "y": 4286.955078125,
                        "z": 369.783935546875
                    },
                    "rotation": {
                        "roll": 0.0018817064119502902,
                        "pitch": 0.38027074933052063,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -6.124874591827393,
                    "y": 0.02888767421245575,
                    "z": 0.03417984023690224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.775326251983643,
                "transform": {
                    "location": {
                        "x": 742.1810913085938,
                        "y": 4289.75830078125,
                        "z": 369.44281005859375
                    },
                    "rotation": {
                        "roll": 0.006719007156789303,
                        "pitch": 0.5701841711997986,
                        "yaw": 178.59051513671875
                    }
                },
                "velocity": {
                    "x": -5.773961544036865,
                    "y": 0.12094729393720627,
                    "z": 0.03365305811166763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.20233154296875,
                "transform": {
                    "location": {
                        "x": 726.7455444335938,
                        "y": 4289.96533203125,
                        "z": 369.5333557128906
                    },
                    "rotation": {
                        "roll": 0.0002062624116661027,
                        "pitch": 0.47865962982177734,
                        "yaw": 179.5946502685547
                    }
                },
                "velocity": {
                    "x": -6.202080726623535,
                    "y": 0.041769854724407196,
                    "z": 0.03703147917985916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.23661994934082,
                "transform": {
                    "location": {
                        "x": 706.11279296875,
                        "y": 4290.10986328125,
                        "z": 369.6832580566406
                    },
                    "rotation": {
                        "roll": 0.003220394952222705,
                        "pitch": 0.5364293456077576,
                        "yaw": 179.88633728027344
                    }
                },
                "velocity": {
                    "x": -8.23646068572998,
                    "y": 0.020548641681671143,
                    "z": 0.04693760722875595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9984726905822754,
                "transform": {
                    "location": {
                        "x": 761.0867919921875,
                        "y": 4289.04443359375,
                        "z": 369.3131103515625
                    },
                    "rotation": {
                        "roll": -0.010009766556322575,
                        "pitch": 0.3730785846710205,
                        "yaw": 176.73118591308594
                    }
                },
                "velocity": {
                    "x": -2.9925529956817627,
                    "y": 0.14431744813919067,
                    "z": 0.12098599970340729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007536998949944973,
        "expert_target_speed": 6.283624151303201,
        "target_point": [
            47.28923142841289,
            -0.1353638290446264
        ],
        "target_point_next": [
            98.28901152540965,
            -0.2771555231113268
        ]
    },
    "85": {
        "acceleration": [
            -4.5352935791015625,
            -0.003405120223760605,
            0.013918355107307434
        ],
        "angular_velocity": [
            -0.12314319610595703,
            0.6138542294502258,
            2.48193359375
        ],
        "forward_vector": [
            -0.9998849630355835,
            0.00208345428109169,
            0.015025168657302856
        ],
        "right_vector": [
            -0.002082417020574212,
            -0.9999978542327881,
            8.467895531794056e-05
        ],
        "location": [
            727.2992553710938,
            4286.80859375,
            369.52142333984375
        ],
        "rotation": [
            -0.004852294456213713,
            0.8609111309051514,
            179.880615234375
        ],
        "velocity": [
            -6.902898788452148,
            0.013015351258218288,
            0.03932270035147667
        ],
        "speed": 6.902911058602922,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.634117126464844,
        "front_vehicle_info": {
            "id": 52591,
            "type": "vehicle.ford.mustang",
            "location": [
                685.8803100585938,
                4296.912109375,
                369.7618713378906
            ],
            "velocity": [
                8.09393310546875,
                -0.04447481408715248,
                -0.04469660669565201
            ],
            "speed_kmh": 29.139043338681763,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094179153442383,
                "transform": {
                    "location": {
                        "x": 685.8803100585938,
                        "y": 4296.912109375,
                        "z": 369.7618713378906
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": -0.3224737048149109,
                        "yaw": -0.3151550889015198
                    }
                },
                "velocity": {
                    "x": 8.09393310546875,
                    "y": -0.04447481408715248,
                    "z": -0.04469660669565201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093159675598145,
                "transform": {
                    "location": {
                        "x": 686.3187255859375,
                        "y": 4293.65966796875,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": 1.4896882930770516e-05,
                        "pitch": -0.3275758624076843,
                        "yaw": -0.3206786811351776
                    }
                },
                "velocity": {
                    "x": 8.092904090881348,
                    "y": -0.04599607735872269,
                    "z": -0.044966280460357666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6741262674331665,
                "transform": {
                    "location": {
                        "x": 754.1549682617188,
                        "y": 4286.0947265625,
                        "z": 369.36468505859375
                    },
                    "rotation": {
                        "roll": 0.0013620784739032388,
                        "pitch": 0.3372337520122528,
                        "yaw": 177.4480743408203
                    }
                },
                "velocity": {
                    "x": -1.6724854707717896,
                    "y": 0.0735255777835846,
                    "z": 0.009238853119313717
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.568631649017334,
                "transform": {
                    "location": {
                        "x": 740.657470703125,
                        "y": 4286.5859375,
                        "z": 369.451171875
                    },
                    "rotation": {
                        "roll": 0.001188803929835558,
                        "pitch": 0.6477682590484619,
                        "yaw": 179.1585693359375
                    }
                },
                "velocity": {
                    "x": -4.568115711212158,
                    "y": 0.06372088938951492,
                    "z": 0.02553260698914528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.346894264221191,
                "transform": {
                    "location": {
                        "x": 704.05419921875,
                        "y": 4286.8671875,
                        "z": 369.6566467285156
                    },
                    "rotation": {
                        "roll": 0.000273843586910516,
                        "pitch": 0.8224161863327026,
                        "yaw": 179.7310028076172
                    }
                },
                "velocity": {
                    "x": -5.346743583679199,
                    "y": 0.02414509654045105,
                    "z": 0.032036084681749344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.890381813049316,
                "transform": {
                    "location": {
                        "x": 686.9467163085938,
                        "y": 4286.96435546875,
                        "z": 369.79339599609375
                    },
                    "rotation": {
                        "roll": 0.0007964363903738558,
                        "pitch": 0.4901002049446106,
                        "yaw": 179.69541931152344
                    }
                },
                "velocity": {
                    "x": -7.890168190002441,
                    "y": 0.03772902116179466,
                    "z": 0.04413113370537758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.244978904724121,
                "transform": {
                    "location": {
                        "x": 740.8395385742188,
                        "y": 4289.787109375,
                        "z": 369.4518127441406
                    },
                    "rotation": {
                        "roll": 0.0010394507553428411,
                        "pitch": 0.4181714653968811,
                        "yaw": 178.6875
                    }
                },
                "velocity": {
                    "x": -5.243724346160889,
                    "y": 0.1108338013291359,
                    "z": 0.029547985643148422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.470481872558594,
                "transform": {
                    "location": {
                        "x": 725.1798095703125,
                        "y": 4289.9755859375,
                        "z": 369.5437316894531
                    },
                    "rotation": {
                        "roll": 0.00035837694304063916,
                        "pitch": 0.3315168619155884,
                        "yaw": 179.6389923095703
                    }
                },
                "velocity": {
                    "x": -6.4702324867248535,
                    "y": 0.04308962821960449,
                    "z": 0.03701058402657509
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.11595344543457,
                "transform": {
                    "location": {
                        "x": 704.0377807617188,
                        "y": 4290.11669921875,
                        "z": 369.69659423828125
                    },
                    "rotation": {
                        "roll": 0.0049256496131420135,
                        "pitch": 0.3801341652870178,
                        "yaw": 179.79632568359375
                    }
                },
                "velocity": {
                    "x": -8.115739822387695,
                    "y": 0.03381727263331413,
                    "z": 0.048205241560935974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.099625110626221,
                "transform": {
                    "location": {
                        "x": 760.2171630859375,
                        "y": 4289.08544921875,
                        "z": 369.3314514160156
                    },
                    "rotation": {
                        "roll": -0.006469726096838713,
                        "pitch": 0.5402201414108276,
                        "yaw": 177.00155639648438
                    }
                },
                "velocity": {
                    "x": -4.094917297363281,
                    "y": 0.1905803084373474,
                    "z": 0.04749732092022896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01700294204056263,
        "expert_target_speed": 7.611947015419616,
        "target_point": [
            45.76262956317459,
            -0.18444881435315869
        ],
        "target_point_next": [
            96.76223201388244,
            -0.3799601856012197
        ]
    },
    "90": {
        "acceleration": [
            -5.005483627319336,
            -0.025466307997703552,
            0.016739144921302795
        ],
        "angular_velocity": [
            0.07581014931201935,
            0.035642124712467194,
            -2.0244674682617188
        ],
        "forward_vector": [
            -0.9998748898506165,
            0.0017666134517639875,
            0.0157205518335104
        ],
        "right_vector": [
            -0.0017651570960879326,
            -0.9999984502792358,
            0.00010651328193489462
        ],
        "location": [
            725.4141235351562,
            4286.81201171875,
            369.53216552734375
        ],
        "rotation": [
            -0.006103515625,
            0.9007584452629089,
            179.89877319335938
        ],
        "velocity": [
            -8.13434886932373,
            0.010181872174143791,
            0.04609678313136101
        ],
        "speed": 8.134355241713337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.762861251831055,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                702.6517333984375,
                4286.87353515625,
                369.66497802734375
            ],
            "velocity": [
                -6.425415515899658,
                0.029988229274749756,
                0.03651363402605057
            ],
            "speed_kmh": 23.13212126683635,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 646.7236328125,
                        "y": 4297.044921875,
                        "z": 370.0564880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 647.1209716796875,
                        "y": 4293.79248046875,
                        "z": 370.0472717285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071497917175293,
                "transform": {
                    "location": {
                        "x": 687.90234375,
                        "y": 4296.900390625,
                        "z": 369.75048828125
                    },
                    "rotation": {
                        "roll": 2.7137346478411928e-05,
                        "pitch": -0.3248301148414612,
                        "yaw": -0.3214111328125
                    }
                },
                "velocity": {
                    "x": 8.071245193481445,
                    "y": -0.04523536190390587,
                    "z": -0.04521884396672249
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.320383071899414,
                "transform": {
                    "location": {
                        "x": 688.3714599609375,
                        "y": 4293.64794921875,
                        "z": 369.75701904296875
                    },
                    "rotation": {
                        "roll": 0.0014687853399664164,
                        "pitch": -0.3234845697879791,
                        "yaw": -0.3313293755054474
                    }
                },
                "velocity": {
                    "x": 8.320116996765137,
                    "y": -0.04804524406790733,
                    "z": -0.04600590467453003
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.211310863494873,
                "transform": {
                    "location": {
                        "x": 753.673095703125,
                        "y": 4286.11572265625,
                        "z": 369.3674011230469
                    },
                    "rotation": {
                        "roll": 0.000824132701382041,
                        "pitch": 0.34843525290489197,
                        "yaw": 177.4670867919922
                    }
                },
                "velocity": {
                    "x": -2.2095417976379395,
                    "y": 0.08757667988538742,
                    "z": 0.012315644882619381
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5207207798957825,
                "transform": {
                    "location": {
                        "x": 740.2838745117188,
                        "y": 4286.59130859375,
                        "z": 369.4638671875
                    },
                    "rotation": {
                        "roll": 0.004450215492397547,
                        "pitch": -0.6747133731842041,
                        "yaw": 179.1787109375
                    }
                },
                "velocity": {
                    "x": -0.5206639766693115,
                    "y": 0.007340623065829277,
                    "z": 0.0022948170080780983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.425589561462402,
                "transform": {
                    "location": {
                        "x": 702.6517333984375,
                        "y": 4286.87353515625,
                        "z": 369.66497802734375
                    },
                    "rotation": {
                        "roll": 0.0015738594811409712,
                        "pitch": 0.7707526683807373,
                        "yaw": 179.73495483398438
                    }
                },
                "velocity": {
                    "x": -6.425415515899658,
                    "y": 0.029988229274749756,
                    "z": 0.03651363402605057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053351402282715,
                "transform": {
                    "location": {
                        "x": 684.9620971679688,
                        "y": 4286.97412109375,
                        "z": 369.8055725097656
                    },
                    "rotation": {
                        "roll": 0.0016131455777212977,
                        "pitch": 0.37546229362487793,
                        "yaw": 179.7166748046875
                    }
                },
                "velocity": {
                    "x": -8.053119659423828,
                    "y": 0.041719190776348114,
                    "z": 0.04465224966406822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.653099060058594,
                "transform": {
                    "location": {
                        "x": 739.4866943359375,
                        "y": 4289.81591796875,
                        "z": 369.46051025390625
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.3057670593261719,
                        "yaw": 178.79014587402344
                    }
                },
                "velocity": {
                    "x": -5.65185022354126,
                    "y": 0.11424881964921951,
                    "z": 0.032677631825208664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.603870391845703,
                "transform": {
                    "location": {
                        "x": 723.4797973632812,
                        "y": 4289.986328125,
                        "z": 369.55419921875
                    },
                    "rotation": {
                        "roll": 0.00013247973402030766,
                        "pitch": 0.24555212259292603,
                        "yaw": 179.58859252929688
                    }
                },
                "velocity": {
                    "x": -7.603575706481934,
                    "y": 0.05018752068281174,
                    "z": 0.04433172941207886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.832592487335205,
                "transform": {
                    "location": {
                        "x": 702.0640258789062,
                        "y": 4290.12451171875,
                        "z": 369.7086486816406
                    },
                    "rotation": {
                        "roll": 0.0007352413958869874,
                        "pitch": 0.3147009611129761,
                        "yaw": 179.7561798095703
                    }
                },
                "velocity": {
                    "x": -7.8323845863342285,
                    "y": 0.034837041050195694,
                    "z": 0.04522477835416794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.414796352386475,
                "transform": {
                    "location": {
                        "x": 759.0132446289062,
                        "y": 4289.140625,
                        "z": 369.3415832519531
                    },
                    "rotation": {
                        "roll": -0.005096434149891138,
                        "pitch": 0.6265605092048645,
                        "yaw": 177.2223358154297
                    }
                },
                "velocity": {
                    "x": -5.409167766571045,
                    "y": 0.24381019175052643,
                    "z": 0.038498926907777786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02409224770963192,
        "expert_target_speed": 8.56480523169222,
        "target_point": [
            43.877433936712166,
            -0.19885060306210836
        ],
        "target_point_next": [
            94.87697192832778,
            -0.4105094518939348
        ]
    },
    "95": {
        "acceleration": [
            -7.601127624511719,
            0.14909577369689941,
            0.04003599286079407
        ],
        "angular_velocity": [
            0.11350354552268982,
            1.1863682270050049,
            0.05564885586500168
        ],
        "forward_vector": [
            -0.9998902678489685,
            0.0022312693763524294,
            0.014645171351730824
        ],
        "right_vector": [
            -0.0022335033863782883,
            -0.9999974966049194,
            -0.00013618597586173564
        ],
        "location": [
            723.2877807617188,
            4286.81494140625,
            369.5447692871094
        ],
        "rotation": [
            0.007803719025105238,
            0.8391364812850952,
            179.8721466064453
        ],
        "velocity": [
            -9.19050121307373,
            0.02380010485649109,
            0.052927616983652115
        ],
        "speed": 9.190532029893639,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.42997932434082,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                700.8582763671875,
                4286.88134765625,
                369.6747131347656
            ],
            "velocity": [
                -7.80226993560791,
                0.035438526421785355,
                0.04521114379167557
            ],
            "speed_kmh": 28.088933060168124,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 648.8064575195312,
                        "y": 4297.0322265625,
                        "z": 370.0103759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 649.2037963867188,
                        "y": 4293.77978515625,
                        "z": 370.00115966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044769287109375,
                "transform": {
                    "location": {
                        "x": 689.9141235351562,
                        "y": 4296.888671875,
                        "z": 369.7391052246094
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": -0.32470718026161194,
                        "yaw": -0.32421875
                    }
                },
                "velocity": {
                    "x": 8.044511795043945,
                    "y": -0.045582160353660583,
                    "z": -0.04546412453055382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.103532791137695,
                "transform": {
                    "location": {
                        "x": 690.4232177734375,
                        "y": 4293.63623046875,
                        "z": 369.7455139160156
                    },
                    "rotation": {
                        "roll": 0.00046810106141492724,
                        "pitch": -0.327487051486969,
                        "yaw": -0.3343200385570526
                    }
                },
                "velocity": {
                    "x": 8.103262901306152,
                    "y": -0.048032138496637344,
                    "z": -0.04549110308289528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010683919535949826,
                "transform": {
                    "location": {
                        "x": 753.332275390625,
                        "y": 4286.1298828125,
                        "z": 369.3698425292969
                    },
                    "rotation": {
                        "roll": 0.0029285496566444635,
                        "pitch": 0.2959725856781006,
                        "yaw": 177.51698303222656
                    }
                },
                "velocity": {
                    "x": -1.730792246235069e-05,
                    "y": -7.140391244320199e-05,
                    "z": 0.0010658627143129706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7023286819458008,
                "transform": {
                    "location": {
                        "x": 739.9607543945312,
                        "y": 4286.5966796875,
                        "z": 369.4573059082031
                    },
                    "rotation": {
                        "roll": 0.005424726754426956,
                        "pitch": 0.3693356215953827,
                        "yaw": 179.25721740722656
                    }
                },
                "velocity": {
                    "x": -1.7021470069885254,
                    "y": 0.022811636328697205,
                    "z": 0.009894189424812794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.802481174468994,
                "transform": {
                    "location": {
                        "x": 700.8582763671875,
                        "y": 4286.88134765625,
                        "z": 369.6747131347656
                    },
                    "rotation": {
                        "roll": 0.0018047284102067351,
                        "pitch": 0.927621603012085,
                        "yaw": 179.7249755859375
                    }
                },
                "velocity": {
                    "x": -7.80226993560791,
                    "y": 0.035438526421785355,
                    "z": 0.04521114379167557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053019523620605,
                "transform": {
                    "location": {
                        "x": 682.9402465820312,
                        "y": 4286.98388671875,
                        "z": 369.8172912597656
                    },
                    "rotation": {
                        "roll": 0.0013158350484445691,
                        "pitch": 0.3370766341686249,
                        "yaw": 179.70594787597656
                    }
                },
                "velocity": {
                    "x": -8.052786827087402,
                    "y": 0.041534122079610825,
                    "z": 0.04505917429924011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.08579683303833,
                "transform": {
                    "location": {
                        "x": 737.9299926757812,
                        "y": 4289.84375,
                        "z": 369.4705810546875
                    },
                    "rotation": {
                        "roll": 0.00958522129803896,
                        "pitch": 0.19367000460624695,
                        "yaw": 179.01441955566406
                    }
                },
                "velocity": {
                    "x": -7.085048675537109,
                    "y": 0.09433499723672867,
                    "z": 0.041315145790576935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.40566349029541,
                "transform": {
                    "location": {
                        "x": 721.4112548828125,
                        "y": 4289.99951171875,
                        "z": 369.56634521484375
                    },
                    "rotation": {
                        "roll": 0.0002972013026010245,
                        "pitch": 0.23653626441955566,
                        "yaw": 179.6209716796875
                    }
                },
                "velocity": {
                    "x": -8.405342102050781,
                    "y": 0.05449705943465233,
                    "z": 0.04936489090323448
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.15566349029541,
                "transform": {
                    "location": {
                        "x": 700.0610961914062,
                        "y": 4290.1328125,
                        "z": 369.71990966796875
                    },
                    "rotation": {
                        "roll": 0.0029941799584776163,
                        "pitch": 0.35652220249176025,
                        "yaw": 179.7350311279297
                    }
                },
                "velocity": {
                    "x": -8.155430793762207,
                    "y": 0.0415487177670002,
                    "z": 0.045440442860126495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.518116474151611,
                "transform": {
                    "location": {
                        "x": 757.657470703125,
                        "y": 4289.201171875,
                        "z": 369.350341796875
                    },
                    "rotation": {
                        "roll": -0.0021667485125362873,
                        "pitch": 0.4566800892353058,
                        "yaw": 177.38525390625
                    }
                },
                "velocity": {
                    "x": -5.512608528137207,
                    "y": 0.24416399002075195,
                    "z": 0.033730752766132355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02777155302464962,
        "expert_target_speed": 9.31567304446547,
        "target_point": [
            41.75117754091297,
            -0.18028659225321553
        ],
        "target_point_next": [
            92.75080833483136,
            -0.3682592246870631
        ]
    },
    "100": {
        "acceleration": [
            -3.0181312561035156,
            0.19724041223526,
            0.017844736576080322
        ],
        "angular_velocity": [
            0.224334716796875,
            -0.5718147158622742,
            -2.6375153064727783
        ],
        "forward_vector": [
            -0.9998769164085388,
            0.005027822218835354,
            0.01486270409077406
        ],
        "right_vector": [
            -0.005037850700318813,
            -0.9999871253967285,
            -0.0006373650394380093
        ],
        "location": [
            720.8412475585938,
            4286.8251953125,
            369.55889892578125
        ],
        "rotation": [
            0.03652236610651016,
            0.8516016006469727,
            179.71189880371094
        ],
        "velocity": [
            -10.198853492736816,
            0.0630299299955368,
            0.05882619693875313
        ],
        "speed": 10.199048256498505,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.042892456054688,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                698.798828125,
                4286.89111328125,
                369.687255859375
            ],
            "velocity": [
                -8.232001304626465,
                0.03979482874274254,
                0.04848192259669304
            ],
            "speed_kmh": 29.63606491549483,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 650.8892211914062,
                        "y": 4297.02001953125,
                        "z": 369.9642639160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 651.28662109375,
                        "y": 4293.767578125,
                        "z": 369.9620666503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30362239480018616,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09800910949707,
                "transform": {
                    "location": {
                        "x": 691.9336547851562,
                        "y": 4296.876953125,
                        "z": 369.72760009765625
                    },
                    "rotation": {
                        "roll": 0.001135256257839501,
                        "pitch": -0.3262917697429657,
                        "yaw": -0.32501220703125
                    }
                },
                "velocity": {
                    "x": 8.09775447845459,
                    "y": -0.045867253094911575,
                    "z": -0.04484151676297188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.328961372375488,
                "transform": {
                    "location": {
                        "x": 692.4783935546875,
                        "y": 4293.625,
                        "z": 369.7337951660156
                    },
                    "rotation": {
                        "roll": 0.0006304546259343624,
                        "pitch": -0.3266606032848358,
                        "yaw": -0.34039306640625
                    }
                },
                "velocity": {
                    "x": 8.328676223754883,
                    "y": -0.050505466759204865,
                    "z": -0.04689489305019379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7372972369194031,
                "transform": {
                    "location": {
                        "x": 753.2327880859375,
                        "y": 4286.1337890625,
                        "z": 369.3701477050781
                    },
                    "rotation": {
                        "roll": 0.00186071393545717,
                        "pitch": 0.33950820565223694,
                        "yaw": 177.54832458496094
                    }
                },
                "velocity": {
                    "x": -0.7367282509803772,
                    "y": 0.02876466140151024,
                    "z": 0.003357210196554661
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3268086910247803,
                "transform": {
                    "location": {
                        "x": 739.4521484375,
                        "y": 4286.60400390625,
                        "z": 369.45806884765625
                    },
                    "rotation": {
                        "roll": 0.0006702077225781977,
                        "pitch": 0.6426456570625305,
                        "yaw": 179.32427978515625
                    }
                },
                "velocity": {
                    "x": -2.326566219329834,
                    "y": 0.03058435581624508,
                    "z": 0.013870705850422382
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.232240676879883,
                "transform": {
                    "location": {
                        "x": 698.798828125,
                        "y": 4286.89111328125,
                        "z": 369.687255859375
                    },
                    "rotation": {
                        "roll": 0.00298841530457139,
                        "pitch": 0.732373833656311,
                        "yaw": 179.7373809814453
                    }
                },
                "velocity": {
                    "x": -8.232001304626465,
                    "y": 0.03979482874274254,
                    "z": 0.04848192259669304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990194320678711,
                "transform": {
                    "location": {
                        "x": 680.9393310546875,
                        "y": 4286.994140625,
                        "z": 369.82861328125
                    },
                    "rotation": {
                        "roll": 0.001592132612131536,
                        "pitch": 0.3172212839126587,
                        "yaw": 179.6969757080078
                    }
                },
                "velocity": {
                    "x": -7.989962577819824,
                    "y": 0.04219434782862663,
                    "z": 0.04388001188635826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.13999080657959,
                "transform": {
                    "location": {
                        "x": 735.9990234375,
                        "y": 4289.8701171875,
                        "z": 369.48162841796875
                    },
                    "rotation": {
                        "roll": 0.0025890383403748274,
                        "pitch": 0.21676969528198242,
                        "yaw": 179.18603515625
                    }
                },
                "velocity": {
                    "x": -8.139187812805176,
                    "y": 0.10418891906738281,
                    "z": 0.04704926535487175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.910988807678223,
                "transform": {
                    "location": {
                        "x": 719.376220703125,
                        "y": 4290.01318359375,
                        "z": 369.57720947265625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.3618634045124054,
                        "yaw": 179.6055450439453
                    }
                },
                "velocity": {
                    "x": -7.910682201385498,
                    "y": 0.05165313929319382,
                    "z": 0.0467669852077961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009025573730469,
                "transform": {
                    "location": {
                        "x": 698.0343017578125,
                        "y": 4290.1435546875,
                        "z": 369.7318420410156
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.32511016726493835,
                        "yaw": 179.7019805908203
                    }
                },
                "velocity": {
                    "x": -8.0087890625,
                    "y": 0.04177268594503403,
                    "z": 0.04510961472988129
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.623051643371582,
                "transform": {
                    "location": {
                        "x": 756.0499877929688,
                        "y": 4289.27197265625,
                        "z": 369.3602600097656
                    },
                    "rotation": {
                        "roll": -0.0015258797211572528,
                        "pitch": 0.7174703478813171,
                        "yaw": 177.4053955078125
                    }
                },
                "velocity": {
                    "x": -7.615568161010742,
                    "y": 0.33466842770576477,
                    "z": 0.0450761504471302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3316228985786438,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02143131010234356,
        "expert_target_speed": 9.940570247905503,
        "target_point": [
            39.30496466192535,
            -0.06555062052469315
        ],
        "target_point_next": [
            90.30492173010144,
            -0.1108702710797454
        ]
    },
    "105": {
        "acceleration": [
            -2.0433807373046875,
            0.22293224930763245,
            0.026518702507019043
        ],
        "angular_velocity": [
            -0.015504921786487103,
            -0.5275111794471741,
            0.46546369791030884
        ],
        "forward_vector": [
            -0.9998787641525269,
            0.009327655658125877,
            0.01246551051735878
        ],
        "right_vector": [
            -0.009340601973235607,
            -0.9999558925628662,
            -0.0009807412279769778
        ],
        "location": [
            718.2068481445312,
            4286.8466796875,
            369.57470703125
        ],
        "rotation": [
            0.05619671195745468,
            0.7142396569252014,
            179.46551513671875
        ],
        "velocity": [
            -10.818748474121094,
            0.11535720527172089,
            0.06269849836826324
        ],
        "speed": 10.819363467002372,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.360116958618164,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                696.84716796875,
                4286.900390625,
                369.7002258300781
            ],
            "velocity": [
                -7.496885299682617,
                0.040534306317567825,
                0.043652571737766266
            ],
            "speed_kmh": 26.989639077726192,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.212440490722656,
                "transform": {
                    "location": {
                        "x": 652.9286499023438,
                        "y": 4297.0166015625,
                        "z": 369.94232177734375
                    },
                    "rotation": {
                        "roll": -0.058105457574129105,
                        "pitch": -0.35839366912841797,
                        "yaw": -0.030487054958939552
                    }
                },
                "velocity": {
                    "x": 8.212240219116211,
                    "y": 0.020341455936431885,
                    "z": -0.05368202179670334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.009028434753418,
                "transform": {
                    "location": {
                        "x": 653.312744140625,
                        "y": 4293.76708984375,
                        "z": 369.9432678222656
                    },
                    "rotation": {
                        "roll": -0.02389526180922985,
                        "pitch": -0.3251579701900482,
                        "yaw": 0.048063598573207855
                    }
                },
                "velocity": {
                    "x": 8.008916854858398,
                    "y": 0.017490921542048454,
                    "z": -0.038608334958553314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04248046875,
                "transform": {
                    "location": {
                        "x": 693.950439453125,
                        "y": 4296.865234375,
                        "z": 369.71612548828125
                    },
                    "rotation": {
                        "roll": 0.0007392461411654949,
                        "pitch": -0.3283408284187317,
                        "yaw": -0.3301696479320526
                    }
                },
                "velocity": {
                    "x": 8.042221069335938,
                    "y": -0.04640060290694237,
                    "z": -0.04488521069288254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109309196472168,
                "transform": {
                    "location": {
                        "x": 694.5320434570312,
                        "y": 4293.61279296875,
                        "z": 369.72210693359375
                    },
                    "rotation": {
                        "roll": 2.6259815058438107e-05,
                        "pitch": -0.3320906162261963,
                        "yaw": -0.34442138671875
                    }
                },
                "velocity": {
                    "x": 8.109031677246094,
                    "y": -0.04864851012825966,
                    "z": -0.04630523547530174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5447806119918823,
                "transform": {
                    "location": {
                        "x": 752.9468383789062,
                        "y": 4286.1455078125,
                        "z": 369.37164306640625
                    },
                    "rotation": {
                        "roll": 0.001618837588466704,
                        "pitch": 0.35553863644599915,
                        "yaw": 177.60877990722656
                    }
                },
                "velocity": {
                    "x": -1.5436257123947144,
                    "y": 0.059185970574617386,
                    "z": 0.007996320724487305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9966437816619873,
                "transform": {
                    "location": {
                        "x": 738.785400390625,
                        "y": 4286.61328125,
                        "z": 369.4631042480469
                    },
                    "rotation": {
                        "roll": -0.005096434615552425,
                        "pitch": 0.5022784471511841,
                        "yaw": 179.4562530517578
                    }
                },
                "velocity": {
                    "x": -2.996436357498169,
                    "y": 0.03071412816643715,
                    "z": 0.017344674095511436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.497122287750244,
                "transform": {
                    "location": {
                        "x": 696.84716796875,
                        "y": 4286.900390625,
                        "z": 369.7002258300781
                    },
                    "rotation": {
                        "roll": 0.0035409152042120695,
                        "pitch": 0.2668486535549164,
                        "yaw": 179.6876983642578
                    }
                },
                "velocity": {
                    "x": -7.496885299682617,
                    "y": 0.040534306317567825,
                    "z": 0.043652571737766266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035776138305664,
                "transform": {
                    "location": {
                        "x": 678.9364013671875,
                        "y": 4287.00537109375,
                        "z": 369.8397216796875
                    },
                    "rotation": {
                        "roll": 0.0012828558683395386,
                        "pitch": 0.3266606032848358,
                        "yaw": 179.68614196777344
                    }
                },
                "velocity": {
                    "x": -8.035531044006348,
                    "y": 0.044097717851400375,
                    "z": 0.04466280713677406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.759007930755615,
                "transform": {
                    "location": {
                        "x": 734.0121459960938,
                        "y": 4289.89599609375,
                        "z": 369.49224853515625
                    },
                    "rotation": {
                        "roll": -0.0015258790226653218,
                        "pitch": 0.34066933393478394,
                        "yaw": 179.2473907470703
                    }
                },
                "velocity": {
                    "x": -7.758240699768066,
                    "y": 0.09939678758382797,
                    "z": 0.04500572010874748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99251651763916,
                "transform": {
                    "location": {
                        "x": 717.4008178710938,
                        "y": 4290.025390625,
                        "z": 369.5889892578125
                    },
                    "rotation": {
                        "roll": 0.001336971065029502,
                        "pitch": 0.33189937472343445,
                        "yaw": 179.65081787109375
                    }
                },
                "velocity": {
                    "x": -7.992220401763916,
                    "y": 0.051202524453401566,
                    "z": 0.045915909111499786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965244770050049,
                "transform": {
                    "location": {
                        "x": 696.0479736328125,
                        "y": 4290.15380859375,
                        "z": 369.7431945800781
                    },
                    "rotation": {
                        "roll": 0.0014628033386543393,
                        "pitch": 0.32556095719337463,
                        "yaw": 179.6885223388672
                    }
                },
                "velocity": {
                    "x": -7.964993000030518,
                    "y": 0.04484507441520691,
                    "z": 0.04476889595389366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.017875671386719,
                "transform": {
                    "location": {
                        "x": 753.9412231445312,
                        "y": 4289.36376953125,
                        "z": 369.373046875
                    },
                    "rotation": {
                        "roll": -0.004425049759447575,
                        "pitch": 0.6602333784103394,
                        "yaw": 177.5042266845703
                    }
                },
                "velocity": {
                    "x": -9.009329795837402,
                    "y": 0.3889067471027374,
                    "z": 0.05304423347115517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0023530772887170315,
        "expert_target_speed": 10.0,
        "target_point": [
            36.670397937218226,
            0.10037461864791727
        ],
        "target_point_next": [
            87.67007836497285,
            0.2743605187461584
        ]
    },
    "110": {
        "acceleration": [
            -0.7722091674804688,
            0.1758211851119995,
            0.010958462953567505
        ],
        "angular_velocity": [
            0.01568484865128994,
            -0.554423987865448,
            -2.4374022483825684
        ],
        "forward_vector": [
            -0.9998506903648376,
            0.014034440740942955,
            0.010076828300952911
        ],
        "right_vector": [
            -0.014045602641999722,
            -0.9999008178710938,
            -0.0010377487633377314
        ],
        "location": [
            715.454833984375,
            4286.88134765625,
            369.5912780761719
        ],
        "rotation": [
            0.05946165695786476,
            0.5773695111274719,
            179.19581604003906
        ],
        "velocity": [
            -11.139518737792969,
            0.1629539430141449,
            0.06469663232564926
        ],
        "speed": 11.14071055620711,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.490909576416016,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                694.9642944335938,
                4286.91064453125,
                369.7108154296875
            ],
            "velocity": [
                -7.776622295379639,
                0.04236932843923569,
                0.045126598328351974
            ],
            "speed_kmh": 27.99672711581565,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017148971557617,
                "transform": {
                    "location": {
                        "x": 654.9564819335938,
                        "y": 4297.0234375,
                        "z": 369.93170166015625
                    },
                    "rotation": {
                        "roll": -0.044342041015625,
                        "pitch": -0.33312880992889404,
                        "yaw": 0.22357779741287231
                    }
                },
                "velocity": {
                    "x": 8.01695442199707,
                    "y": 0.03867314010858536,
                    "z": -0.040226150304079056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.201363563537598,
                "transform": {
                    "location": {
                        "x": 655.3402099609375,
                        "y": 4293.77490234375,
                        "z": 369.9332580566406
                    },
                    "rotation": {
                        "roll": -0.015869140625,
                        "pitch": -0.30874502658843994,
                        "yaw": 0.24774391949176788
                    }
                },
                "velocity": {
                    "x": 8.201164245605469,
                    "y": 0.03873699903488159,
                    "z": -0.04201549291610718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087297439575195,
                "transform": {
                    "location": {
                        "x": 695.9664916992188,
                        "y": 4296.853515625,
                        "z": 369.7045593261719
                    },
                    "rotation": {
                        "roll": -0.00033569318475201726,
                        "pitch": -0.32818374037742615,
                        "yaw": -0.3309936225414276
                    }
                },
                "velocity": {
                    "x": 8.087034225463867,
                    "y": -0.04668769612908363,
                    "z": -0.04543650895357132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330843925476074,
                "transform": {
                    "location": {
                        "x": 696.5880126953125,
                        "y": 4293.6015625,
                        "z": 369.7102966308594
                    },
                    "rotation": {
                        "roll": -0.0001831055706134066,
                        "pitch": -0.32931071519851685,
                        "yaw": -0.3446350395679474
                    }
                },
                "velocity": {
                    "x": 8.330549240112305,
                    "y": -0.05009734630584717,
                    "z": -0.049035653471946716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2242937088012695,
                "transform": {
                    "location": {
                        "x": 752.4655151367188,
                        "y": 4286.1640625,
                        "z": 369.3744812011719
                    },
                    "rotation": {
                        "roll": 0.001205584965646267,
                        "pitch": 0.3565836548805237,
                        "yaw": 177.65301513671875
                    }
                },
                "velocity": {
                    "x": -2.2225873470306396,
                    "y": 0.08603014051914215,
                    "z": 0.013674135319888592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7872307300567627,
                "transform": {
                    "location": {
                        "x": 737.939697265625,
                        "y": 4286.62158203125,
                        "z": 369.4681701660156
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": 0.49362456798553467,
                        "yaw": 179.54820251464844
                    }
                },
                "velocity": {
                    "x": -3.787004232406616,
                    "y": 0.03514392301440239,
                    "z": 0.02189711481332779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.77686882019043,
                "transform": {
                    "location": {
                        "x": 694.9642944335938,
                        "y": 4286.91064453125,
                        "z": 369.7108154296875
                    },
                    "rotation": {
                        "roll": 0.0027797012589871883,
                        "pitch": 0.34216514229774475,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": -7.776622295379639,
                    "y": 0.04236932843923569,
                    "z": 0.045126598328351974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044382095336914,
                "transform": {
                    "location": {
                        "x": 676.9243774414062,
                        "y": 4287.01708984375,
                        "z": 369.8509826660156
                    },
                    "rotation": {
                        "roll": 0.001937323366291821,
                        "pitch": 0.3201104700565338,
                        "yaw": 179.68130493164062
                    }
                },
                "velocity": {
                    "x": -8.044134140014648,
                    "y": 0.04460126906633377,
                    "z": 0.044814031571149826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.822961807250977,
                "transform": {
                    "location": {
                        "x": 732.0619506835938,
                        "y": 4289.91552734375,
                        "z": 369.5036315917969
                    },
                    "rotation": {
                        "roll": 0.0037704312708228827,
                        "pitch": 0.33629801869392395,
                        "yaw": 179.41860961914062
                    }
                },
                "velocity": {
                    "x": -7.822548866271973,
                    "y": 0.06613397598266602,
                    "z": 0.04563945531845093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.087142944335938,
                "transform": {
                    "location": {
                        "x": 715.3825073242188,
                        "y": 4290.03759765625,
                        "z": 369.60076904296875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.32265812158584595,
                        "yaw": 179.6246337890625
                    }
                },
                "velocity": {
                    "x": -8.086854934692383,
                    "y": 0.050099365413188934,
                    "z": 0.04633927345275879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.100936889648438,
                "transform": {
                    "location": {
                        "x": 694.0330200195312,
                        "y": 4290.16552734375,
                        "z": 369.7546081542969
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.3376777172088623,
                        "yaw": 179.67787170410156
                    }
                },
                "velocity": {
                    "x": -8.100685119628906,
                    "y": 0.045500248670578,
                    "z": 0.0448373407125473
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.157050132751465,
                "transform": {
                    "location": {
                        "x": 751.6196899414062,
                        "y": 4289.45654296875,
                        "z": 369.3865966796875
                    },
                    "rotation": {
                        "roll": -0.0175476036965847,
                        "pitch": 0.43530160188674927,
                        "yaw": 177.7324981689453
                    }
                },
                "velocity": {
                    "x": -9.14995002746582,
                    "y": 0.35660040378570557,
                    "z": 0.05298346281051636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.018437618389725685,
        "expert_target_speed": 10.0,
        "target_point": [
            33.917289617642815,
            0.26901600104380996
        ],
        "target_point_next": [
            84.91558618535882,
            0.6830474223374422
        ]
    },
    "115": {
        "acceleration": [
            -0.3520393371582031,
            0.04666626453399658,
            -0.008527785539627075
        ],
        "angular_velocity": [
            -0.12942242622375488,
            -0.3353598713874817,
            1.3712483644485474
        ],
        "forward_vector": [
            -0.9998394250869751,
            0.015998264774680138,
            0.0080776521936059
        ],
        "right_vector": [
            -0.016004107892513275,
            -0.9998717308044434,
            -0.000659415905829519
        ],
        "location": [
            712.6541137695312,
            4286.9248046875,
            369.60791015625
        ],
        "rotation": [
            0.03778298199176788,
            0.4628204107284546,
            179.0832977294922
        ],
        "velocity": [
            -11.25536823272705,
            0.18132445216178894,
            0.06432121247053146
        ],
        "speed": 11.25682871021999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 70.16539001464844,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.207242965698242,
                "transform": {
                    "location": {
                        "x": 656.985595703125,
                        "y": 4297.033203125,
                        "z": 369.92132568359375
                    },
                    "rotation": {
                        "roll": -0.007812498603016138,
                        "pitch": -0.31341004371643066,
                        "yaw": 0.2742099463939667
                    }
                },
                "velocity": {
                    "x": 8.207104682922363,
                    "y": 0.021806292235851288,
                    "z": -0.04236984625458717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002596855163574,
                "transform": {
                    "location": {
                        "x": 657.364501953125,
                        "y": 4293.78369140625,
                        "z": 369.9226989746094
                    },
                    "rotation": {
                        "roll": 0.0012996868463233113,
                        "pitch": -0.3113131821155548,
                        "yaw": 0.2250954955816269
                    }
                },
                "velocity": {
                    "x": 8.002457618713379,
                    "y": 0.020162252709269524,
                    "z": -0.04272974282503128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053147315979004,
                "transform": {
                    "location": {
                        "x": 697.984375,
                        "y": 4296.841796875,
                        "z": 369.6929626464844
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.330751895904541,
                        "yaw": -0.335357666015625
                    }
                },
                "velocity": {
                    "x": 8.05288028717041,
                    "y": -0.047917041927576065,
                    "z": -0.044817566871643066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109599113464355,
                "transform": {
                    "location": {
                        "x": 698.641845703125,
                        "y": 4293.58935546875,
                        "z": 369.6984558105469
                    },
                    "rotation": {
                        "roll": 1.6147561836987734e-05,
                        "pitch": -0.33547839522361755,
                        "yaw": -0.344635009765625
                    }
                },
                "velocity": {
                    "x": 8.10931396484375,
                    "y": -0.04876839369535446,
                    "z": -0.04732392355799675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00028828400536440313,
                "transform": {
                    "location": {
                        "x": 752.0924682617188,
                        "y": 4286.17919921875,
                        "z": 369.3772277832031
                    },
                    "rotation": {
                        "roll": 0.0005779973580501974,
                        "pitch": 0.29534420371055603,
                        "yaw": 177.67893981933594
                    }
                },
                "velocity": {
                    "x": -4.482783333514817e-05,
                    "y": 4.108706343686208e-05,
                    "z": 0.00028179778018966317
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.810675144195557,
                "transform": {
                    "location": {
                        "x": 736.8642578125,
                        "y": 4286.63232421875,
                        "z": 369.47393798828125
                    },
                    "rotation": {
                        "roll": 0.0032750784885138273,
                        "pitch": 0.5637637972831726,
                        "yaw": 179.5204620361328
                    }
                },
                "velocity": {
                    "x": -4.810378074645996,
                    "y": 0.04536624252796173,
                    "z": 0.02830701693892479
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.259387016296387,
                "transform": {
                    "location": {
                        "x": 623.5264892578125,
                        "y": 4287.431640625,
                        "z": 370.2847595214844
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.2683103084564209,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -8.247319221496582,
                    "y": 0.0460762195289135,
                    "z": -0.44393613934516907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03438949584961,
                "transform": {
                    "location": {
                        "x": 605.5208740234375,
                        "y": 4287.5380859375,
                        "z": 370.37103271484375
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": 0.2751609981060028,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -8.021924018859863,
                    "y": 0.04465430602431297,
                    "z": -0.4451516568660736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7379469871521,
                "transform": {
                    "location": {
                        "x": 730.1165161132812,
                        "y": 4289.931640625,
                        "z": 369.51495361328125
                    },
                    "rotation": {
                        "roll": 0.0006673606112599373,
                        "pitch": 0.33391427993774414,
                        "yaw": 179.4982452392578
                    }
                },
                "velocity": {
                    "x": -7.737556457519531,
                    "y": 0.0632459819316864,
                    "z": 0.04516714811325073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004497528076172,
                "transform": {
                    "location": {
                        "x": 713.3729248046875,
                        "y": 4290.04931640625,
                        "z": 369.61236572265625
                    },
                    "rotation": {
                        "roll": 0.0012093741679564118,
                        "pitch": 0.3367624580860138,
                        "yaw": 179.66944885253906
                    }
                },
                "velocity": {
                    "x": -8.004222869873047,
                    "y": 0.048785775899887085,
                    "z": 0.045003049075603485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.969219207763672,
                "transform": {
                    "location": {
                        "x": 692.0255126953125,
                        "y": 4290.17724609375,
                        "z": 369.7662048339844
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.32341626286506653,
                        "yaw": 179.67759704589844
                    }
                },
                "velocity": {
                    "x": -7.968968391418457,
                    "y": 0.044823337346315384,
                    "z": 0.04457433521747589
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.47194766998291,
                "transform": {
                    "location": {
                        "x": 749.4521484375,
                        "y": 4289.5400390625,
                        "z": 369.3992004394531
                    },
                    "rotation": {
                        "roll": -0.011749268509447575,
                        "pitch": 0.2531746029853821,
                        "yaw": 177.83255004882812
                    }
                },
                "velocity": {
                    "x": -8.465804100036621,
                    "y": 0.31891006231307983,
                    "z": 0.04865272343158722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03493086248636246,
        "expert_target_speed": 10.0,
        "target_point": [
            31.115638811020567,
            0.334275928579009
        ],
        "target_point_next": [
            82.1130238163801,
            0.8484718461648125
        ]
    },
    "120": {
        "acceleration": [
            -0.3457450866699219,
            0.018213093280792236,
            -0.009503066539764404
        ],
        "angular_velocity": [
            -0.06184343621134758,
            -0.11529398709535599,
            -1.569026231765747
        ],
        "forward_vector": [
            -0.9998354911804199,
            0.01667347177863121,
            0.007146535441279411
        ],
        "right_vector": [
            -0.01667625457048416,
            -0.9998608827590942,
            -0.0003302117984276265
        ],
        "location": [
            709.829833984375,
            4286.970703125,
            369.6246032714844
        ],
        "rotation": [
            0.01892022415995598,
            0.4094698131084442,
            179.04461669921875
        ],
        "velocity": [
            -11.340028762817383,
            0.18852587044239044,
            0.06452076137065887
        ],
        "speed": 11.34159575832923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 67.34175109863281,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012918472290039,
                "transform": {
                    "location": {
                        "x": 659.0121459960938,
                        "y": 4297.03564453125,
                        "z": 369.9106140136719
                    },
                    "rotation": {
                        "roll": 0.01741349883377552,
                        "pitch": -0.31948891282081604,
                        "yaw": 0.06408542394638062
                    }
                },
                "velocity": {
                    "x": 8.012807846069336,
                    "y": 0.0008498269598931074,
                    "z": -0.04199623316526413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.194518089294434,
                "transform": {
                    "location": {
                        "x": 659.39013671875,
                        "y": 4293.78564453125,
                        "z": 369.911865234375
                    },
                    "rotation": {
                        "roll": 0.0062658884562551975,
                        "pitch": -0.30734482407569885,
                        "yaw": 0.0410868264734745
                    }
                },
                "velocity": {
                    "x": 8.194392204284668,
                    "y": 0.0022921503987163305,
                    "z": -0.04541078582406044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082464218139648,
                "transform": {
                    "location": {
                        "x": 700.0010986328125,
                        "y": 4296.830078125,
                        "z": 369.6813049316406
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": -0.3319949805736542,
                        "yaw": -0.34039306640625
                    }
                },
                "velocity": {
                    "x": 8.082189559936523,
                    "y": -0.0480029322206974,
                    "z": -0.04633273184299469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.331042289733887,
                "transform": {
                    "location": {
                        "x": 700.6978759765625,
                        "y": 4293.578125,
                        "z": 369.6865539550781
                    },
                    "rotation": {
                        "roll": 0.00036668681423179805,
                        "pitch": -0.33190619945526123,
                        "yaw": -0.344757080078125
                    }
                },
                "velocity": {
                    "x": 8.33074951171875,
                    "y": -0.05008750408887863,
                    "z": -0.0487259179353714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7885383367538452,
                "transform": {
                    "location": {
                        "x": 751.9876098632812,
                        "y": 4286.18310546875,
                        "z": 369.3775634765625
                    },
                    "rotation": {
                        "roll": 0.00045641566975973547,
                        "pitch": 0.33592918515205383,
                        "yaw": 177.67872619628906
                    }
                },
                "velocity": {
                    "x": -0.7879571914672852,
                    "y": 0.0300834309309721,
                    "z": 0.0033330153673887253
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.11732292175293,
                "transform": {
                    "location": {
                        "x": 735.6043090820312,
                        "y": 4286.6435546875,
                        "z": 369.4825744628906
                    },
                    "rotation": {
                        "roll": 0.0012845115270465612,
                        "pitch": 0.4523497521877289,
                        "yaw": 179.50682067871094
                    }
                },
                "velocity": {
                    "x": -5.117006301879883,
                    "y": 0.04828071966767311,
                    "z": 0.030171489343047142
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.186208724975586,
                "transform": {
                    "location": {
                        "x": 728.127197265625,
                        "y": 4289.94775390625,
                        "z": 369.52685546875
                    },
                    "rotation": {
                        "roll": 0.00117178272921592,
                        "pitch": 0.29809674620628357,
                        "yaw": 179.53634643554688
                    }
                },
                "velocity": {
                    "x": -8.1858549118042,
                    "y": 0.060434307903051376,
                    "z": 0.046305228024721146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.205785751342773,
                "transform": {
                    "location": {
                        "x": 711.3563842773438,
                        "y": 4290.06103515625,
                        "z": 369.62420654296875
                    },
                    "rotation": {
                        "roll": 0.0008230286184698343,
                        "pitch": 0.3165997266769409,
                        "yaw": 179.6310577392578
                    }
                },
                "velocity": {
                    "x": -8.205504417419434,
                    "y": 0.050114862620830536,
                    "z": 0.04594128578901291
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049765586853027,
                "transform": {
                    "location": {
                        "x": 690.025390625,
                        "y": 4290.189453125,
                        "z": 369.77752685546875
                    },
                    "rotation": {
                        "roll": 0.0015535035636276007,
                        "pitch": 0.3291809558868408,
                        "yaw": 179.67544555664062
                    }
                },
                "velocity": {
                    "x": -8.049498558044434,
                    "y": 0.04709985479712486,
                    "z": 0.0455142967402935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.96649169921875,
                "transform": {
                    "location": {
                        "x": 747.2676391601562,
                        "y": 4289.61474609375,
                        "z": 369.4119567871094
                    },
                    "rotation": {
                        "roll": -0.026947021484375,
                        "pitch": 0.39799511432647705,
                        "yaw": 178.0791473388672
                    }
                },
                "velocity": {
                    "x": -8.961714744567871,
                    "y": 0.2877965569496155,
                    "z": 0.05303623154759407
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05292505770921707,
        "expert_target_speed": 10.0,
        "target_point": [
            28.290753721150132,
            0.3540724511403477
        ],
        "target_point_next": [
            79.28778017754968,
            0.9026774381912277
        ]
    },
    "125": {
        "acceleration": [
            -0.5683517456054688,
            -0.1423734426498413,
            0.0016990303993225098
        ],
        "angular_velocity": [
            -0.13613790273666382,
            0.03709806874394417,
            2.07649302482605
        ],
        "forward_vector": [
            -0.9998599886894226,
            0.015247258357703686,
            0.006898824591189623
        ],
        "right_vector": [
            -0.01524604856967926,
            -0.999883770942688,
            0.000227961121709086
        ],
        "location": [
            706.9822998046875,
            4287.015625,
            369.6412048339844
        ],
        "rotation": [
            -0.01306152157485485,
            0.3952766954898834,
            179.1263427734375
        ],
        "velocity": [
            -11.447066307067871,
            0.1680167019367218,
            0.0655365139245987
        ],
        "speed": 11.448299290747869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 64.49493408203125,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.203514099121094,
                "transform": {
                    "location": {
                        "x": 661.0401611328125,
                        "y": 4297.03515625,
                        "z": 369.8998107910156
                    },
                    "rotation": {
                        "roll": 0.012538713403046131,
                        "pitch": -0.311524897813797,
                        "yaw": -0.02456665225327015
                    }
                },
                "velocity": {
                    "x": 8.203388214111328,
                    "y": -0.00619087228551507,
                    "z": -0.044964876025915146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9960036277771,
                "transform": {
                    "location": {
                        "x": 661.4129638671875,
                        "y": 4293.78466796875,
                        "z": 369.9009704589844
                    },
                    "rotation": {
                        "roll": 0.0036653855349868536,
                        "pitch": -0.31399744749069214,
                        "yaw": -0.0317077599465847
                    }
                },
                "velocity": {
                    "x": 7.995884895324707,
                    "y": -0.005822969134896994,
                    "z": -0.0432455949485302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053342819213867,
                "transform": {
                    "location": {
                        "x": 702.0178833007812,
                        "y": 4296.81884765625,
                        "z": 369.6696472167969
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.3315441906452179,
                        "yaw": -0.3441162109375
                    }
                },
                "velocity": {
                    "x": 8.053070068359375,
                    "y": -0.04840860888361931,
                    "z": -0.04531941935420036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.1098051071167,
                "transform": {
                    "location": {
                        "x": 702.751708984375,
                        "y": 4293.56591796875,
                        "z": 369.6746826171875
                    },
                    "rotation": {
                        "roll": 0.00017039000522345304,
                        "pitch": -0.3350276052951813,
                        "yaw": -0.3446044623851776
                    }
                },
                "velocity": {
                    "x": 8.109519004821777,
                    "y": -0.048762619495391846,
                    "z": -0.04756256565451622
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.51712965965271,
                "transform": {
                    "location": {
                        "x": 751.695068359375,
                        "y": 4286.1943359375,
                        "z": 369.3790283203125
                    },
                    "rotation": {
                        "roll": 0.0012888576602563262,
                        "pitch": 0.3546985387802124,
                        "yaw": 177.67259216308594
                    }
                },
                "velocity": {
                    "x": -1.515920877456665,
                    "y": 0.05980372801423073,
                    "z": 0.009478692896664143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.023808479309082,
                "transform": {
                    "location": {
                        "x": 734.2492065429688,
                        "y": 4286.65673828125,
                        "z": 369.4903869628906
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": 0.4530327618122101,
                        "yaw": 179.5735321044922
                    }
                },
                "velocity": {
                    "x": -6.023426532745361,
                    "y": 0.05870538204908371,
                    "z": 0.03398226574063301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02747917175293,
                "transform": {
                    "location": {
                        "x": 726.1063232421875,
                        "y": 4289.962890625,
                        "z": 369.53826904296875
                    },
                    "rotation": {
                        "roll": 0.0009545488865114748,
                        "pitch": 0.33398255705833435,
                        "yaw": 179.57107543945312
                    }
                },
                "velocity": {
                    "x": -8.027139663696289,
                    "y": 0.057505734264850616,
                    "z": 0.04624278098344803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.957112312316895,
                "transform": {
                    "location": {
                        "x": 709.2133178710938,
                        "y": 4290.07421875,
                        "z": 369.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0009104043710976839,
                        "pitch": 0.2664320170879364,
                        "yaw": 179.6663055419922
                    }
                },
                "velocity": {
                    "x": -8.956801414489746,
                    "y": 0.054707493633031845,
                    "z": 0.05088884383440018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019818305969238,
                "transform": {
                    "location": {
                        "x": 688.0140991210938,
                        "y": 4290.20068359375,
                        "z": 369.7889404296875
                    },
                    "rotation": {
                        "roll": 0.0005708463722839952,
                        "pitch": 0.32694748044013977,
                        "yaw": 179.67018127441406
                    }
                },
                "velocity": {
                    "x": -8.01955795288086,
                    "y": 0.04626530408859253,
                    "z": 0.04503801092505455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.990841388702393,
                "transform": {
                    "location": {
                        "x": 745.1382446289062,
                        "y": 4289.68115234375,
                        "z": 369.4242858886719
                    },
                    "rotation": {
                        "roll": -0.016204833984375,
                        "pitch": 0.20297954976558685,
                        "yaw": 178.248291015625
                    }
                },
                "velocity": {
                    "x": -7.98705530166626,
                    "y": 0.24115140736103058,
                    "z": 0.04833025857806206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06436000764369965,
        "expert_target_speed": 10.0,
        "target_point": [
            25.443341832981936,
            0.315222943274323
        ],
        "target_point_next": [
            76.44109885388649,
            0.791094421001127
        ]
    },
    "130": {
        "acceleration": [
            -1.7154884338378906,
            -0.2104741334915161,
            0.0028561055660247803
        ],
        "angular_velocity": [
            -0.08635587990283966,
            0.3387400805950165,
            0.021555649116635323
        ],
        "forward_vector": [
            -0.9999070763587952,
            0.01116209663450718,
            0.007828513160347939
        ],
        "right_vector": [
            -0.011155274696648121,
            -0.9999373555183411,
            0.0009145011426880956
        ],
        "location": [
            704.0829467773438,
            4287.05224609375,
            369.65777587890625
        ],
        "rotation": [
            -0.052398666739463806,
            0.44854533672332764,
            179.3604278564453
        ],
        "velocity": [
            -11.778390884399414,
            0.11927701532840729,
            0.06882991641759872
        ],
        "speed": 11.778994814163426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 61.59629440307617,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.393509387969971,
                "transform": {
                    "location": {
                        "x": 663.0430908203125,
                        "y": 4297.03125,
                        "z": 369.8893737792969
                    },
                    "rotation": {
                        "roll": 0.019358590245246887,
                        "pitch": -0.43200942873954773,
                        "yaw": -0.1298828125
                    }
                },
                "velocity": {
                    "x": 7.393367290496826,
                    "y": -0.022847112268209457,
                    "z": -0.03968123346567154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.705907344818115,
                "transform": {
                    "location": {
                        "x": 663.3557739257812,
                        "y": 4293.78076171875,
                        "z": 369.8902282714844
                    },
                    "rotation": {
                        "roll": 0.0060728746466338634,
                        "pitch": -0.49352896213531494,
                        "yaw": -0.1559142768383026
                    }
                },
                "velocity": {
                    "x": 6.705776214599609,
                    "y": -0.02007519267499447,
                    "z": -0.03678518533706665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084707260131836,
                "transform": {
                    "location": {
                        "x": 704.03515625,
                        "y": 4296.806640625,
                        "z": 369.6579895019531
                    },
                    "rotation": {
                        "roll": 0.0002758233458735049,
                        "pitch": -0.331783264875412,
                        "yaw": -0.3448486626148224
                    }
                },
                "velocity": {
                    "x": 8.084428787231445,
                    "y": -0.04862593114376068,
                    "z": -0.04623838886618614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.074305534362793,
                "transform": {
                    "location": {
                        "x": 704.7575073242188,
                        "y": 4293.5546875,
                        "z": 369.6640625
                    },
                    "rotation": {
                        "roll": 0.0010551208397373557,
                        "pitch": -0.46273162961006165,
                        "yaw": -0.3482665717601776
                    }
                },
                "velocity": {
                    "x": 7.074045658111572,
                    "y": -0.04412037134170532,
                    "z": -0.041603464633226395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3690826892852783,
                "transform": {
                    "location": {
                        "x": 751.2039184570312,
                        "y": 4286.2138671875,
                        "z": 369.3819885253906
                    },
                    "rotation": {
                        "roll": 0.0004840014735236764,
                        "pitch": 0.3569115102291107,
                        "yaw": 177.70071411132812
                    }
                },
                "velocity": {
                    "x": -2.3672871589660645,
                    "y": 0.09115955978631973,
                    "z": 0.013923568651080132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6185479164123535,
                "transform": {
                    "location": {
                        "x": 732.5241088867188,
                        "y": 4286.669921875,
                        "z": 369.4980773925781
                    },
                    "rotation": {
                        "roll": -0.005889891181141138,
                        "pitch": 0.7291362881660461,
                        "yaw": 179.41390991210938
                    }
                },
                "velocity": {
                    "x": -7.618172645568848,
                    "y": 0.061118558049201965,
                    "z": 0.04449833929538727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.719322204589844,
                "transform": {
                    "location": {
                        "x": 724.0204467773438,
                        "y": 4289.978515625,
                        "z": 369.5509033203125
                    },
                    "rotation": {
                        "roll": 0.0009589822147972882,
                        "pitch": 0.28020167350769043,
                        "yaw": 179.57476806640625
                    }
                },
                "velocity": {
                    "x": -8.718939781188965,
                    "y": 0.06472694873809814,
                    "z": 0.04972828924655914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.813632011413574,
                "transform": {
                    "location": {
                        "x": 706.8629760742188,
                        "y": 4290.087890625,
                        "z": 369.65087890625
                    },
                    "rotation": {
                        "roll": 0.0006899093277752399,
                        "pitch": 0.24642638862133026,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -9.8132905960083,
                    "y": 0.058644797652959824,
                    "z": 0.057074785232543945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027789115905762,
                "transform": {
                    "location": {
                        "x": 686.0096435546875,
                        "y": 4290.21240234375,
                        "z": 369.80029296875
                    },
                    "rotation": {
                        "roll": 0.0003462187305558473,
                        "pitch": 0.32388073205947876,
                        "yaw": 179.66567993164062
                    }
                },
                "velocity": {
                    "x": -8.027530670166016,
                    "y": 0.046872515231370926,
                    "z": 0.04420728608965874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.854456901550293,
                "transform": {
                    "location": {
                        "x": 743.192626953125,
                        "y": 4289.736328125,
                        "z": 369.4357604980469
                    },
                    "rotation": {
                        "roll": -0.030334465205669403,
                        "pitch": 0.27906784415245056,
                        "yaw": 178.41064453125
                    }
                },
                "velocity": {
                    "x": -7.851881980895996,
                    "y": 0.1960034966468811,
                    "z": 0.044978320598602295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.062154531478881836,
        "expert_target_speed": 10.0,
        "target_point": [
            22.544836169312706,
            0.2155269169064103
        ],
        "target_point_next": [
            73.5441117595378,
            0.4830415871634105
        ]
    },
    "135": {
        "acceleration": [
            -1.8575859069824219,
            -0.1379464566707611,
            0.008997619152069092
        ],
        "angular_velocity": [
            0.08372174203395844,
            0.18132206797599792,
            1.8030925989151
        ],
        "forward_vector": [
            -0.9999417662620544,
            0.006049028597772121,
            0.00893700122833252
        ],
        "right_vector": [
            -0.006038684397935867,
            -0.9999810457229614,
            0.0011839935323223472
        ],
        "location": [
            701.0784301757812,
            4287.076171875,
            369.67498779296875
        ],
        "rotation": [
            -0.06784055382013321,
            0.5120592713356018,
            179.6533966064453
        ],
        "velocity": [
            -12.238327026367188,
            0.06966280192136765,
            0.06961408257484436
        ],
        "speed": 12.23852529148349,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 58.592403411865234,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.5980224609375,
                        "y": 4297.181640625,
                        "z": 370.3740539550781
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.9929809570312,
                        "y": 4293.92919921875,
                        "z": 370.3287048339844
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.720162868499756,
                "transform": {
                    "location": {
                        "x": 664.595458984375,
                        "y": 4297.02587890625,
                        "z": 369.8825988769531
                    },
                    "rotation": {
                        "roll": 0.008672085590660572,
                        "pitch": -0.8745373487472534,
                        "yaw": -0.1710510104894638
                    }
                },
                "velocity": {
                    "x": 5.720030307769775,
                    "y": -0.022172978147864342,
                    "z": -0.03204607591032982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.044841289520264,
                "transform": {
                    "location": {
                        "x": 664.9091796875,
                        "y": 4293.77490234375,
                        "z": 369.8818359375
                    },
                    "rotation": {
                        "roll": 0.0022825177293270826,
                        "pitch": -0.44885268807411194,
                        "yaw": -0.177886962890625
                    }
                },
                "velocity": {
                    "x": 6.044709205627441,
                    "y": -0.02120955102145672,
                    "z": -0.03385782241821289
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05211067199707,
                "transform": {
                    "location": {
                        "x": 706.0519409179688,
                        "y": 4296.79541015625,
                        "z": 369.6463317871094
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.051833152770996,
                    "y": -0.048459213227033615,
                    "z": -0.046084851026535034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.687508583068848,
                "transform": {
                    "location": {
                        "x": 706.3041381835938,
                        "y": 4293.54443359375,
                        "z": 369.6575622558594
                    },
                    "rotation": {
                        "roll": -0.0006408688495866954,
                        "pitch": -0.7666682004928589,
                        "yaw": -0.355010986328125
                    }
                },
                "velocity": {
                    "x": 5.687304973602295,
                    "y": -0.03536749258637428,
                    "z": -0.03270434960722923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0811264514923096,
                "transform": {
                    "location": {
                        "x": 750.5195922851562,
                        "y": 4286.240234375,
                        "z": 369.3859558105469
                    },
                    "rotation": {
                        "roll": 0.00016028992831707,
                        "pitch": 0.35598260164260864,
                        "yaw": 177.73170471191406
                    }
                },
                "velocity": {
                    "x": -3.0788002014160156,
                    "y": 0.11827637255191803,
                    "z": 0.018443364650011063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.811325073242188,
                "transform": {
                    "location": {
                        "x": 730.4672241210938,
                        "y": 4286.68701171875,
                        "z": 369.5108642578125
                    },
                    "rotation": {
                        "roll": -0.0029907228890806437,
                        "pitch": 0.6472696661949158,
                        "yaw": 179.473388671875
                    }
                },
                "velocity": {
                    "x": -8.810897827148438,
                    "y": 0.07007148861885071,
                    "z": 0.05109850689768791
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.512005805969238,
                "transform": {
                    "location": {
                        "x": 721.7388305664062,
                        "y": 4289.9951171875,
                        "z": 369.5643310546875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.24987562000751495,
                        "yaw": 179.58078002929688
                    }
                },
                "velocity": {
                    "x": -9.511594772338867,
                    "y": 0.06961479783058167,
                    "z": 0.05450446158647537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.881267547607422,
                "transform": {
                    "location": {
                        "x": 704.3555297851562,
                        "y": 4290.10400390625,
                        "z": 369.6649475097656
                    },
                    "rotation": {
                        "roll": 0.0003717720101121813,
                        "pitch": 0.3067847490310669,
                        "yaw": 179.6668243408203
                    }
                },
                "velocity": {
                    "x": -9.880919456481934,
                    "y": 0.060385894030332565,
                    "z": 0.05684411898255348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015907287597656,
                "transform": {
                    "location": {
                        "x": 684.0042114257812,
                        "y": 4290.22412109375,
                        "z": 369.8115539550781
                    },
                    "rotation": {
                        "roll": 3.55605789081892e-06,
                        "pitch": 0.3258136510848999,
                        "yaw": 179.66529846191406
                    }
                },
                "velocity": {
                    "x": -8.015650749206543,
                    "y": 0.046805042773485184,
                    "z": 0.04395022243261337
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.896231651306152,
                "transform": {
                    "location": {
                        "x": 741.1060180664062,
                        "y": 4289.7841796875,
                        "z": 369.4479675292969
                    },
                    "rotation": {
                        "roll": -0.02307128719985485,
                        "pitch": 0.48752522468566895,
                        "yaw": 178.68821716308594
                    }
                },
                "velocity": {
                    "x": -8.893978118896484,
                    "y": 0.19359862804412842,
                    "z": 0.05105927214026451
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0516572967171669,
        "expert_target_speed": 10.0,
        "target_point": [
            19.541037114079117,
            0.10600073981034198
        ],
        "target_point_next": [
            70.5410138720081,
            0.11274738614009783
        ]
    },
    "140": {
        "acceleration": [
            -1.584320068359375,
            -0.034333840012550354,
            -0.010330229997634888
        ],
        "angular_velocity": [
            0.147421196103096,
            -0.038115210831165314,
            -0.323116272687912
        ],
        "forward_vector": [
            -0.9999524354934692,
            0.0030059984419494867,
            0.009280070662498474
        ],
        "right_vector": [
            -0.0029968437738716602,
            -0.9999949932098389,
            0.0010002396302297711
        ],
        "location": [
            697.9601440429688,
            4287.08935546875,
            369.69293212890625
        ],
        "rotation": [
            -0.05731198564171791,
            0.531716525554657,
            179.8277587890625
        ],
        "velocity": [
            -12.674628257751465,
            0.037477269768714905,
            0.07222241908311844
        ],
        "speed": 12.674683665399357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.47466278076172,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 625.6688232421875,
                        "y": 4297.16943359375,
                        "z": 370.1472473144531
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 626.0638427734375,
                        "y": 4293.9169921875,
                        "z": 370.1018981933594
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.992177486419678,
                "transform": {
                    "location": {
                        "x": 666.0220336914062,
                        "y": 4297.02001953125,
                        "z": 369.87347412109375
                    },
                    "rotation": {
                        "roll": 0.003786976682022214,
                        "pitch": -0.5235612988471985,
                        "yaw": -0.157196044921875
                    }
                },
                "velocity": {
                    "x": 5.992063045501709,
                    "y": -0.02018524333834648,
                    "z": -0.031001443043351173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.002618789672852,
                "transform": {
                    "location": {
                        "x": 666.4759521484375,
                        "y": 4293.76904296875,
                        "z": 369.87359619140625
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.2010803073644638
                    }
                },
                "velocity": {
                    "x": 7.00246524810791,
                    "y": -0.025759199634194374,
                    "z": -0.03852611407637596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084420204162598,
                "transform": {
                    "location": {
                        "x": 708.0692138671875,
                        "y": 4296.783203125,
                        "z": 369.6346130371094
                    },
                    "rotation": {
                        "roll": 0.00014362105866894126,
                        "pitch": -0.33245259523391724,
                        "yaw": -0.3477477431297302
                    }
                },
                "velocity": {
                    "x": 8.084136962890625,
                    "y": -0.04915894940495491,
                    "z": -0.04654071107506752
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.715400695800781,
                "transform": {
                    "location": {
                        "x": 707.6956176757812,
                        "y": 4293.53662109375,
                        "z": 369.6466064453125
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.40246203541755676,
                        "yaw": -0.35296630859375
                    }
                },
                "velocity": {
                    "x": 5.715188026428223,
                    "y": -0.03527413308620453,
                    "z": -0.03443698212504387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8141653537750244,
                "transform": {
                    "location": {
                        "x": 749.6550903320312,
                        "y": 4286.2734375,
                        "z": 369.3910827636719
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.35557278990745544,
                        "yaw": 177.75930786132812
                    }
                },
                "velocity": {
                    "x": -3.8112905025482178,
                    "y": 0.1463710516691208,
                    "z": 0.02230866439640522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.9932861328125,
                "transform": {
                    "location": {
                        "x": 728.115478515625,
                        "y": 4286.705078125,
                        "z": 369.52496337890625
                    },
                    "rotation": {
                        "roll": -0.004333495162427425,
                        "pitch": 0.5979830026626587,
                        "yaw": 179.55938720703125
                    }
                },
                "velocity": {
                    "x": -9.992857933044434,
                    "y": 0.072438545525074,
                    "z": 0.05752149596810341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.32613468170166,
                "transform": {
                    "location": {
                        "x": 719.3359985351562,
                        "y": 4290.01171875,
                        "z": 369.5776062011719
                    },
                    "rotation": {
                        "roll": 0.0006648718263022602,
                        "pitch": 0.33483633399009705,
                        "yaw": 179.6075897216797
                    }
                },
                "velocity": {
                    "x": -9.32577896118164,
                    "y": 0.06039757281541824,
                    "z": 0.05463404580950737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.746284484863281,
                "transform": {
                    "location": {
                        "x": 702.0436401367188,
                        "y": 4290.11767578125,
                        "z": 369.6773376464844
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": 0.4239020049571991,
                        "yaw": 179.6446533203125
                    }
                },
                "velocity": {
                    "x": -8.745979309082031,
                    "y": 0.051510028541088104,
                    "z": 0.05179149657487869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042062759399414,
                "transform": {
                    "location": {
                        "x": 681.996337890625,
                        "y": 4290.23583984375,
                        "z": 369.8228454589844
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.32218000292778015,
                        "yaw": 179.66552734375
                    }
                },
                "velocity": {
                    "x": -8.041799545288086,
                    "y": 0.04696198180317879,
                    "z": 0.04492338001728058
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.872653007507324,
                "transform": {
                    "location": {
                        "x": 738.8002319335938,
                        "y": 4289.83251953125,
                        "z": 369.4615173339844
                    },
                    "rotation": {
                        "roll": -0.013397216796875,
                        "pitch": 0.5649181008338928,
                        "yaw": 178.80307006835938
                    }
                },
                "velocity": {
                    "x": -9.870404243469238,
                    "y": 0.20280559360980988,
                    "z": 0.05718500167131424
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0408896841108799,
        "expert_target_speed": 10.0,
        "target_point": [
            16.422957534450383,
            0.05034362538720748
        ],
        "target_point_next": [
            67.42271867059199,
            -0.09811136116798122
        ]
    },
    "145": {
        "acceleration": [
            -1.336517333984375,
            0.03728695213794708,
            0.00569567084312439
        ],
        "angular_velocity": [
            0.1248197928071022,
            -0.08267872035503387,
            0.39395055174827576
        ],
        "forward_vector": [
            -0.999955415725708,
            0.003068947698920965,
            0.008929252624511719
        ],
        "right_vector": [
            -0.003066045232117176,
            -0.999995231628418,
            0.0003387405595276505
        ],
        "location": [
            694.7448120117188,
            4287.09912109375,
            369.71142578125
        ],
        "rotation": [
            -0.01940917782485485,
            0.5116152763366699,
            179.82415771484375
        ],
        "velocity": [
            -13.026782035827637,
            0.042788490653038025,
            0.07314447313547134
        ],
        "speed": 13.026852308362676,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 52.25990676879883,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.098358154296875,
                "transform": {
                    "location": {
                        "x": 627.7247314453125,
                        "y": 4297.1591796875,
                        "z": 370.0870666503906
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": -0.2949207127094269,
                        "yaw": -0.2610778212547302
                    }
                },
                "velocity": {
                    "x": 8.097530364990234,
                    "y": -0.007685297634452581,
                    "z": -0.11555380374193192
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08548355102539,
                "transform": {
                    "location": {
                        "x": 628.1201171875,
                        "y": 4293.908203125,
                        "z": 370.08148193359375
                    },
                    "rotation": {
                        "roll": -0.01119994930922985,
                        "pitch": -0.30520015954971313,
                        "yaw": -0.1965942233800888
                    }
                },
                "velocity": {
                    "x": 8.084476470947266,
                    "y": 0.022043755277991295,
                    "z": -0.1256740689277649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.707757472991943,
                "transform": {
                    "location": {
                        "x": 667.7787475585938,
                        "y": 4297.01318359375,
                        "z": 369.86163330078125
                    },
                    "rotation": {
                        "roll": 0.00786980614066124,
                        "pitch": 0.09291105717420578,
                        "yaw": -0.21786494553089142
                    }
                },
                "velocity": {
                    "x": 7.707566261291504,
                    "y": -0.03490067273378372,
                    "z": -0.04162061586976051
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.401646614074707,
                "transform": {
                    "location": {
                        "x": 668.4732666015625,
                        "y": 4293.759765625,
                        "z": 369.86279296875
                    },
                    "rotation": {
                        "roll": 0.001782233826816082,
                        "pitch": -0.12319611757993698,
                        "yaw": -0.2557067573070526
                    }
                },
                "velocity": {
                    "x": 8.40142822265625,
                    "y": -0.03964090347290039,
                    "z": -0.04574054107069969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051434516906738,
                "transform": {
                    "location": {
                        "x": 710.0859375,
                        "y": 4296.77197265625,
                        "z": 369.6228942871094
                    },
                    "rotation": {
                        "roll": 0.0004322506138123572,
                        "pitch": -0.33373668789863586,
                        "yaw": -0.3485107421875
                    }
                },
                "velocity": {
                    "x": 8.051146507263184,
                    "y": -0.04896059259772301,
                    "z": -0.0472443588078022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.531678199768066,
                "transform": {
                    "location": {
                        "x": 709.3733520507812,
                        "y": 4293.525390625,
                        "z": 369.6328125
                    },
                    "rotation": {
                        "roll": -0.0026245114859193563,
                        "pitch": 0.08875830471515656,
                        "yaw": -0.30975341796875
                    }
                },
                "velocity": {
                    "x": 7.531413555145264,
                    "y": -0.04558110982179642,
                    "z": -0.04361991956830025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5401177406311035,
                "transform": {
                    "location": {
                        "x": 748.6088256835938,
                        "y": 4286.3134765625,
                        "z": 369.3972473144531
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": 0.35352373123168945,
                        "yaw": 177.80587768554688
                    }
                },
                "velocity": {
                    "x": -4.5375213623046875,
                    "y": 0.15121810138225555,
                    "z": 0.026468705385923386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.750308990478516,
                "transform": {
                    "location": {
                        "x": 725.5543823242188,
                        "y": 4286.72314453125,
                        "z": 369.54046630859375
                    },
                    "rotation": {
                        "roll": -0.004669188521802425,
                        "pitch": 0.513500452041626,
                        "yaw": 179.610107421875
                    }
                },
                "velocity": {
                    "x": -10.7498779296875,
                    "y": 0.07374559342861176,
                    "z": 0.061796776950359344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.25518798828125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.151331901550293,
                "transform": {
                    "location": {
                        "x": 717.1380004882812,
                        "y": 4290.0263671875,
                        "z": 369.58984375
                    },
                    "rotation": {
                        "roll": 0.0002658058365341276,
                        "pitch": 0.40969520807266235,
                        "yaw": 179.62396240234375
                    }
                },
                "velocity": {
                    "x": -8.151016235351562,
                    "y": 0.053356945514678955,
                    "z": 0.04796275869011879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.967161178588867,
                "transform": {
                    "location": {
                        "x": 699.8536376953125,
                        "y": 4290.13037109375,
                        "z": 369.6907653808594
                    },
                    "rotation": {
                        "roll": -0.0014038082445040345,
                        "pitch": 0.329590767621994,
                        "yaw": 179.68496704101562
                    }
                },
                "velocity": {
                    "x": -8.966859817504883,
                    "y": 0.051914043724536896,
                    "z": 0.05208880454301834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004843711853027,
                "transform": {
                    "location": {
                        "x": 679.9911499023438,
                        "y": 4290.24755859375,
                        "z": 369.8340148925781
                    },
                    "rotation": {
                        "roll": -1.042220615365963e-10,
                        "pitch": 0.3217565417289734,
                        "yaw": 179.66543579101562
                    }
                },
                "velocity": {
                    "x": -8.004583358764648,
                    "y": 0.046722669154405594,
                    "z": 0.044629164040088654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.098321914672852,
                "transform": {
                    "location": {
                        "x": 736.4094848632812,
                        "y": 4289.87109375,
                        "z": 369.4753112792969
                    },
                    "rotation": {
                        "roll": -0.031158441677689552,
                        "pitch": 0.28248295187950134,
                        "yaw": 179.14077758789062
                    }
                },
                "velocity": {
                    "x": -9.097249031066895,
                    "y": 0.12890559434890747,
                    "z": 0.05389254540205002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03870091959834099,
        "expert_target_speed": 10.0,
        "target_point": [
            13.207607473459623,
            0.05127535073730212
        ],
        "target_point_next": [
            64.20737785270555,
            -0.09396958281160087
        ]
    },
    "150": {
        "acceleration": [
            -1.2554931640625,
            -0.00033974647521972656,
            0.00479966402053833
        ],
        "angular_velocity": [
            0.03222908452153206,
            -0.07936526089906693,
            -0.5981413125991821
        ],
        "forward_vector": [
            -0.9999541640281677,
            0.0041341632604599,
            0.00863553211092949
        ],
        "right_vector": [
            -0.004134508781135082,
            -0.9999914765357971,
            -2.2160944354254752e-05
        ],
        "location": [
            691.4461059570312,
            4287.11181640625,
            369.7302551269531
        ],
        "rotation": [
            0.0012697760248556733,
            0.49478569626808167,
            179.76312255859375
        ],
        "velocity": [
            -13.348298072814941,
            0.05337293818593025,
            0.07621261477470398
        ],
        "speed": 13.348404777771975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 48.96192932128906,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051898002624512,
                "transform": {
                    "location": {
                        "x": 629.7429809570312,
                        "y": 4297.16064453125,
                        "z": 370.0643310546875
                    },
                    "rotation": {
                        "roll": -0.006103515159338713,
                        "pitch": -0.292967289686203,
                        "yaw": 0.12029695510864258
                    }
                },
                "velocity": {
                    "x": 8.051581382751465,
                    "y": 0.03691275045275688,
                    "z": -0.06106714531779289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018200874328613,
                "transform": {
                    "location": {
                        "x": 630.1323852539062,
                        "y": 4293.9150390625,
                        "z": 370.0584716796875
                    },
                    "rotation": {
                        "roll": -0.009368896484375,
                        "pitch": -0.29800114035606384,
                        "yaw": 0.22708995640277863
                    }
                },
                "velocity": {
                    "x": 8.017788887023926,
                    "y": 0.0497809574007988,
                    "z": -0.0642404705286026
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.420133590698242,
                "transform": {
                    "location": {
                        "x": 669.8442993164062,
                        "y": 4297.00341796875,
                        "z": 369.850341796875
                    },
                    "rotation": {
                        "roll": 0.004979714751243591,
                        "pitch": 0.09060245752334595,
                        "yaw": -0.2502136528491974
                    }
                },
                "velocity": {
                    "x": 8.419923782348633,
                    "y": -0.03900710865855217,
                    "z": -0.044793833047151566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.946295738220215,
                "transform": {
                    "location": {
                        "x": 670.5165405273438,
                        "y": 4293.75,
                        "z": 369.8514099121094
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.32070469856262207,
                        "yaw": -0.2795104682445526
                    }
                },
                "velocity": {
                    "x": 7.946073055267334,
                    "y": -0.03953774273395538,
                    "z": -0.044459156692028046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085017204284668,
                "transform": {
                    "location": {
                        "x": 712.10302734375,
                        "y": 4296.759765625,
                        "z": 369.6111145019531
                    },
                    "rotation": {
                        "roll": 0.0009162495844066143,
                        "pitch": -0.3335249423980713,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 8.08473014831543,
                    "y": -0.048129789531230927,
                    "z": -0.04814358055591583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.654732704162598,
                "transform": {
                    "location": {
                        "x": 711.3508911132812,
                        "y": 4293.51318359375,
                        "z": 369.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.008025472052395344,
                        "yaw": -0.3166808784008026
                    }
                },
                "velocity": {
                    "x": 8.654433250427246,
                    "y": -0.05185575783252716,
                    "z": -0.050027742981910706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.20830774307251,
                "transform": {
                    "location": {
                        "x": 747.3759155273438,
                        "y": 4286.3544921875,
                        "z": 369.40472412109375
                    },
                    "rotation": {
                        "roll": -0.0007629392202943563,
                        "pitch": 0.35400867462158203,
                        "yaw": 178.0102996826172
                    }
                },
                "velocity": {
                    "x": -5.205679416656494,
                    "y": 0.16224612295627594,
                    "z": 0.03240187466144562
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.68431568145752,
                "transform": {
                    "location": {
                        "x": 722.7415161132812,
                        "y": 4286.74169921875,
                        "z": 369.5563659667969
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": 0.5606833696365356,
                        "yaw": 179.6254119873047
                    }
                },
                "velocity": {
                    "x": -11.68386459350586,
                    "y": 0.07666993141174316,
                    "z": 0.06824037432670593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 623.1265869140625,
                        "y": 4287.43408203125,
                        "z": 370.2012939453125
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5181756019592285,
                "transform": {
                    "location": {
                        "x": 715.392822265625,
                        "y": 4290.0380859375,
                        "z": 369.5995178222656
                    },
                    "rotation": {
                        "roll": 0.00013733557716477662,
                        "pitch": 0.4715835452079773,
                        "yaw": 179.6197967529297
                    }
                },
                "velocity": {
                    "x": -6.517922878265381,
                    "y": 0.042939379811286926,
                    "z": 0.038108281791210175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.94434928894043,
                "transform": {
                    "location": {
                        "x": 697.5725708007812,
                        "y": 4290.1435546875,
                        "z": 369.7039489746094
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": 0.3274187743663788,
                        "yaw": 179.65060424804688
                    }
                },
                "velocity": {
                    "x": -8.944034576416016,
                    "y": 0.054223474115133286,
                    "z": 0.05180763080716133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046594619750977,
                "transform": {
                    "location": {
                        "x": 677.9847412109375,
                        "y": 4290.25927734375,
                        "z": 369.84521484375
                    },
                    "rotation": {
                        "roll": 0.0001665826712269336,
                        "pitch": 0.32104620337486267,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -8.046329498291016,
                    "y": 0.04744842275977135,
                    "z": 0.044923942536115646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.391104221343994,
                "transform": {
                    "location": {
                        "x": 734.3773193359375,
                        "y": 4289.8974609375,
                        "z": 369.487060546875
                    },
                    "rotation": {
                        "roll": -0.01861572079360485,
                        "pitch": 0.05490105599164963,
                        "yaw": 179.28201293945312
                    }
                },
                "velocity": {
                    "x": -7.3904266357421875,
                    "y": 0.0897863358259201,
                    "z": 0.04424229636788368
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.037066586315631866,
        "expert_target_speed": 10.0,
        "target_point": [
            9.908815008939072,
            0.06440262212845775
        ],
        "target_point_next": [
            60.908711174519276,
            -0.026514519107547707
        ]
    },
    "155": {
        "acceleration": [
            -1.260833740234375,
            0.010124370455741882,
            0.006633102893829346
        ],
        "angular_velocity": [
            -0.014648370444774628,
            -0.01370983850210905,
            0.32240384817123413
        ],
        "forward_vector": [
            -0.999955952167511,
            0.004187336657196283,
            0.008397599682211876
        ],
        "right_vector": [
            -0.00418794946745038,
            -0.999991238117218,
            -5.53701538592577e-05
        ],
        "location": [
            688.0686645507812,
            4287.12548828125,
            369.74957275390625
        ],
        "rotation": [
            0.0031725880689918995,
            0.48115265369415283,
            179.76007080078125
        ],
        "velocity": [
            -13.660636901855469,
            0.05702758580446243,
            0.07647176831960678
        ],
        "speed": 13.66075593478919,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 45.585365295410156,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081335067749023,
                "transform": {
                    "location": {
                        "x": 631.7596435546875,
                        "y": 4297.169921875,
                        "z": 370.0525207519531
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -0.29247552156448364,
                        "yaw": 0.33781349658966064
                    }
                },
                "velocity": {
                    "x": 8.081149101257324,
                    "y": 0.03639642521739006,
                    "z": -0.040950726717710495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071354866027832,
                "transform": {
                    "location": {
                        "x": 632.1438598632812,
                        "y": 4293.92529296875,
                        "z": 370.04541015625
                    },
                    "rotation": {
                        "roll": 0.002958660013973713,
                        "pitch": -0.29367080330848694,
                        "yaw": 0.28126078844070435
                    }
                },
                "velocity": {
                    "x": 8.07121753692627,
                    "y": 0.013617406599223614,
                    "z": -0.04509858042001724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8509297370910645,
                "transform": {
                    "location": {
                        "x": 671.871337890625,
                        "y": 4296.99365234375,
                        "z": 369.84088134765625
                    },
                    "rotation": {
                        "roll": 0.00608702702447772,
                        "pitch": -0.32416075468063354,
                        "yaw": -0.3027343451976776
                    }
                },
                "velocity": {
                    "x": 7.850687026977539,
                    "y": -0.04269736632704735,
                    "z": -0.04458000883460045
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.016789436340332,
                "transform": {
                    "location": {
                        "x": 672.496337890625,
                        "y": 4293.74072265625,
                        "z": 369.8405456542969
                    },
                    "rotation": {
                        "roll": 0.002198426052927971,
                        "pitch": -0.31082141399383545,
                        "yaw": -0.296875
                    }
                },
                "velocity": {
                    "x": 8.01655101776123,
                    "y": -0.042814575135707855,
                    "z": -0.0445563979446888
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051541328430176,
                "transform": {
                    "location": {
                        "x": 714.1199340820312,
                        "y": 4296.74853515625,
                        "z": 369.5993957519531
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.33411234617233276,
                        "yaw": -0.345123291015625
                    }
                },
                "velocity": {
                    "x": 8.051251411437988,
                    "y": -0.04850737005472183,
                    "z": -0.04820122569799423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.367997169494629,
                "transform": {
                    "location": {
                        "x": 713.5029296875,
                        "y": 4293.5009765625,
                        "z": 369.6120910644531
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.3100290894508362,
                        "yaw": -0.3251342475414276
                    }
                },
                "velocity": {
                    "x": 8.367713928222656,
                    "y": -0.04886012524366379,
                    "z": -0.04838055372238159
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.872004508972168,
                "transform": {
                    "location": {
                        "x": 746.0118408203125,
                        "y": 4286.39794921875,
                        "z": 369.4128112792969
                    },
                    "rotation": {
                        "roll": 0.00012141616753069684,
                        "pitch": 0.35249921679496765,
                        "yaw": 178.1540069580078
                    }
                },
                "velocity": {
                    "x": -5.869152069091797,
                    "y": 0.17994216084480286,
                    "z": 0.03333920240402222
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.581472396850586,
                "transform": {
                    "location": {
                        "x": 719.7036743164062,
                        "y": 4286.76123046875,
                        "z": 369.57427978515625
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.5444411635398865,
                        "yaw": 179.63070678710938
                    }
                },
                "velocity": {
                    "x": -12.58100700378418,
                    "y": 0.08030521124601364,
                    "z": 0.07249229401350021
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0883902981877327,
                "transform": {
                    "location": {
                        "x": 623.1261596679688,
                        "y": 4287.43408203125,
                        "z": 370.0989685058594
                    },
                    "rotation": {
                        "roll": 0.0001040654387907125,
                        "pitch": 0.28742799162864685,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00038032338488847017,
                    "y": -3.5478401514410507e-06,
                    "z": -0.08838947862386703
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.914228916168213,
                "transform": {
                    "location": {
                        "x": 713.7340698242188,
                        "y": 4290.0478515625,
                        "z": 369.6103515625
                    },
                    "rotation": {
                        "roll": 0.0012107864022254944,
                        "pitch": 0.32633960247039795,
                        "yaw": 179.63621520996094
                    }
                },
                "velocity": {
                    "x": -6.913993835449219,
                    "y": 0.04205290228128433,
                    "z": 0.03852083161473274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.017770767211914,
                "transform": {
                    "location": {
                        "x": 695.3485107421875,
                        "y": 4290.1572265625,
                        "z": 369.71673583984375
                    },
                    "rotation": {
                        "roll": -6.103519990574569e-05,
                        "pitch": 0.32213902473449707,
                        "yaw": 179.68209838867188
                    }
                },
                "velocity": {
                    "x": -9.017472267150879,
                    "y": 0.051015231758356094,
                    "z": 0.052756499499082565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00587272644043,
                "transform": {
                    "location": {
                        "x": 675.977783203125,
                        "y": 4290.27099609375,
                        "z": 369.8563537597656
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.3176994025707245,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -8.005605697631836,
                    "y": 0.04733628034591675,
                    "z": 0.045135315507650375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.3900909423828125,
                "transform": {
                    "location": {
                        "x": 732.5617065429688,
                        "y": 4289.916015625,
                        "z": 369.497802734375
                    },
                    "rotation": {
                        "roll": -0.01660156063735485,
                        "pitch": 0.2632559537887573,
                        "yaw": 179.41700744628906
                    }
                },
                "velocity": {
                    "x": -7.389673233032227,
                    "y": 0.06659159809350967,
                    "z": 0.04174854978919029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03362219035625458,
        "expert_target_speed": 10.0,
        "target_point": [
            57.531243447275635,
            -0.023760558587277547
        ],
        "target_point_next": [
            108.5311423090909,
            -0.1114900530706589
        ]
    },
    "160": {
        "acceleration": [
            -0.9796524047851562,
            0.001169741153717041,
            0.0007270276546478271
        ],
        "angular_velocity": [
            -0.009130462072789669,
            -0.08234020322561264,
            -0.19885696470737457
        ],
        "forward_vector": [
            -0.9999577403068542,
            0.004197834525257349,
            0.008179095573723316
        ],
        "right_vector": [
            -0.004198214039206505,
            -0.9999911785125732,
            -2.9254906621645205e-05
        ],
        "location": [
            684.6161499023438,
            4287.13916015625,
            369.76904296875
        ],
        "rotation": [
            0.0016762387240305543,
            0.46863290667533875,
            179.7594757080078
        ],
        "velocity": [
            -13.93537425994873,
            0.058202240616083145,
            0.07711480557918549
        ],
        "speed": 13.935495802649232,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 42.133907318115234,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.855430603027344,
                "transform": {
                    "location": {
                        "x": 633.771484375,
                        "y": 4297.17724609375,
                        "z": 370.04241943359375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.292967289686203,
                        "yaw": 0.18281643092632294
                    }
                },
                "velocity": {
                    "x": 7.855320453643799,
                    "y": 0.011809478513896465,
                    "z": -0.03990190848708153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.321425914764404,
                "transform": {
                    "location": {
                        "x": 634.0191650390625,
                        "y": 4293.92822265625,
                        "z": 370.03607177734375
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": -0.38296186923980713,
                        "yaw": 0.07066995650529861
                    }
                },
                "velocity": {
                    "x": 6.3213419914245605,
                    "y": 0.0015845508314669132,
                    "z": -0.032533761113882065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024115562438965,
                "transform": {
                    "location": {
                        "x": 673.8360595703125,
                        "y": 4296.9833984375,
                        "z": 369.8299255371094
                    },
                    "rotation": {
                        "roll": 0.0039349813014268875,
                        "pitch": -0.3094485402107239,
                        "yaw": -0.2956542670726776
                    }
                },
                "velocity": {
                    "x": 8.023872375488281,
                    "y": -0.043607309460639954,
                    "z": -0.044793859124183655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.125066757202148,
                "transform": {
                    "location": {
                        "x": 674.5256958007812,
                        "y": 4293.7294921875,
                        "z": 369.8293762207031
                    },
                    "rotation": {
                        "roll": 0.0014897211221978068,
                        "pitch": -0.3031920790672302,
                        "yaw": -0.3103942275047302
                    }
                },
                "velocity": {
                    "x": 8.124823570251465,
                    "y": -0.04413337633013725,
                    "z": -0.04487187787890434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084689140319824,
                "transform": {
                    "location": {
                        "x": 716.136962890625,
                        "y": 4296.736328125,
                        "z": 369.587646484375
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": -0.33493196964263916,
                        "yaw": -0.3474730849266052
                    }
                },
                "velocity": {
                    "x": 8.084394454956055,
                    "y": -0.049259405583143234,
                    "z": -0.048354797065258026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.978325843811035,
                "transform": {
                    "location": {
                        "x": 715.5374145507812,
                        "y": 4293.4892578125,
                        "z": 369.6017761230469
                    },
                    "rotation": {
                        "roll": 0.0015600599581375718,
                        "pitch": -0.49185556173324585,
                        "yaw": -0.3371276259422302
                    }
                },
                "velocity": {
                    "x": 7.978043556213379,
                    "y": -0.04712238162755966,
                    "z": -0.047823332250118256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.726830005645752,
                "transform": {
                    "location": {
                        "x": 744.4693603515625,
                        "y": 4286.44482421875,
                        "z": 369.4217224121094
                    },
                    "rotation": {
                        "roll": -0.0009460439905524254,
                        "pitch": 0.3557503819465637,
                        "yaw": 178.2144317626953
                    }
                },
                "velocity": {
                    "x": -6.723607063293457,
                    "y": 0.20454195141792297,
                    "z": 0.03897732496261597
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.445399284362793,
                "transform": {
                    "location": {
                        "x": 716.446533203125,
                        "y": 4286.7822265625,
                        "z": 369.59326171875
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.5360810160636902,
                        "yaw": 179.6408233642578
                    }
                },
                "velocity": {
                    "x": -13.444915771484375,
                    "y": 0.08356016129255295,
                    "z": 0.07757371664047241
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004371772985905409,
                "transform": {
                    "location": {
                        "x": 623.1261596679688,
                        "y": 4287.43408203125,
                        "z": 370.0938720703125
                    },
                    "rotation": {
                        "roll": 0.00012119314487790689,
                        "pitch": 0.28841155767440796,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 4.1556133510312065e-05,
                    "y": 8.533184882253408e-05,
                    "z": 0.004370742477476597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.936915874481201,
                "transform": {
                    "location": {
                        "x": 711.9364624023438,
                        "y": 4290.05908203125,
                        "z": 369.6213684082031
                    },
                    "rotation": {
                        "roll": 0.0007022922509349883,
                        "pitch": 0.25348880887031555,
                        "yaw": 179.64500427246094
                    }
                },
                "velocity": {
                    "x": -7.936633110046387,
                    "y": 0.04915130138397217,
                    "z": 0.04552990943193436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.368974685668945,
                "transform": {
                    "location": {
                        "x": 693.1669921875,
                        "y": 4290.169921875,
                        "z": 369.7287292480469
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.377422571182251,
                        "yaw": 179.6490936279297
                    }
                },
                "velocity": {
                    "x": -8.36867618560791,
                    "y": 0.05104924738407135,
                    "z": 0.04889620840549469
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042060852050781,
                "transform": {
                    "location": {
                        "x": 673.97216796875,
                        "y": 4290.28271484375,
                        "z": 369.8674011230469
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": 0.3185122013092041,
                        "yaw": 179.6584014892578
                    }
                },
                "velocity": {
                    "x": -8.041793823242188,
                    "y": 0.047950830310583115,
                    "z": 0.044681109488010406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.490035057067871,
                "transform": {
                    "location": {
                        "x": 730.5812377929688,
                        "y": 4289.93310546875,
                        "z": 369.50933837890625
                    },
                    "rotation": {
                        "roll": -0.008972167037427425,
                        "pitch": 0.49294155836105347,
                        "yaw": 179.51263427734375
                    }
                },
                "velocity": {
                    "x": -8.489612579345703,
                    "y": 0.06869091093540192,
                    "z": 0.049455832690000534
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.029323922470211983,
        "expert_target_speed": 10.0,
        "target_point": [
            54.078702072368024,
            -0.023977460411888474
        ],
        "target_point_next": [
            105.07860185169606,
            -0.11117194465993019
        ]
    },
    "165": {
        "acceleration": [
            -0.6083488464355469,
            0.00015676021575927734,
            -0.0036159157752990723
        ],
        "angular_velocity": [
            -0.01582297869026661,
            -0.16113008558750153,
            0.15714290738105774
        ],
        "forward_vector": [
            -0.9999616742134094,
            0.004125372972339392,
            0.007721823640167713
        ],
        "right_vector": [
            -0.004125664941966534,
            -0.9999914765357971,
            -2.186361416534055e-05
        ],
        "location": [
            681.103515625,
            4287.15283203125,
            369.7887268066406
        ],
        "rotation": [
            0.001252730144187808,
            0.44243231415748596,
            179.7636260986328
        ],
        "velocity": [
            -14.142059326171875,
            0.058507513254880905,
            0.0796336755156517
        ],
        "speed": 14.142180352197187,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 38.62255096435547,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.46396017074585,
                "transform": {
                    "location": {
                        "x": 635.642578125,
                        "y": 4297.17919921875,
                        "z": 370.0329895019531
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": -0.30028924345970154,
                        "yaw": 0.04916277155280113
                    }
                },
                "velocity": {
                    "x": 7.463864803314209,
                    "y": 0.001042229006998241,
                    "z": -0.03777945414185524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.566283702850342,
                "transform": {
                    "location": {
                        "x": 635.4619140625,
                        "y": 4293.9287109375,
                        "z": 370.02850341796875
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.3570822775363922,
                        "yaw": 0.010600822046399117
                    }
                },
                "velocity": {
                    "x": 5.566206932067871,
                    "y": -0.0010339498985558748,
                    "z": -0.029160013422369957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.131731033325195,
                "transform": {
                    "location": {
                        "x": 675.8739013671875,
                        "y": 4296.9716796875,
                        "z": 369.8185119628906
                    },
                    "rotation": {
                        "roll": 0.003020691918209195,
                        "pitch": -0.26535284519195557,
                        "yaw": -0.3321533203125
                    }
                },
                "velocity": {
                    "x": 8.13146686553955,
                    "y": -0.04695218428969383,
                    "z": -0.0457288920879364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.00407886505127,
                "transform": {
                    "location": {
                        "x": 676.5379638671875,
                        "y": 4293.71728515625,
                        "z": 369.8182067871094
                    },
                    "rotation": {
                        "roll": 0.0013541998341679573,
                        "pitch": -0.32885992527008057,
                        "yaw": -0.3168639838695526
                    }
                },
                "velocity": {
                    "x": 8.00383186340332,
                    "y": -0.044803693890571594,
                    "z": -0.04409448429942131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052088737487793,
                "transform": {
                    "location": {
                        "x": 718.15380859375,
                        "y": 4296.72509765625,
                        "z": 369.575927734375
                    },
                    "rotation": {
                        "roll": 0.0002780654758680612,
                        "pitch": -0.3327326476573944,
                        "yaw": -0.348846435546875
                    }
                },
                "velocity": {
                    "x": 8.051795959472656,
                    "y": -0.04898645728826523,
                    "z": -0.048079222440719604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.97431755065918,
                "transform": {
                    "location": {
                        "x": 717.520751953125,
                        "y": 4293.4775390625,
                        "z": 369.58905029296875
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": -0.3641378581523895,
                        "yaw": -0.3400267958641052
                    }
                },
                "velocity": {
                    "x": 7.974040985107422,
                    "y": -0.04725723713636398,
                    "z": -0.046677812933921814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.609109878540039,
                "transform": {
                    "location": {
                        "x": 742.6702880859375,
                        "y": 4286.49658203125,
                        "z": 369.4322204589844
                    },
                    "rotation": {
                        "roll": -0.0021362307015806437,
                        "pitch": 0.36007389426231384,
                        "yaw": 178.42958068847656
                    }
                },
                "velocity": {
                    "x": -7.606736183166504,
                    "y": 0.18465813994407654,
                    "z": 0.04493382200598717
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.163216590881348,
                "transform": {
                    "location": {
                        "x": 712.9847412109375,
                        "y": 4286.80419921875,
                        "z": 369.6136779785156
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": 0.507442057132721,
                        "yaw": 179.6517791748047
                    }
                },
                "velocity": {
                    "x": -14.162715911865234,
                    "y": 0.08666215091943741,
                    "z": 0.08162663877010345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.10172565281391144,
                "transform": {
                    "location": {
                        "x": 623.1250610351562,
                        "y": 4287.43408203125,
                        "z": 370.0949401855469
                    },
                    "rotation": {
                        "roll": 0.0002698424505069852,
                        "pitch": 0.2946816682815552,
                        "yaw": 179.66180419921875
                    }
                },
                "velocity": {
                    "x": -0.10152990370988846,
                    "y": -0.0006947505171410739,
                    "z": 0.006269330624490976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.88722038269043,
                "transform": {
                    "location": {
                        "x": 709.7526245117188,
                        "y": 4290.07177734375,
                        "z": 369.63427734375
                    },
                    "rotation": {
                        "roll": -9.155270527116954e-05,
                        "pitch": 0.22433754801750183,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -8.886910438537598,
                    "y": 0.0531875304877758,
                    "z": 0.051760509610176086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.639025688171387,
                "transform": {
                    "location": {
                        "x": 691.0631103515625,
                        "y": 4290.181640625,
                        "z": 369.7413330078125
                    },
                    "rotation": {
                        "roll": 0.000420963711803779,
                        "pitch": 0.31508344411849976,
                        "yaw": 179.6833038330078
                    }
                },
                "velocity": {
                    "x": -8.638739585876465,
                    "y": 0.05029163137078285,
                    "z": 0.04907268285751343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009476661682129,
                "transform": {
                    "location": {
                        "x": 671.9656372070312,
                        "y": 4290.29443359375,
                        "z": 369.87841796875
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": 0.3172281086444855,
                        "yaw": 179.65782165527344
                    }
                },
                "velocity": {
                    "x": -8.009211540222168,
                    "y": 0.047832801938056946,
                    "z": 0.04432127997279167
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.529664993286133,
                "transform": {
                    "location": {
                        "x": 728.363037109375,
                        "y": 4289.95068359375,
                        "z": 369.522216796875
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": 0.5550962686538696,
                        "yaw": 179.56121826171875
                    }
                },
                "velocity": {
                    "x": -9.529253005981445,
                    "y": 0.07019048929214478,
                    "z": 0.05415394529700279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02448152005672455,
        "expert_target_speed": 0,
        "target_point": [
            50.56603940366571,
            -0.028715234130851253
        ],
        "target_point_next": [
            101.56593272924572,
            -0.11960615253310147
        ]
    },
    "170": {
        "acceleration": [
            0.15460968017578125,
            -0.05757741630077362,
            0.00553518533706665
        ],
        "angular_velocity": [
            -0.03668729215860367,
            -0.2892853319644928,
            -0.052487812936306
        ],
        "forward_vector": [
            -0.9999696016311646,
            0.003974965773522854,
            0.006707736756652594
        ],
        "right_vector": [
            -0.003974726423621178,
            -0.9999920725822449,
            4.900106068816967e-05
        ],
        "location": [
            677.5612182617188,
            4287.16650390625,
            369.8087463378906
        ],
        "rotation": [
            -0.0028076171875,
            0.38432788848876953,
            179.77224731445312
        ],
        "velocity": [
            -14.168399810791016,
            0.053786806762218475,
            0.0800512507557869
        ],
        "speed": 14.168501904541797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 35.081809997558594,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.341713905334473,
                "transform": {
                    "location": {
                        "x": 637.6177978515625,
                        "y": 4297.1787109375,
                        "z": 370.0226745605469
                    },
                    "rotation": {
                        "roll": 0.0005539676640182734,
                        "pitch": -0.2786853611469269,
                        "yaw": -0.05734251067042351
                    }
                },
                "velocity": {
                    "x": 8.341584205627441,
                    "y": -0.01841409131884575,
                    "z": -0.042824581265449524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.074615478515625,
                "transform": {
                    "location": {
                        "x": 636.9243774414062,
                        "y": 4293.92724609375,
                        "z": 370.0205078125
                    },
                    "rotation": {
                        "roll": 0.0013073082081973553,
                        "pitch": -0.28762608766555786,
                        "yaw": -0.0024108884390443563
                    }
                },
                "velocity": {
                    "x": 6.074516296386719,
                    "y": -0.01564539223909378,
                    "z": -0.031018052250146866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.931485176086426,
                "transform": {
                    "location": {
                        "x": 677.8736572265625,
                        "y": 4296.9599609375,
                        "z": 369.80780029296875
                    },
                    "rotation": {
                        "roll": 0.0009798832470551133,
                        "pitch": -0.3626078963279724,
                        "yaw": -0.309661865234375
                    }
                },
                "velocity": {
                    "x": 7.93123722076416,
                    "y": -0.0436713770031929,
                    "z": -0.044981811195611954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068008422851562,
                "transform": {
                    "location": {
                        "x": 678.5458984375,
                        "y": 4293.7060546875,
                        "z": 369.8070983886719
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.31689342856407166,
                        "yaw": -0.316009521484375
                    }
                },
                "velocity": {
                    "x": 8.06775951385498,
                    "y": -0.04475861415266991,
                    "z": -0.04479825496673584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084585189819336,
                "transform": {
                    "location": {
                        "x": 720.1708374023438,
                        "y": 4296.712890625,
                        "z": 369.5641784667969
                    },
                    "rotation": {
                        "roll": 0.00024169276002794504,
                        "pitch": -0.33278727531433105,
                        "yaw": -0.349151611328125
                    }
                },
                "velocity": {
                    "x": 8.084291458129883,
                    "y": -0.049239907413721085,
                    "z": -0.04820322245359421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.183377265930176,
                "transform": {
                    "location": {
                        "x": 719.54833984375,
                        "y": 4293.46630859375,
                        "z": 369.5765686035156
                    },
                    "rotation": {
                        "roll": -5.211078790701151e-11,
                        "pitch": -0.2705984115600586,
                        "yaw": -0.34429931640625
                    }
                },
                "velocity": {
                    "x": 8.183084487915039,
                    "y": -0.050141699612140656,
                    "z": -0.047656431794166565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.371992111206055,
                "transform": {
                    "location": {
                        "x": 740.6687622070312,
                        "y": 4286.54345703125,
                        "z": 369.4440002441406
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.3556274473667145,
                        "yaw": 178.68202209472656
                    }
                },
                "velocity": {
                    "x": -8.369948387145996,
                    "y": 0.17841508984565735,
                    "z": 0.0488484762609005
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.822893142700195,
                "transform": {
                    "location": {
                        "x": 709.3504638671875,
                        "y": 4286.82568359375,
                        "z": 369.6349182128906
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": 0.49070125818252563,
                        "yaw": 179.66461181640625
                    }
                },
                "velocity": {
                    "x": -14.822392463684082,
                    "y": 0.08652200549840927,
                    "z": 0.0857790932059288
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.367391586303711,
                "transform": {
                    "location": {
                        "x": 622.9013061523438,
                        "y": 4287.43310546875,
                        "z": 370.095703125
                    },
                    "rotation": {
                        "roll": -0.011779784224927425,
                        "pitch": 0.6246344447135925,
                        "yaw": 179.76409912109375
                    }
                },
                "velocity": {
                    "x": -1.367341160774231,
                    "y": -0.008456635288894176,
                    "z": 0.00814724899828434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.25494384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.42794132232666,
                "transform": {
                    "location": {
                        "x": 707.6002807617188,
                        "y": 4290.0849609375,
                        "z": 369.64569091796875
                    },
                    "rotation": {
                        "roll": 0.0007338153081946075,
                        "pitch": 0.35956162214279175,
                        "yaw": 179.65756225585938
                    }
                },
                "velocity": {
                    "x": -8.427647590637207,
                    "y": 0.05039578676223755,
                    "z": 0.04909893870353699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.603287696838379,
                "transform": {
                    "location": {
                        "x": 688.8621826171875,
                        "y": 4290.1953125,
                        "z": 369.753662109375
                    },
                    "rotation": {
                        "roll": 0.0005014031194150448,
                        "pitch": 0.32003533840179443,
                        "yaw": 179.64324951171875
                    }
                },
                "velocity": {
                    "x": -8.602991104125977,
                    "y": 0.05228094756603241,
                    "z": 0.04864311218261719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042391777038574,
                "transform": {
                    "location": {
                        "x": 669.9590454101562,
                        "y": 4290.30615234375,
                        "z": 369.8894348144531
                    },
                    "rotation": {
                        "roll": 4.569258453557268e-05,
                        "pitch": 0.31491950154304504,
                        "yaw": 179.65419006347656
                    }
                },
                "velocity": {
                    "x": -8.042120933532715,
                    "y": 0.04853426292538643,
                    "z": 0.04468805342912674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.995556831359863,
                "transform": {
                    "location": {
                        "x": 726.0101318359375,
                        "y": 4289.96728515625,
                        "z": 369.5358581542969
                    },
                    "rotation": {
                        "roll": -0.003906249301508069,
                        "pitch": 0.31657925248146057,
                        "yaw": 179.59616088867188
                    }
                },
                "velocity": {
                    "x": -8.995177268981934,
                    "y": 0.06376376003026962,
                    "z": 0.0524512454867363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.021770963445305824,
        "expert_target_speed": 0,
        "target_point": [
            47.02371079645534,
            -0.036718923255547986
        ],
        "target_point_next": [
            98.02358989457451,
            -0.13527021352733182
        ]
    },
    "175": {
        "acceleration": [
            0.46566009521484375,
            -0.08856624364852905,
            -0.00942036509513855
        ],
        "angular_velocity": [
            -0.07947032153606415,
            -0.20113222301006317,
            0.693352222442627
        ],
        "forward_vector": [
            -0.9999805092811584,
            0.0025557156186550856,
            0.005691736005246639
        ],
        "right_vector": [
            -0.0025540804490447044,
            -0.9999966621398926,
            0.0002945407759398222
        ],
        "location": [
            674.0281372070312,
            4287.17822265625,
            369.82855224609375
        ],
        "rotation": [
            -0.0168762169778347,
            0.3261142075061798,
            179.8535614013672
        ],
        "velocity": [
            -14.091203689575195,
            0.0344136580824852,
            0.07867316901683807
        ],
        "speed": 14.09124571217748,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.550588607788086,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 596.705078125,
                        "y": 4294.09033203125,
                        "z": 370.30267333984375
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.0252685546875,
                        "y": 4297.33251953125,
                        "z": 370.4369812011719
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.118578910827637,
                "transform": {
                    "location": {
                        "x": 639.6945190429688,
                        "y": 4297.173828125,
                        "z": 370.0121154785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30209243297576904,
                        "yaw": -0.169952392578125
                    }
                },
                "velocity": {
                    "x": 8.118414878845215,
                    "y": -0.027297023683786392,
                    "z": -0.043778352439403534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.257553100585938,
                "transform": {
                    "location": {
                        "x": 638.753662109375,
                        "y": 4293.9228515625,
                        "z": 370.01025390625
                    },
                    "rotation": {
                        "roll": 0.0007352398242801428,
                        "pitch": -0.1865256279706955,
                        "yaw": -0.1275329440832138
                    }
                },
                "velocity": {
                    "x": 8.257402420043945,
                    "y": -0.025910431519150734,
                    "z": -0.04269000142812729
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.075714111328125,
                "transform": {
                    "location": {
                        "x": 679.8735961914062,
                        "y": 4296.9482421875,
                        "z": 369.79638671875
                    },
                    "rotation": {
                        "roll": 0.0013974569737911224,
                        "pitch": -0.3068530559539795,
                        "yaw": -0.3374023735523224
                    }
                },
                "velocity": {
                    "x": 8.07545280456543,
                    "y": -0.0472181960940361,
                    "z": -0.04470411315560341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058624267578125,
                "transform": {
                    "location": {
                        "x": 680.5639038085938,
                        "y": 4293.6943359375,
                        "z": 369.7957763671875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.32101887464523315,
                        "yaw": -0.3186950385570526
                    }
                },
                "velocity": {
                    "x": 8.058370590209961,
                    "y": -0.0446002371609211,
                    "z": -0.045783232897520065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051846504211426,
                "transform": {
                    "location": {
                        "x": 722.1876220703125,
                        "y": 4296.70166015625,
                        "z": 369.5524597167969
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.33291706442832947,
                        "yaw": -0.34912109375
                    }
                },
                "velocity": {
                    "x": 8.051559448242188,
                    "y": -0.04907727614045143,
                    "z": -0.04711717367172241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065855026245117,
                "transform": {
                    "location": {
                        "x": 721.5807495117188,
                        "y": 4293.4541015625,
                        "z": 369.5654296875
                    },
                    "rotation": {
                        "roll": 0.00010366862261435017,
                        "pitch": -0.3401775658130646,
                        "yaw": -0.3472900390625
                    }
                },
                "velocity": {
                    "x": 8.065561294555664,
                    "y": -0.04881010949611664,
                    "z": -0.048534002155065536
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.137651443481445,
                "transform": {
                    "location": {
                        "x": 738.4771728515625,
                        "y": 4286.58984375,
                        "z": 369.4569091796875
                    },
                    "rotation": {
                        "roll": -0.0031433100812137127,
                        "pitch": 0.3542887270450592,
                        "yaw": 178.8655242919922
                    }
                },
                "velocity": {
                    "x": -9.136054039001465,
                    "y": 0.1622123420238495,
                    "z": 0.05360184609889984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.997488975524902,
                "transform": {
                    "location": {
                        "x": 705.5884399414062,
                        "y": 4286.84716796875,
                        "z": 369.6572570800781
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.4164980947971344,
                        "yaw": 179.67086791992188
                    }
                },
                "velocity": {
                    "x": -14.996983528137207,
                    "y": 0.08691469579935074,
                    "z": 0.08722490072250366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.221613883972168,
                "transform": {
                    "location": {
                        "x": 622.4524536132812,
                        "y": 4287.4306640625,
                        "z": 370.0981140136719
                    },
                    "rotation": {
                        "roll": -0.01235961727797985,
                        "pitch": 0.6588058471679688,
                        "yaw": 179.9075164794922
                    }
                },
                "velocity": {
                    "x": -2.2215306758880615,
                    "y": -0.015830520540475845,
                    "z": 0.010888929478824139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1289379894733429,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.2449951171875
                    },
                    "rotation": {
                        "roll": 2.1145513073861366e-06,
                        "pitch": 0.26983344554901123,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0006064779008738697,
                    "y": 7.38685266696848e-05,
                    "z": -0.1289365440607071
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.801609992980957,
                "transform": {
                    "location": {
                        "x": 705.4575805664062,
                        "y": 4290.09765625,
                        "z": 369.65863037109375
                    },
                    "rotation": {
                        "roll": 4.1266437619924545e-05,
                        "pitch": 0.3021675646305084,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -8.80132007598877,
                    "y": 0.050550565123558044,
                    "z": 0.05043509230017662
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.36259937286377,
                "transform": {
                    "location": {
                        "x": 686.774658203125,
                        "y": 4290.20751953125,
                        "z": 369.7652587890625
                    },
                    "rotation": {
                        "roll": 0.00030103058088570833,
                        "pitch": 0.34495869278907776,
                        "yaw": 179.67530822753906
                    }
                },
                "velocity": {
                    "x": -8.362306594848633,
                    "y": 0.049982860684394836,
                    "z": 0.04905867576599121
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007298469543457,
                "transform": {
                    "location": {
                        "x": 667.953125,
                        "y": 4290.31787109375,
                        "z": 369.9004211425781
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.31460532546043396,
                        "yaw": 179.65383911132812
                    }
                },
                "velocity": {
                    "x": -8.00702953338623,
                    "y": 0.04831739142537117,
                    "z": 0.044345490634441376
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.661954879760742,
                "transform": {
                    "location": {
                        "x": 723.945556640625,
                        "y": 4289.98193359375,
                        "z": 369.5478515625
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": 0.11553264409303665,
                        "yaw": 179.60708618164062
                    }
                },
                "velocity": {
                    "x": -7.661646366119385,
                    "y": 0.05257773399353027,
                    "z": 0.0443270206451416
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.012228497304022312,
        "expert_target_speed": 10.0,
        "target_point": [
            43.49051187650934,
            -0.10075992961831468
        ],
        "target_point_next": [
            94.4901997732022,
            -0.2716833613267305
        ]
    },
    "180": {
        "acceleration": [
            1.3936233520507812,
            -0.09991921484470367,
            -0.007928162813186646
        ],
        "angular_velocity": [
            -0.0578032061457634,
            -0.35135775804519653,
            -0.010186639614403248
        ],
        "forward_vector": [
            -0.9999892711639404,
            0.0008548726327717304,
            0.004555328283458948
        ],
        "right_vector": [
            -0.0008527122554369271,
            -0.9999995231628418,
            0.0004761681193485856
        ],
        "location": [
            670.532958984375,
            4287.18359375,
            369.8479919433594
        ],
        "rotation": [
            -0.027282709255814552,
            0.2610020041465759,
            179.95101928710938
        ],
        "velocity": [
            -13.844932556152344,
            0.010163814760744572,
            0.0759241059422493
        ],
        "speed": 13.84493628687173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.057510375976562,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.7879028320312,
                        "y": 4294.078125,
                        "z": 370.2579650878906
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 600.1032104492188,
                        "y": 4297.3203125,
                        "z": 370.28717041015625
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.909713268280029,
                "transform": {
                    "location": {
                        "x": 641.6790161132812,
                        "y": 4297.16650390625,
                        "z": 370.0016784667969
                    },
                    "rotation": {
                        "roll": 0.0013689253246411681,
                        "pitch": -0.3044693171977997,
                        "yaw": -0.2210693508386612
                    }
                },
                "velocity": {
                    "x": 7.9095354080200195,
                    "y": -0.03337384760379791,
                    "z": -0.04124561324715614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.205765724182129,
                "transform": {
                    "location": {
                        "x": 640.8462524414062,
                        "y": 4293.9169921875,
                        "z": 370.00006103515625
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.27658167481422424,
                        "yaw": -0.1828002780675888
                    }
                },
                "velocity": {
                    "x": 8.20560359954834,
                    "y": -0.02600390836596489,
                    "z": -0.04454158619046211
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0361328125,
                "transform": {
                    "location": {
                        "x": 681.89208984375,
                        "y": 4296.9365234375,
                        "z": 369.78515625
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": -0.32009679079055786,
                        "yaw": -0.3126830756664276
                    }
                },
                "velocity": {
                    "x": 8.035879135131836,
                    "y": -0.04575419798493385,
                    "z": -0.044657111167907715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042247772216797,
                "transform": {
                    "location": {
                        "x": 682.5750122070312,
                        "y": 4293.6826171875,
                        "z": 369.7845764160156
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": -0.3232113718986511,
                        "yaw": -0.321258544921875
                    }
                },
                "velocity": {
                    "x": 8.041991233825684,
                    "y": -0.04615609720349312,
                    "z": -0.044654231518507004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085099220275879,
                "transform": {
                    "location": {
                        "x": 724.204833984375,
                        "y": 4296.68994140625,
                        "z": 369.5407409667969
                    },
                    "rotation": {
                        "roll": 0.000459342758404091,
                        "pitch": -0.33257555961608887,
                        "yaw": -0.3510741591453552
                    }
                },
                "velocity": {
                    "x": 8.08481216430664,
                    "y": -0.049659814685583115,
                    "z": -0.04672824218869209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054001808166504,
                "transform": {
                    "location": {
                        "x": 723.5921630859375,
                        "y": 4293.4423828125,
                        "z": 369.55377197265625
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": -0.36038124561309814,
                        "yaw": -0.3509826362133026
                    }
                },
                "velocity": {
                    "x": 8.053703308105469,
                    "y": -0.049321454018354416,
                    "z": -0.04872497543692589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.939423561096191,
                "transform": {
                    "location": {
                        "x": 736.08984375,
                        "y": 4286.6279296875,
                        "z": 369.4709777832031
                    },
                    "rotation": {
                        "roll": -0.00421142578125,
                        "pitch": 0.35645389556884766,
                        "yaw": 179.15538024902344
                    }
                },
                "velocity": {
                    "x": -9.938380241394043,
                    "y": 0.13210657238960266,
                    "z": 0.057422034442424774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.567042350769043,
                "transform": {
                    "location": {
                        "x": 701.92919921875,
                        "y": 4286.86865234375,
                        "z": 369.68023681640625
                    },
                    "rotation": {
                        "roll": 0.0015272399177774787,
                        "pitch": 0.21332046389579773,
                        "yaw": 179.67068481445312
                    }
                },
                "velocity": {
                    "x": -14.566551208496094,
                    "y": 0.08500148355960846,
                    "z": 0.08417055010795593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.526805877685547,
                "transform": {
                    "location": {
                        "x": 621.7322387695312,
                        "y": 4287.42626953125,
                        "z": 370.1011962890625
                    },
                    "rotation": {
                        "roll": -0.01263427734375,
                        "pitch": 0.7892488241195679,
                        "yaw": -179.8990020751953
                    }
                },
                "velocity": {
                    "x": -3.5266597270965576,
                    "y": -0.027191078290343285,
                    "z": 0.01705058105289936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.043083470314741135,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.2231140136719
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.27205324172973633,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00018963699403684586,
                    "y": -0.0001141703687608242,
                    "z": -0.04308290034532547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.420710563659668,
                "transform": {
                    "location": {
                        "x": 703.2965698242188,
                        "y": 4290.1103515625,
                        "z": 369.670654296875
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.3563036322593689,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -8.42042064666748,
                    "y": 0.049794699996709824,
                    "z": 0.049027834087610245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.864441871643066,
                "transform": {
                    "location": {
                        "x": 684.607421875,
                        "y": 4290.220703125,
                        "z": 369.7781066894531
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": 0.2787468433380127,
                        "yaw": 179.630859375
                    }
                },
                "velocity": {
                    "x": -8.864126205444336,
                    "y": 0.05670827627182007,
                    "z": 0.04878118261694908
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044336318969727,
                "transform": {
                    "location": {
                        "x": 665.946533203125,
                        "y": 4290.32958984375,
                        "z": 369.9114074707031
                    },
                    "rotation": {
                        "roll": 0.00016611577302683145,
                        "pitch": 0.3152405321598053,
                        "yaw": 179.65396118164062
                    }
                },
                "velocity": {
                    "x": -8.04406452178955,
                    "y": 0.048596758395433426,
                    "z": 0.044791944324970245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.83319091796875,
                "transform": {
                    "location": {
                        "x": 722.0379638671875,
                        "y": 4289.99560546875,
                        "z": 369.5589904785156
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.30461275577545166,
                        "yaw": 179.61209106445312
                    }
                },
                "velocity": {
                    "x": -7.832879543304443,
                    "y": 0.05310289189219475,
                    "z": 0.045392103493213654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0020076974760740995,
        "expert_target_speed": 10.0,
        "target_point": [
            39.99509596801986,
            -0.17236801572858082
        ],
        "target_point_next": [
            90.99441925136709,
            -0.43005973120404173
        ]
    },
    "185": {
        "acceleration": [
            2.7010726928710938,
            -0.09030638635158539,
            -0.030262023210525513
        ],
        "angular_velocity": [
            0.029174577444791794,
            -0.5108627080917358,
            1.0166761875152588
        ],
        "forward_vector": [
            -0.9999958872795105,
            -0.0009829086484387517,
            0.0026965108700096607
        ],
        "right_vector": [
            0.000984372803941369,
            -0.9999994039535522,
            0.0005416847998276353
        ],
        "location": [
            667.1365966796875,
            4287.18310546875,
            369.8670349121094
        ],
        "rotation": [
            -0.031036367639899254,
            0.1544988751411438,
            -179.9436798095703
        ],
        "velocity": [
            -13.301827430725098,
            -0.013790051452815533,
            0.07247230410575867
        ],
        "speed": 13.301834578820687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.66353988647461,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.944152355194092,
                "transform": {
                    "location": {
                        "x": 600.67724609375,
                        "y": 4294.0703125,
                        "z": 370.2179260253906
                    },
                    "rotation": {
                        "roll": -0.0364379920065403,
                        "pitch": -0.5962823033332825,
                        "yaw": -0.2031554877758026
                    }
                },
                "velocity": {
                    "x": 6.9428277015686035,
                    "y": 0.021601127460598946,
                    "z": -0.13389460742473602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.694327354431152,
                "transform": {
                    "location": {
                        "x": 601.9571533203125,
                        "y": 4297.3125,
                        "z": 370.175537109375
                    },
                    "rotation": {
                        "roll": -0.02709960751235485,
                        "pitch": -0.6502681374549866,
                        "yaw": -0.22332763671875
                    }
                },
                "velocity": {
                    "x": 6.692618370056152,
                    "y": 0.0026820164639502764,
                    "z": -0.15122373402118683
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.201820373535156,
                "transform": {
                    "location": {
                        "x": 643.7019653320312,
                        "y": 4297.1572265625,
                        "z": 369.990966796875
                    },
                    "rotation": {
                        "roll": 0.0002791410661302507,
                        "pitch": -0.29452458024024963,
                        "yaw": -0.2672119140625
                    }
                },
                "velocity": {
                    "x": 8.201618194580078,
                    "y": -0.039583273231983185,
                    "z": -0.04184762388467789
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.834129810333252,
                "transform": {
                    "location": {
                        "x": 642.8321533203125,
                        "y": 4293.9091796875,
                        "z": 369.9898376464844
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": -0.3121054768562317,
                        "yaw": -0.234954833984375
                    }
                },
                "velocity": {
                    "x": 7.83394193649292,
                    "y": -0.03639145940542221,
                    "z": -0.04024675861001015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002729415893555,
                "transform": {
                    "location": {
                        "x": 683.8927001953125,
                        "y": 4296.9248046875,
                        "z": 369.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0009110416867770255,
                        "pitch": -0.33834704756736755,
                        "yaw": -0.3463134765625
                    }
                },
                "velocity": {
                    "x": 8.002460479736328,
                    "y": -0.04754779115319252,
                    "z": -0.04510420560836792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061147689819336,
                "transform": {
                    "location": {
                        "x": 684.5882568359375,
                        "y": 4293.67041015625,
                        "z": 369.7732238769531
                    },
                    "rotation": {
                        "roll": 0.00011379038187442347,
                        "pitch": -0.32326599955558777,
                        "yaw": -0.3268126845359802
                    }
                },
                "velocity": {
                    "x": 8.060891151428223,
                    "y": -0.045609135180711746,
                    "z": -0.04529034346342087
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051162719726562,
                "transform": {
                    "location": {
                        "x": 726.2216796875,
                        "y": 4296.67822265625,
                        "z": 369.5289611816406
                    },
                    "rotation": {
                        "roll": 0.00123797042760998,
                        "pitch": -0.3321520686149597,
                        "yaw": -0.352783203125
                    }
                },
                "velocity": {
                    "x": 8.050872802734375,
                    "y": -0.05031708627939224,
                    "z": -0.04624859243631363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076982498168945,
                "transform": {
                    "location": {
                        "x": 725.6089477539062,
                        "y": 4293.4306640625,
                        "z": 369.5417175292969
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.3253765404224396,
                        "yaw": -0.354095458984375
                    }
                },
                "velocity": {
                    "x": 8.07668399810791,
                    "y": -0.0498867891728878,
                    "z": -0.04835192486643791
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.785382270812988,
                "transform": {
                    "location": {
                        "x": 733.4961547851562,
                        "y": 4286.6611328125,
                        "z": 369.4862060546875
                    },
                    "rotation": {
                        "roll": -0.0032043452374637127,
                        "pitch": 0.35659050941467285,
                        "yaw": 179.3605194091797
                    }
                },
                "velocity": {
                    "x": -10.78462028503418,
                    "y": 0.11237098276615143,
                    "z": 0.06162456423044205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.983237266540527,
                "transform": {
                    "location": {
                        "x": 698.2310791015625,
                        "y": 4286.89013671875,
                        "z": 369.70013427734375
                    },
                    "rotation": {
                        "roll": 0.0009961907053366303,
                        "pitch": 0.3936169445514679,
                        "yaw": 179.66273498535156
                    }
                },
                "velocity": {
                    "x": -14.98274040222168,
                    "y": 0.08777127414941788,
                    "z": 0.08465993404388428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.083599090576172,
                "transform": {
                    "location": {
                        "x": 620.8853149414062,
                        "y": 4287.419921875,
                        "z": 370.1066589355469
                    },
                    "rotation": {
                        "roll": 0.008908507414162159,
                        "pitch": 0.41996097564697266,
                        "yaw": -179.77244567871094
                    }
                },
                "velocity": {
                    "x": -3.0835516452789307,
                    "y": -0.006434815004467964,
                    "z": 0.0158713236451149
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007918931543827057,
                "transform": {
                    "location": {
                        "x": 605.9210205078125,
                        "y": 4287.53564453125,
                        "z": 370.2182312011719
                    },
                    "rotation": {
                        "roll": 0.0003606941900216043,
                        "pitch": 0.2720942199230194,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -2.7974992917734198e-05,
                    "y": 0.00012048338248860091,
                    "z": -0.007917964830994606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.448895454406738,
                "transform": {
                    "location": {
                        "x": 701.2093505859375,
                        "y": 4290.1220703125,
                        "z": 369.6829528808594
                    },
                    "rotation": {
                        "roll": -0.0015258785570040345,
                        "pitch": 0.33064261078834534,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -8.448607444763184,
                    "y": 0.04993578791618347,
                    "z": 0.04863090440630913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.122218132019043,
                "transform": {
                    "location": {
                        "x": 682.4927978515625,
                        "y": 4290.2333984375,
                        "z": 369.7891845703125
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.3717808425426483,
                        "yaw": 179.6787109375
                    }
                },
                "velocity": {
                    "x": -8.121950149536133,
                    "y": 0.048419833183288574,
                    "z": 0.04488489031791687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007519721984863,
                "transform": {
                    "location": {
                        "x": 663.9404296875,
                        "y": 4290.34130859375,
                        "z": 369.9222717285156
                    },
                    "rotation": {
                        "roll": 0.0004136722127441317,
                        "pitch": 0.31248795986175537,
                        "yaw": 179.65408325195312
                    }
                },
                "velocity": {
                    "x": -8.007251739501953,
                    "y": 0.04826543852686882,
                    "z": 0.04435606673359871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.942424774169922,
                "transform": {
                    "location": {
                        "x": 719.9381103515625,
                        "y": 4290.00927734375,
                        "z": 369.5711975097656
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": 0.509006142616272,
                        "yaw": 179.6197967529297
                    }
                },
                "velocity": {
                    "x": -8.942078590393066,
                    "y": 0.059186529368162155,
                    "z": 0.05179179087281227
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01111551746726036,
        "expert_target_speed": 0,
        "target_point": [
            36.598350522472245,
            -0.24301669513509286
        ],
        "target_point_next": [
            87.59711411939884,
            -0.5944309298819329
        ]
    },
    "190": {
        "acceleration": [
            3.337230682373047,
            -0.0796058401465416,
            -0.03061056137084961
        ],
        "angular_velocity": [
            0.002118992619216442,
            -0.35159382224082947,
            -0.6582266688346863
        ],
        "forward_vector": [
            -0.9999966025352478,
            -0.0025145099498331547,
            0.0007177590159699321
        ],
        "right_vector": [
            0.0025148908607661724,
            -0.9999967217445374,
            0.0005299689946696162
        ],
        "location": [
            663.9116821289062,
            4287.17724609375,
            369.88494873046875
        ],
        "rotation": [
            -0.03036499209702015,
            0.04112456738948822,
            -179.85592651367188
        ],
        "velocity": [
            -12.520857810974121,
            -0.03478341922163963,
            0.06792129576206207
        ],
        "speed": 12.520906125711685,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.441362380981445,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.7085862159729,
                "transform": {
                    "location": {
                        "x": 602.3845825195312,
                        "y": 4294.07568359375,
                        "z": 370.19952392578125
                    },
                    "rotation": {
                        "roll": -0.01614380069077015,
                        "pitch": -0.37456756830215454,
                        "yaw": 0.16989946365356445
                    }
                },
                "velocity": {
                    "x": 6.70850944519043,
                    "y": 0.024854788556694984,
                    "z": -0.02015749365091324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.469717502593994,
                "transform": {
                    "location": {
                        "x": 603.603515625,
                        "y": 4297.31396484375,
                        "z": 370.18408203125
                    },
                    "rotation": {
                        "roll": -0.024169921875,
                        "pitch": -0.3904135823249817,
                        "yaw": 0.06032489985227585
                    }
                },
                "velocity": {
                    "x": 6.468770980834961,
                    "y": 0.02435280568897724,
                    "z": 0.10797662287950516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.005203247070312,
                "transform": {
                    "location": {
                        "x": 645.7290649414062,
                        "y": 4297.14794921875,
                        "z": 369.98046875
                    },
                    "rotation": {
                        "roll": 0.0009337316150777042,
                        "pitch": -0.30263882875442505,
                        "yaw": -0.2881774604320526
                    }
                },
                "velocity": {
                    "x": 8.004996299743652,
                    "y": -0.04014313593506813,
                    "z": -0.04133152216672897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.18505859375,
                "transform": {
                    "location": {
                        "x": 644.8395385742188,
                        "y": 4293.8994140625,
                        "z": 369.9791564941406
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.2881178557872772,
                        "yaw": -0.2657165825366974
                    }
                },
                "velocity": {
                    "x": 8.184864044189453,
                    "y": -0.03790360689163208,
                    "z": -0.04175495356321335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.053845405578613,
                "transform": {
                    "location": {
                        "x": 685.9015502929688,
                        "y": 4296.9130859375,
                        "z": 369.7626037597656
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": -0.3176925778388977,
                        "yaw": -0.323028564453125
                    }
                },
                "velocity": {
                    "x": 8.053587913513184,
                    "y": -0.04625539109110832,
                    "z": -0.0449008084833622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05139446258545,
                "transform": {
                    "location": {
                        "x": 686.6023559570312,
                        "y": 4293.6591796875,
                        "z": 369.7618713378906
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.32586830854415894,
                        "yaw": -0.3237609565258026
                    }
                },
                "velocity": {
                    "x": 8.051137924194336,
                    "y": -0.04572063684463501,
                    "z": -0.045212652534246445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084342956542969,
                "transform": {
                    "location": {
                        "x": 728.2387084960938,
                        "y": 4296.6650390625,
                        "z": 369.5173034667969
                    },
                    "rotation": {
                        "roll": 0.0016957116313278675,
                        "pitch": -0.3335864245891571,
                        "yaw": -0.3609313666820526
                    }
                },
                "velocity": {
                    "x": 8.084044456481934,
                    "y": -0.051752932369709015,
                    "z": -0.04627104103565216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.105016708374023,
                "transform": {
                    "location": {
                        "x": 727.6331176757812,
                        "y": 4293.4189453125,
                        "z": 369.5299987792969
                    },
                    "rotation": {
                        "roll": 0.0002688794338610023,
                        "pitch": -0.32879847288131714,
                        "yaw": -0.3569640815258026
                    }
                },
                "velocity": {
                    "x": 8.10471248626709,
                    "y": -0.05046194791793823,
                    "z": -0.04889141395688057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.677529335021973,
                "transform": {
                    "location": {
                        "x": 730.6851196289062,
                        "y": 4286.6875,
                        "z": 369.5025329589844
                    },
                    "rotation": {
                        "roll": -0.0031127932015806437,
                        "pitch": 0.3544253408908844,
                        "yaw": 179.52638244628906
                    }
                },
                "velocity": {
                    "x": -11.676962852478027,
                    "y": 0.09333346039056778,
                    "z": 0.0672219842672348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.787029266357422,
                "transform": {
                    "location": {
                        "x": 694.4656372070312,
                        "y": 4286.91162109375,
                        "z": 369.7218322753906
                    },
                    "rotation": {
                        "roll": -0.0010375971905887127,
                        "pitch": 0.3671158254146576,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -14.786532402038574,
                    "y": 0.08718792349100113,
                    "z": 0.08420450240373611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.838512659072876,
                "transform": {
                    "location": {
                        "x": 620.2371826171875,
                        "y": 4287.41796875,
                        "z": 370.1113586425781
                    },
                    "rotation": {
                        "roll": 0.010847222059965134,
                        "pitch": 0.030462641268968582,
                        "yaw": -179.814453125
                    }
                },
                "velocity": {
                    "x": -1.8384884595870972,
                    "y": -0.0033144454937428236,
                    "z": 0.008811845444142818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8228222131729126,
                "transform": {
                    "location": {
                        "x": 605.8650512695312,
                        "y": 4287.53564453125,
                        "z": 370.2171325683594
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": 0.33845633268356323,
                        "yaw": 179.67767333984375
                    }
                },
                "velocity": {
                    "x": -0.8228101134300232,
                    "y": -0.0034146886318922043,
                    "z": 0.002871351083740592
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.779332160949707,
                "transform": {
                    "location": {
                        "x": 699.021728515625,
                        "y": 4290.1357421875,
                        "z": 369.69586181640625
                    },
                    "rotation": {
                        "roll": -0.0011901851976290345,
                        "pitch": 0.3009722828865051,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -8.779036521911621,
                    "y": 0.05188281089067459,
                    "z": 0.049975402653217316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.2557549476623535,
                "transform": {
                    "location": {
                        "x": 680.73779296875,
                        "y": 4290.23876953125,
                        "z": 369.79815673828125
                    },
                    "rotation": {
                        "roll": -0.004394531715661287,
                        "pitch": 0.47436344623565674,
                        "yaw": 179.09043884277344
                    }
                },
                "velocity": {
                    "x": -6.255524158477783,
                    "y": 0.04078509658575058,
                    "z": 0.034911639988422394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043606758117676,
                "transform": {
                    "location": {
                        "x": 661.9338989257812,
                        "y": 4290.35302734375,
                        "z": 369.93316650390625
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.31129950284957886,
                        "yaw": 179.6510467529297
                    }
                },
                "velocity": {
                    "x": -8.0433349609375,
                    "y": 0.049098119139671326,
                    "z": 0.044373396784067154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.597821235656738,
                "transform": {
                    "location": {
                        "x": 717.728515625,
                        "y": 4290.0234375,
                        "z": 369.58392333984375
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 0.33302634954452515,
                        "yaw": 179.63330078125
                    }
                },
                "velocity": {
                    "x": -8.597488403320312,
                    "y": 0.0550537146627903,
                    "z": 0.05190805345773697
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027609657496213913,
        "expert_target_speed": 0,
        "target_point": [
            33.37301644504365,
            -0.2968037283218873
        ],
        "target_point_next": [
            84.37118220413535,
            -0.7263029574195269
        ]
    },
    "195": {
        "acceleration": [
            4.550113677978516,
            -0.056178197264671326,
            -0.022222474217414856
        ],
        "angular_velocity": [
            0.10583137720823288,
            -0.45216116309165955,
            1.767295241355896
        ],
        "forward_vector": [
            -0.9999895691871643,
            -0.004326476249843836,
            -0.0014497035881504416
        ],
        "right_vector": [
            0.004325800109654665,
            -0.9999905228614807,
            0.0004692484508268535
        ],
        "location": [
            660.9185180664062,
            4287.1669921875,
            369.9015808105469
        ],
        "rotation": [
            -0.026885986328125,
            -0.08306192606687546,
            -179.75210571289062
        ],
        "velocity": [
            -11.437470436096191,
            -0.050658319145441055,
            0.06218000128865242
        ],
        "speed": 11.43758262229712,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.451353073120117,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.951594352722168,
                "transform": {
                    "location": {
                        "x": 604.0950317382812,
                        "y": 4294.0810546875,
                        "z": 370.19537353515625
                    },
                    "rotation": {
                        "roll": 0.002346659777686,
                        "pitch": -0.23013637959957123,
                        "yaw": 0.22068311274051666
                    }
                },
                "velocity": {
                    "x": 6.951529502868652,
                    "y": 0.025555742904543877,
                    "z": -0.01578826829791069
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.708362579345703,
                "transform": {
                    "location": {
                        "x": 605.2540283203125,
                        "y": 4297.31982421875,
                        "z": 370.1957092285156
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.22283491492271423,
                        "yaw": 0.22956275939941406
                    }
                },
                "velocity": {
                    "x": 6.708272933959961,
                    "y": 0.03373125568032265,
                    "z": -0.0081385038793087
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.073970794677734,
                "transform": {
                    "location": {
                        "x": 647.7330932617188,
                        "y": 4297.13818359375,
                        "z": 369.9698791503906
                    },
                    "rotation": {
                        "roll": 0.0001741953456075862,
                        "pitch": -0.30410733819007874,
                        "yaw": -0.29864501953125
                    }
                },
                "velocity": {
                    "x": 8.073746681213379,
                    "y": -0.04370572790503502,
                    "z": -0.041412703692913055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.997828960418701,
                "transform": {
                    "location": {
                        "x": 646.8666381835938,
                        "y": 4293.89013671875,
                        "z": 369.9686279296875
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.306552529335022,
                        "yaw": -0.2738952338695526
                    }
                },
                "velocity": {
                    "x": 7.997618675231934,
                    "y": -0.040226444602012634,
                    "z": -0.041835181415081024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02118968963623,
                "transform": {
                    "location": {
                        "x": 687.9110717773438,
                        "y": 4296.9013671875,
                        "z": 369.7513732910156
                    },
                    "rotation": {
                        "roll": 0.0009818784892559052,
                        "pitch": -0.33142125606536865,
                        "yaw": -0.3482666313648224
                    }
                },
                "velocity": {
                    "x": 8.020928382873535,
                    "y": -0.04678443446755409,
                    "z": -0.044740527868270874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052224159240723,
                "transform": {
                    "location": {
                        "x": 688.6148071289062,
                        "y": 4293.6474609375,
                        "z": 369.75048828125
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": -0.3257726728916168,
                        "yaw": -0.3304443061351776
                    }
                },
                "velocity": {
                    "x": 8.051966667175293,
                    "y": -0.046307533979415894,
                    "z": -0.04467017576098442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052425384521484,
                "transform": {
                    "location": {
                        "x": 730.255615234375,
                        "y": 4296.6513671875,
                        "z": 369.5055847167969
                    },
                    "rotation": {
                        "roll": 0.0012213432928547263,
                        "pitch": -0.3326984941959381,
                        "yaw": -0.402801513671875
                    }
                },
                "velocity": {
                    "x": 8.052010536193848,
                    "y": -0.06735925376415253,
                    "z": -0.0462462492287159
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053427696228027,
                "transform": {
                    "location": {
                        "x": 729.6519165039062,
                        "y": 4293.40576171875,
                        "z": 369.5184020996094
                    },
                    "rotation": {
                        "roll": 0.005463930778205395,
                        "pitch": -0.3422265946865082,
                        "yaw": -0.3761596381664276
                    }
                },
                "velocity": {
                    "x": 8.05303955078125,
                    "y": -0.062411293387413025,
                    "z": -0.04856563359498978
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.211691856384277,
                "transform": {
                    "location": {
                        "x": 727.6649780273438,
                        "y": 4286.7109375,
                        "z": 369.52008056640625
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.34871527552604675,
                        "yaw": 179.61239624023438
                    }
                },
                "velocity": {
                    "x": -12.211182594299316,
                    "y": 0.0854339450597763,
                    "z": 0.07174594700336456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.575927734375,
                "transform": {
                    "location": {
                        "x": 690.917724609375,
                        "y": 4286.9326171875,
                        "z": 369.74444580078125
                    },
                    "rotation": {
                        "roll": 0.00043738840031437576,
                        "pitch": 0.07208581268787384,
                        "yaw": 179.6562957763672
                    }
                },
                "velocity": {
                    "x": -13.575461387634277,
                    "y": 0.08105016499757767,
                    "z": 0.07803037762641907
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7851824164390564,
                "transform": {
                    "location": {
                        "x": 620.098876953125,
                        "y": 4287.41796875,
                        "z": 370.1128845214844
                    },
                    "rotation": {
                        "roll": 0.005587199702858925,
                        "pitch": -0.17568612098693848,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": -0.7851746678352356,
                    "y": -0.0007773410179652274,
                    "z": 0.0034049605019390583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6850385665893555,
                "transform": {
                    "location": {
                        "x": 605.5350341796875,
                        "y": 4287.53466796875,
                        "z": 370.2184143066406
                    },
                    "rotation": {
                        "roll": -0.0014343262882903218,
                        "pitch": 0.3655517101287842,
                        "yaw": 179.78370666503906
                    }
                },
                "velocity": {
                    "x": -1.6850115060806274,
                    "y": -0.0071119084022939205,
                    "z": 0.006388139445334673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.4141459465026855,
                "transform": {
                    "location": {
                        "x": 696.9637451171875,
                        "y": 4290.1474609375,
                        "z": 369.7066955566406
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.4170854687690735,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -7.4138970375061035,
                    "y": 0.04377119615674019,
                    "z": 0.042123496532440186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.245738506317139,
                "transform": {
                    "location": {
                        "x": 679.196533203125,
                        "y": 4290.2509765625,
                        "z": 369.80780029296875
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": 0.34820303320884705,
                        "yaw": 179.3883056640625
                    }
                },
                "velocity": {
                    "x": -6.2455315589904785,
                    "y": 0.03811265155673027,
                    "z": 0.03364475071430206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007944107055664,
                "transform": {
                    "location": {
                        "x": 659.9277954101562,
                        "y": 4290.36474609375,
                        "z": 369.9439697265625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.3106642961502075,
                        "yaw": 179.64862060546875
                    }
                },
                "velocity": {
                    "x": -8.007680892944336,
                    "y": 0.047669027000665665,
                    "z": 0.0440542958676815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.38863468170166,
                "transform": {
                    "location": {
                        "x": 715.6314697265625,
                        "y": 4290.037109375,
                        "z": 369.59625244140625
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": 0.3016621172428131,
                        "yaw": 179.63609313964844
                    }
                },
                "velocity": {
                    "x": -8.388333320617676,
                    "y": 0.05181062966585159,
                    "z": 0.04860289394855499
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.05190538987517357,
        "expert_target_speed": 0,
        "target_point": [
            30.37924327469054,
            -0.35459333135959703
        ],
        "target_point_next": [
            81.37654682030828,
            -0.8765238398676174
        ]
    },
    "200": {
        "acceleration": [
            9.450664520263672,
            0.0028286874294281006,
            -0.05815654993057251
        ],
        "angular_velocity": [
            -0.022797362878918648,
            -1.8578507900238037,
            -0.6661624908447266
        ],
        "forward_vector": [
            -0.9999721646308899,
            -0.005402856506407261,
            -0.005144215654581785
        ],
        "right_vector": [
            0.005400754977017641,
            -0.9999853372573853,
            0.00042237178422510624
        ],
        "location": [
            658.2227783203125,
            4287.15380859375,
            369.9168701171875
        ],
        "rotation": [
            -0.02420044131577015,
            -0.294743150472641,
            -179.6904296875
        ],
        "velocity": [
            -9.732575416564941,
            -0.05808601900935173,
            0.05189243331551552
        ],
        "speed": 9.732748749697004,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.759255409240723,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.441929817199707,
                "transform": {
                    "location": {
                        "x": 605.5804443359375,
                        "y": 4294.0859375,
                        "z": 370.1922607421875
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.5212936401367188,
                        "yaw": 0.21875253319740295
                    }
                },
                "velocity": {
                    "x": 5.441831111907959,
                    "y": 0.019152460619807243,
                    "z": -0.026627467945218086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.273471832275391,
                "transform": {
                    "location": {
                        "x": 606.689453125,
                        "y": 4297.32666015625,
                        "z": 370.18878173828125
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.505304217338562,
                        "yaw": 0.2902892529964447
                    }
                },
                "velocity": {
                    "x": 5.273233413696289,
                    "y": 0.018414653837680817,
                    "z": -0.04664827883243561
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082388877868652,
                "transform": {
                    "location": {
                        "x": 649.75732421875,
                        "y": 4297.1259765625,
                        "z": 369.95916748046875
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.30297350883483887,
                        "yaw": -0.3152160048484802
                    }
                },
                "velocity": {
                    "x": 8.082152366638184,
                    "y": -0.044714026153087616,
                    "z": -0.04257962107658386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05427360534668,
                "transform": {
                    "location": {
                        "x": 648.8665161132812,
                        "y": 4293.87939453125,
                        "z": 369.9580383300781
                    },
                    "rotation": {
                        "roll": 0.0002213670959463343,
                        "pitch": -0.305719256401062,
                        "yaw": -0.3018798530101776
                    }
                },
                "velocity": {
                    "x": 8.054041862487793,
                    "y": -0.04408623278141022,
                    "z": -0.04236752912402153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02816390991211,
                "transform": {
                    "location": {
                        "x": 689.9158935546875,
                        "y": 4296.8896484375,
                        "z": 369.7398986816406
                    },
                    "rotation": {
                        "roll": 0.001396888168528676,
                        "pitch": -0.3303557336330414,
                        "yaw": -0.3251647353172302
                    }
                },
                "velocity": {
                    "x": 8.027894020080566,
                    "y": -0.047652676701545715,
                    "z": -0.045301470905542374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054869651794434,
                "transform": {
                    "location": {
                        "x": 690.6283569335938,
                        "y": 4293.6357421875,
                        "z": 369.7390441894531
                    },
                    "rotation": {
                        "roll": 0.0011819431092590094,
                        "pitch": -0.3265991508960724,
                        "yaw": -0.3276366889476776
                    }
                },
                "velocity": {
                    "x": 8.054606437683105,
                    "y": -0.0461597666144371,
                    "z": -0.04585370421409607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 732.3247680664062,
                        "y": 4296.58984375,
                        "z": 369.4961242675781
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 731.7081298828125,
                        "y": 4293.357421875,
                        "z": 369.50506591796875
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.003853797912598,
                "transform": {
                    "location": {
                        "x": 724.5029296875,
                        "y": 4286.732421875,
                        "z": 369.53851318359375
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.3493436574935913,
                        "yaw": 179.62921142578125
                    }
                },
                "velocity": {
                    "x": -13.003361701965332,
                    "y": 0.0848756805062294,
                    "z": 0.07476896047592163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.827873229980469,
                "transform": {
                    "location": {
                        "x": 687.763427734375,
                        "y": 4286.95166015625,
                        "z": 369.76361083984375
                    },
                    "rotation": {
                        "roll": 0.000783430936280638,
                        "pitch": -0.08059623092412949,
                        "yaw": 179.6552734375
                    }
                },
                "velocity": {
                    "x": -11.827471733093262,
                    "y": 0.07097112387418747,
                    "z": 0.06684316694736481
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.709457516670227,
                "transform": {
                    "location": {
                        "x": 619.7821044921875,
                        "y": 4287.41796875,
                        "z": 370.1123352050781
                    },
                    "rotation": {
                        "roll": 0.0006945704226382077,
                        "pitch": 0.3785632252693176,
                        "yaw": -179.8532257080078
                    }
                },
                "velocity": {
                    "x": -1.709442377090454,
                    "y": -0.0027822686824947596,
                    "z": 0.006635894533246756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7216744422912598,
                "transform": {
                    "location": {
                        "x": 604.9881591796875,
                        "y": 4287.5341796875,
                        "z": 370.2208251953125
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 0.3790140151977539,
                        "yaw": 179.90150451660156
                    }
                },
                "velocity": {
                    "x": -2.7216196060180664,
                    "y": -0.01171644777059555,
                    "z": 0.012693529017269611
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.325284957885742,
                "transform": {
                    "location": {
                        "x": 695.4574584960938,
                        "y": 4290.1572265625,
                        "z": 369.7146301269531
                    },
                    "rotation": {
                        "roll": 6.20672435616143e-05,
                        "pitch": 0.506813645362854,
                        "yaw": 179.73492431640625
                    }
                },
                "velocity": {
                    "x": -5.325110912322998,
                    "y": 0.030791347846388817,
                    "z": 0.030090874060988426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.658160209655762,
                "transform": {
                    "location": {
                        "x": 677.57177734375,
                        "y": 4290.26171875,
                        "z": 369.817138671875
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.2891902029514313,
                        "yaw": 179.5284881591797
                    }
                },
                "velocity": {
                    "x": -6.657917499542236,
                    "y": 0.04217064753174782,
                    "z": 0.03817222639918327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043673515319824,
                "transform": {
                    "location": {
                        "x": 657.9212646484375,
                        "y": 4290.37646484375,
                        "z": 369.9547424316406
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": 0.3093802332878113,
                        "yaw": 179.6466827392578
                    }
                },
                "velocity": {
                    "x": -8.043401718139648,
                    "y": 0.049644798040390015,
                    "z": 0.043697185814380646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.356048583984375,
                "transform": {
                    "location": {
                        "x": 713.4963989257812,
                        "y": 4290.05078125,
                        "z": 369.6086120605469
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.318471223115921,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -8.355751037597656,
                    "y": 0.051630377769470215,
                    "z": 0.04817798361182213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07689382135868073,
        "expert_target_speed": 0,
        "target_point": [
            27.683072431234514,
            -0.3859061588288296
        ],
        "target_point_next": [
            78.67978473026565,
            -0.9627207472653838
        ]
    },
    "205": {
        "acceleration": [
            5.869178771972656,
            0.008271783590316772,
            -0.024430304765701294
        ],
        "angular_velocity": [
            0.16406111419200897,
            0.22970016300678253,
            2.773439884185791
        ],
        "forward_vector": [
            -0.9999495148658752,
            -0.006799133960157633,
            -0.00739388819783926
        ],
        "right_vector": [
            0.006797346286475658,
            -0.9999768137931824,
            0.0002668414090294391
        ],
        "location": [
            656.0271606445312,
            4287.140625,
            369.92901611328125
        ],
        "rotation": [
            -0.015289305709302425,
            -0.42364245653152466,
            -179.6104278564453
        ],
        "velocity": [
            -8.032806396484375,
            -0.056900981813669205,
            0.042926251888275146
        ],
        "speed": 8.03300792512566,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.567523956298828,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.183143138885498,
                "transform": {
                    "location": {
                        "x": 606.8948974609375,
                        "y": 4294.08984375,
                        "z": 370.1844787597656
                    },
                    "rotation": {
                        "roll": 0.006533266976475716,
                        "pitch": -0.4069494903087616,
                        "yaw": 0.1762944608926773
                    }
                },
                "velocity": {
                    "x": 5.183060646057129,
                    "y": 0.0025640532840043306,
                    "z": -0.02909928746521473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.043177604675293,
                "transform": {
                    "location": {
                        "x": 607.9654541015625,
                        "y": 4297.3291015625,
                        "z": 370.1783752441406
                    },
                    "rotation": {
                        "roll": 0.010020941495895386,
                        "pitch": -0.39718231558799744,
                        "yaw": 0.1748194694519043
                    }
                },
                "velocity": {
                    "x": 5.0430989265441895,
                    "y": 0.0021711892914026976,
                    "z": -0.02812991477549076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058479309082031,
                "transform": {
                    "location": {
                        "x": 651.7731323242188,
                        "y": 4297.11474609375,
                        "z": 369.9484558105469
                    },
                    "rotation": {
                        "roll": 4.477580660022795e-05,
                        "pitch": -0.30523431301116943,
                        "yaw": -0.3190612494945526
                    }
                },
                "velocity": {
                    "x": 8.058239936828613,
                    "y": -0.04566744342446327,
                    "z": -0.0421428307890892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.055047988891602,
                "transform": {
                    "location": {
                        "x": 650.88427734375,
                        "y": 4293.8681640625,
                        "z": 369.9472961425781
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": -0.30123865604400635,
                        "yaw": -0.310211181640625
                    }
                },
                "velocity": {
                    "x": 8.054821968078613,
                    "y": -0.043753691017627716,
                    "z": -0.04148204252123833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036935806274414,
                "transform": {
                    "location": {
                        "x": 691.9249877929688,
                        "y": 4296.8779296875,
                        "z": 369.7285461425781
                    },
                    "rotation": {
                        "roll": 0.0012525032507255673,
                        "pitch": -0.3285799026489258,
                        "yaw": -0.3545226752758026
                    }
                },
                "velocity": {
                    "x": 8.03666877746582,
                    "y": -0.047762367874383926,
                    "z": -0.04479608312249184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051797866821289,
                "transform": {
                    "location": {
                        "x": 692.6414794921875,
                        "y": 4293.62353515625,
                        "z": 369.72760009765625
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.32937902212142944,
                        "yaw": -0.3308716118335724
                    }
                },
                "velocity": {
                    "x": 8.05153751373291,
                    "y": -0.04635203257203102,
                    "z": -0.04512087628245354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52591,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 734.4071044921875,
                        "y": 4296.52880859375,
                        "z": 369.48663330078125
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52590,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 733.790283203125,
                        "y": 4293.28759765625,
                        "z": 369.4906921386719
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.543972969055176,
                "transform": {
                    "location": {
                        "x": 721.1798095703125,
                        "y": 4286.75390625,
                        "z": 369.5578918457031
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.3464135229587555,
                        "yaw": 179.63967895507812
                    }
                },
                "velocity": {
                    "x": -13.543478965759277,
                    "y": 0.08596418052911758,
                    "z": 0.07738982886075974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.414552688598633,
                "transform": {
                    "location": {
                        "x": 684.8968505859375,
                        "y": 4286.96923828125,
                        "z": 369.77789306640625
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.15102913975715637,
                        "yaw": 179.65628051757812
                    }
                },
                "velocity": {
                    "x": -11.41417121887207,
                    "y": 0.0673481673002243,
                    "z": 0.0645127072930336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1367950439453125,
                "transform": {
                    "location": {
                        "x": 619.2547607421875,
                        "y": 4287.41748046875,
                        "z": 370.11431884765625
                    },
                    "rotation": {
                        "roll": 0.006474238354712725,
                        "pitch": 0.5065063238143921,
                        "yaw": -179.97959899902344
                    }
                },
                "velocity": {
                    "x": -2.1367743015289307,
                    "y": -0.0013679187977686524,
                    "z": 0.009311828762292862
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.064074993133545,
                "transform": {
                    "location": {
                        "x": 604.1266479492188,
                        "y": 4287.53125,
                        "z": 370.224609375
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.4118945300579071,
                        "yaw": -179.9646759033203
                    }
                },
                "velocity": {
                    "x": -4.063994407653809,
                    "y": -0.01848817802965641,
                    "z": 0.017707109451293945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.38572359085083,
                "transform": {
                    "location": {
                        "x": 694.1520385742188,
                        "y": 4290.16455078125,
                        "z": 369.7232666015625
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": 0.3603334426879883,
                        "yaw": 179.7012481689453
                    }
                },
                "velocity": {
                    "x": -5.385544300079346,
                    "y": 0.03197827190160751,
                    "z": 0.030157536268234253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.603499412536621,
                "transform": {
                    "location": {
                        "x": 675.587158203125,
                        "y": 4290.2744140625,
                        "z": 369.82928466796875
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.16178667545318604,
                        "yaw": 179.58473205566406
                    }
                },
                "velocity": {
                    "x": -8.603212356567383,
                    "y": 0.05166081711649895,
                    "z": 0.04759165644645691
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006593704223633,
                "transform": {
                    "location": {
                        "x": 655.9151611328125,
                        "y": 4290.38818359375,
                        "z": 369.9655456542969
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": 0.30731067061424255,
                        "yaw": 179.6444549560547
                    }
                },
                "velocity": {
                    "x": -8.006317138671875,
                    "y": 0.05111924931406975,
                    "z": 0.04252982884645462
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.150479793548584,
                "transform": {
                    "location": {
                        "x": 711.564208984375,
                        "y": 4290.0625,
                        "z": 369.619873046875
                    },
                    "rotation": {
                        "roll": 0.0002640272141434252,
                        "pitch": 0.1398344486951828,
                        "yaw": 179.6519012451172
                    }
                },
                "velocity": {
                    "x": -7.1502299308776855,
                    "y": 0.043368127197027206,
                    "z": 0.04116441681981087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11207086592912674,
        "expert_target_speed": 0,
        "target_point": [
            25.48685009334718,
            -0.42281118800550727
        ],
        "target_point_next": [
            76.48270735175517,
            -1.0708257400534835
        ]
    },
    "210": {
        "acceleration": [
            13.358516693115234,
            0.06864480674266815,
            -0.087338387966156
        ],
        "angular_velocity": [
            0.011647513136267662,
            -1.8316028118133545,
            -0.5443193316459656
        ],
        "forward_vector": [
            -0.9999518394470215,
            -0.007486035116016865,
            -0.006346778478473425
        ],
        "right_vector": [
            0.007484816946089268,
            -0.9999719858169556,
            0.00021571166871581227
        ],
        "location": [
            654.1798095703125,
            4287.126953125,
            369.9386901855469
        ],
        "rotation": [
            -0.01235961727797985,
            -0.36364609003067017,
            -179.57107543945312
        ],
        "velocity": [
            -6.409368515014648,
            -0.053584273904561996,
            0.034944649785757065
        ],
        "speed": 6.409592501530105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.724384307861328,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.0950798988342285,
                "transform": {
                    "location": {
                        "x": 608.4124145507812,
                        "y": 4294.08935546875,
                        "z": 370.1728515625
                    },
                    "rotation": {
                        "roll": 0.010547067038714886,
                        "pitch": 0.08835532516241074,
                        "yaw": 0.05887673422694206
                    }
                },
                "velocity": {
                    "x": 7.095000267028809,
                    "y": -0.0072381943464279175,
                    "z": -0.032792627811431885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.704005718231201,
                "transform": {
                    "location": {
                        "x": 609.4365234375,
                        "y": 4297.33056640625,
                        "z": 370.1683044433594
                    },
                    "rotation": {
                        "roll": 0.003697257721796632,
                        "pitch": 0.02594105713069439,
                        "yaw": 0.0630122646689415
                    }
                },
                "velocity": {
                    "x": 6.703948974609375,
                    "y": -0.0016966037219390273,
                    "z": -0.02751721255481243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061585426330566,
                "transform": {
                    "location": {
                        "x": 653.7874755859375,
                        "y": 4297.10302734375,
                        "z": 369.9377746582031
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.3055143356323242,
                        "yaw": -0.3267516791820526
                    }
                },
                "velocity": {
                    "x": 8.061342239379883,
                    "y": -0.04617898911237717,
                    "z": -0.04221487417817116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05638313293457,
                "transform": {
                    "location": {
                        "x": 652.8970947265625,
                        "y": 4293.8564453125,
                        "z": 369.9366455078125
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.3068530559539795,
                        "yaw": -0.3152160942554474
                    }
                },
                "velocity": {
                    "x": 8.056151390075684,
                    "y": -0.04429290071129799,
                    "z": -0.04213413596153259
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024849891662598,
                "transform": {
                    "location": {
                        "x": 693.9322509765625,
                        "y": 4296.8662109375,
                        "z": 369.7170715332031
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.33404403924942017,
                        "yaw": -0.3230895698070526
                    }
                },
                "velocity": {
                    "x": 8.02458381652832,
                    "y": -0.04731758311390877,
                    "z": -0.04504953324794769
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053308486938477,
                "transform": {
                    "location": {
                        "x": 694.654541015625,
                        "y": 4293.6123046875,
                        "z": 369.71612548828125
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": -0.3286755084991455,
                        "yaw": -0.3311156928539276
                    }
                },
                "velocity": {
                    "x": 8.053048133850098,
                    "y": -0.04680537432432175,
                    "z": -0.04472508281469345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.043069839477539,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.775390625,
                        "z": 369.5779724121094
                    },
                    "rotation": {
                        "roll": 0.00046147932880558074,
                        "pitch": 0.34670037031173706,
                        "yaw": 179.6455535888672
                    }
                },
                "velocity": {
                    "x": -14.042577743530273,
                    "y": 0.08567012846469879,
                    "z": 0.08054538816213608
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.827281951904297,
                "transform": {
                    "location": {
                        "x": 681.981689453125,
                        "y": 4286.98681640625,
                        "z": 369.7919006347656
                    },
                    "rotation": {
                        "roll": 0.00029809080297127366,
                        "pitch": 0.44165366888046265,
                        "yaw": 179.665771484375
                    }
                },
                "velocity": {
                    "x": -11.82690143585205,
                    "y": 0.0690387636423111,
                    "z": 0.0650920644402504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.192761182785034,
                "transform": {
                    "location": {
                        "x": 618.7469482421875,
                        "y": 4287.4169921875,
                        "z": 370.1174011230469
                    },
                    "rotation": {
                        "roll": 0.004644270986318588,
                        "pitch": 0.347403883934021,
                        "yaw": 179.91798400878906
                    }
                },
                "velocity": {
                    "x": -2.192736864089966,
                    "y": -0.0021198217291384935,
                    "z": 0.010121087543666363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3127832412719727,
                "transform": {
                    "location": {
                        "x": 603.1763305664062,
                        "y": 4287.52783203125,
                        "z": 370.2303771972656
                    },
                    "rotation": {
                        "roll": 0.002195635810494423,
                        "pitch": 0.25311997532844543,
                        "yaw": -179.86416625976562
                    }
                },
                "velocity": {
                    "x": -3.3127028942108154,
                    "y": -0.01631340943276882,
                    "z": 0.016312550753355026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.742020606994629,
                "transform": {
                    "location": {
                        "x": 692.7371826171875,
                        "y": 4290.17236328125,
                        "z": 369.73187255859375
                    },
                    "rotation": {
                        "roll": 2.8207618015585467e-05,
                        "pitch": 0.2906791865825653,
                        "yaw": 179.72447204589844
                    }
                },
                "velocity": {
                    "x": -5.741831302642822,
                    "y": 0.033056825399398804,
                    "z": 0.03290237486362457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.104071617126465,
                "transform": {
                    "location": {
                        "x": 673.3281860351562,
                        "y": 4290.28857421875,
                        "z": 369.84112548828125
                    },
                    "rotation": {
                        "roll": 0.0008540956187061965,
                        "pitch": 0.24735528230667114,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -9.103782653808594,
                    "y": 0.05355974659323692,
                    "z": 0.04887949675321579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043935775756836,
                "transform": {
                    "location": {
                        "x": 653.9085693359375,
                        "y": 4290.400390625,
                        "z": 369.9762268066406
                    },
                    "rotation": {
                        "roll": 0.0006757531082257628,
                        "pitch": 0.3080073595046997,
                        "yaw": 179.64590454101562
                    }
                },
                "velocity": {
                    "x": -8.04367733001709,
                    "y": 0.04957771301269531,
                    "z": 0.04124296084046364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4211907386779785,
                "transform": {
                    "location": {
                        "x": 710.0164184570312,
                        "y": 4290.07177734375,
                        "z": 369.6287841796875
                    },
                    "rotation": {
                        "roll": -3.256887814995224e-12,
                        "pitch": 0.012355811893939972,
                        "yaw": 179.59934997558594
                    }
                },
                "velocity": {
                    "x": -5.420993328094482,
                    "y": 0.03265315666794777,
                    "z": 0.03272923454642296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.44366124272346497,
        "expert_target_speed": 0,
        "target_point": [
            23.6391518955648,
            -0.4401653655576415
        ],
        "target_point_next": [
            74.6345518502112,
            -1.1232201548956398
        ]
    },
    "215": {
        "acceleration": [
            19.591997146606445,
            0.20566287636756897,
            -0.09387797862291336
        ],
        "angular_velocity": [
            0.030647199600934982,
            -3.7857465744018555,
            -0.1994592696428299
        ],
        "forward_vector": [
            -0.999679684638977,
            -0.010740740224719048,
            -0.022916574031114578
        ],
        "right_vector": [
            0.010739631950855255,
            -0.9999423623085022,
            0.0001714624959276989
        ],
        "location": [
            653.183837890625,
            4287.1181640625,
            369.947265625
        ],
        "rotation": [
            -0.00982665829360485,
            -1.3131378889083862,
            -179.38442993164062
        ],
        "velocity": [
            -1.5824934244155884,
            -0.01770056039094925,
            0.007198391016572714
        ],
        "speed": 1.58259241378086,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.73115348815918,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.318604469299316,
                "transform": {
                    "location": {
                        "x": 610.3280029296875,
                        "y": 4294.087890625,
                        "z": 370.1639404296875
                    },
                    "rotation": {
                        "roll": 0.0020540528930723667,
                        "pitch": 0.08739909529685974,
                        "yaw": -0.0258483849465847
                    }
                },
                "velocity": {
                    "x": 8.318504333496094,
                    "y": -0.014606795273721218,
                    "z": -0.03815537318587303
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.981616020202637,
                "transform": {
                    "location": {
                        "x": 611.2893676757812,
                        "y": 4297.330078125,
                        "z": 370.1597595214844
                    },
                    "rotation": {
                        "roll": 0.0012463220627978444,
                        "pitch": 0.07087686657905579,
                        "yaw": -0.014129635877907276
                    }
                },
                "velocity": {
                    "x": 7.9815263748168945,
                    "y": -0.005207803100347519,
                    "z": -0.037504542618989944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086899757385254,
                "transform": {
                    "location": {
                        "x": 655.8073120117188,
                        "y": 4297.09130859375,
                        "z": 369.9270324707031
                    },
                    "rotation": {
                        "roll": 0.0006448030471801758,
                        "pitch": -0.3054801821708679,
                        "yaw": -0.3333739638328552
                    }
                },
                "velocity": {
                    "x": 8.086648941040039,
                    "y": -0.04712263494729996,
                    "z": -0.04275314137339592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031309127807617,
                "transform": {
                    "location": {
                        "x": 654.9072265625,
                        "y": 4293.8447265625,
                        "z": 369.9259338378906
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.3051728308200836,
                        "yaw": -0.3197631537914276
                    }
                },
                "velocity": {
                    "x": 8.031073570251465,
                    "y": -0.044808529317379,
                    "z": -0.04215378686785698
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032647132873535,
                "transform": {
                    "location": {
                        "x": 695.9392700195312,
                        "y": 4296.8544921875,
                        "z": 369.70556640625
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.3316056728363037,
                        "yaw": -0.34600830078125
                    }
                },
                "velocity": {
                    "x": 8.032384872436523,
                    "y": -0.046660445630550385,
                    "z": -0.045129161328077316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05316162109375,
                "transform": {
                    "location": {
                        "x": 696.6677856445312,
                        "y": 4293.60009765625,
                        "z": 369.7045593261719
                    },
                    "rotation": {
                        "roll": 0.00016800426237750798,
                        "pitch": -0.33016449213027954,
                        "yaw": -0.3393859565258026
                    }
                },
                "velocity": {
                    "x": 8.052895545959473,
                    "y": -0.04742780700325966,
                    "z": -0.04514485225081444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.548524856567383,
                "transform": {
                    "location": {
                        "x": 714.1528930664062,
                        "y": 4286.796875,
                        "z": 369.5987548828125
                    },
                    "rotation": {
                        "roll": 0.00019003864144906402,
                        "pitch": 0.34584662318229675,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -14.54802131652832,
                    "y": 0.08665905147790909,
                    "z": 0.08448362350463867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.673306465148926,
                "transform": {
                    "location": {
                        "x": 678.8892211914062,
                        "y": 4287.0048828125,
                        "z": 369.8083801269531
                    },
                    "rotation": {
                        "roll": 0.0015641988720744848,
                        "pitch": 0.5344759225845337,
                        "yaw": 179.66441345214844
                    }
                },
                "velocity": {
                    "x": -12.672887802124023,
                    "y": 0.07560671120882034,
                    "z": 0.0700114443898201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.132777690887451,
                "transform": {
                    "location": {
                        "x": 618.0845947265625,
                        "y": 4287.4169921875,
                        "z": 370.119873046875
                    },
                    "rotation": {
                        "roll": 0.0004550682206172496,
                        "pitch": 0.551032304763794,
                        "yaw": 179.93479919433594
                    }
                },
                "velocity": {
                    "x": -3.1327388286590576,
                    "y": -0.0037052060943096876,
                    "z": 0.015149908140301704
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.250969648361206,
                "transform": {
                    "location": {
                        "x": 602.483642578125,
                        "y": 4287.52490234375,
                        "z": 370.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0036553023383021355,
                        "pitch": 0.1741424947977066,
                        "yaw": -179.82215881347656
                    }
                },
                "velocity": {
                    "x": -2.2509090900421143,
                    "y": -0.010966664180159569,
                    "z": 0.012350539676845074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.569711208343506,
                "transform": {
                    "location": {
                        "x": 691.0278930664062,
                        "y": 4290.18212890625,
                        "z": 369.74261474609375
                    },
                    "rotation": {
                        "roll": 0.00044808126403950155,
                        "pitch": 0.17627350986003876,
                        "yaw": 179.68247985839844
                    }
                },
                "velocity": {
                    "x": -7.569454669952393,
                    "y": 0.045349396765232086,
                    "z": 0.04275868460536003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.562274932861328,
                "transform": {
                    "location": {
                        "x": 671.149658203125,
                        "y": 4290.30126953125,
                        "z": 369.8521423339844
                    },
                    "rotation": {
                        "roll": 0.00023140893608797342,
                        "pitch": 0.34534117579460144,
                        "yaw": 179.66029357910156
                    }
                },
                "velocity": {
                    "x": -8.562000274658203,
                    "y": 0.04891475662589073,
                    "z": 0.04799264669418335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007403373718262,
                "transform": {
                    "location": {
                        "x": 651.9024047851562,
                        "y": 4290.41162109375,
                        "z": 369.9869079589844
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.30699649453163147,
                        "yaw": 179.64617919921875
                    }
                },
                "velocity": {
                    "x": -8.007143020629883,
                    "y": 0.04944032430648804,
                    "z": 0.04150193929672241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.156686305999756,
                "transform": {
                    "location": {
                        "x": 708.7184448242188,
                        "y": 4290.07958984375,
                        "z": 369.6364440917969
                    },
                    "rotation": {
                        "roll": 0.00021852547070011497,
                        "pitch": 0.2112167626619339,
                        "yaw": 179.6234130859375
                    }
                },
                "velocity": {
                    "x": -5.156505584716797,
                    "y": 0.0313454270362854,
                    "z": 0.029715556651353836
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8710911870002747,
        "expert_target_speed": 0,
        "target_point": [
            22.64158388470219,
            -0.5152613103557291
        ],
        "target_point_next": [
            73.63448801510594,
            -1.3644425201329624
        ]
    },
    "220": {
        "acceleration": [
            0.002108197659254074,
            0.0004683713777922094,
            0.022771697491407394
        ],
        "angular_velocity": [
            -0.016110427677631378,
            4.411927700042725,
            0.0027496858965605497
        ],
        "forward_vector": [
            -0.999793529510498,
            -0.010286389850080013,
            -0.017521558329463005
        ],
        "right_vector": [
            0.010287391021847725,
            -0.9999470710754395,
            3.3018121030181646e-05
        ],
        "location": [
            653.138916015625,
            4287.1171875,
            369.94622802734375
        ],
        "rotation": [
            -0.0018920894945040345,
            -1.0039626359939575,
            -179.41053771972656
        ],
        "velocity": [
            0.013214044272899628,
            7.779277075314894e-05,
            0.002149814972653985
        ],
        "speed": 0.01321427325891715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.686324119567871,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.438994407653809,
                "transform": {
                    "location": {
                        "x": 612.4818115234375,
                        "y": 4294.08251953125,
                        "z": 370.15582275390625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.1626882702112198,
                        "yaw": 0.12342210114002228
                    }
                },
                "velocity": {
                    "x": 8.438873291015625,
                    "y": -0.02073473483324051,
                    "z": -0.040190327912569046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.554282188415527,
                "transform": {
                    "location": {
                        "x": 613.4323120117188,
                        "y": 4297.32568359375,
                        "z": 370.1506652832031
                    },
                    "rotation": {
                        "roll": 0.01088889129459858,
                        "pitch": -0.08224913477897644,
                        "yaw": -0.125732421875
                    }
                },
                "velocity": {
                    "x": 8.554146766662598,
                    "y": -0.02533595822751522,
                    "z": -0.04093756526708603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045271873474121,
                "transform": {
                    "location": {
                        "x": 657.8226318359375,
                        "y": 4297.07958984375,
                        "z": 369.9162902832031
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.3080073595046997,
                        "yaw": -0.3348388373851776
                    }
                },
                "velocity": {
                    "x": 8.045014381408691,
                    "y": -0.04696107283234596,
                    "z": -0.04395116865634918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078879356384277,
                "transform": {
                    "location": {
                        "x": 656.9221801757812,
                        "y": 4293.8330078125,
                        "z": 369.9151916503906
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": -0.30557581782341003,
                        "yaw": -0.3209228217601776
                    }
                },
                "velocity": {
                    "x": 8.078639030456543,
                    "y": -0.04524977132678032,
                    "z": -0.04279977083206177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030932426452637,
                "transform": {
                    "location": {
                        "x": 697.9473876953125,
                        "y": 4296.8427734375,
                        "z": 369.6940612792969
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.33394843339920044,
                        "yaw": -0.3229064643383026
                    }
                },
                "velocity": {
                    "x": 8.03066349029541,
                    "y": -0.0472315289080143,
                    "z": -0.04584316164255142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053823471069336,
                "transform": {
                    "location": {
                        "x": 698.6810913085938,
                        "y": 4293.5888671875,
                        "z": 369.6929931640625
                    },
                    "rotation": {
                        "roll": 6.681057129753754e-05,
                        "pitch": -0.33248674869537354,
                        "yaw": -0.3368529975414276
                    }
                },
                "velocity": {
                    "x": 8.053555488586426,
                    "y": -0.047627195715904236,
                    "z": -0.04532792419195175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.070093154907227,
                "transform": {
                    "location": {
                        "x": 710.4484252929688,
                        "y": 4286.81884765625,
                        "z": 369.6202697753906
                    },
                    "rotation": {
                        "roll": -0.0002746580576058477,
                        "pitch": 0.34680283069610596,
                        "yaw": 179.66192626953125
                    }
                },
                "velocity": {
                    "x": -15.06956958770752,
                    "y": 0.089401014149189,
                    "z": 0.0881342887878418
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.811280250549316,
                "transform": {
                    "location": {
                        "x": 675.8129272460938,
                        "y": 4287.02294921875,
                        "z": 369.8280029296875
                    },
                    "rotation": {
                        "roll": 0.0009891228983178735,
                        "pitch": 0.20706400275230408,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -11.81088924407959,
                    "y": 0.06942752003669739,
                    "z": 0.06641796231269836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.489108085632324,
                "transform": {
                    "location": {
                        "x": 617.1204833984375,
                        "y": 4287.41552734375,
                        "z": 370.1236572265625
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.7677747011184692,
                        "yaw": -179.994384765625
                    }
                },
                "velocity": {
                    "x": -4.489051342010498,
                    "y": -0.006871426478028297,
                    "z": 0.02149740234017372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016656118677929044,
                "transform": {
                    "location": {
                        "x": 602.3003540039062,
                        "y": 4287.5234375,
                        "z": 370.2362365722656
                    },
                    "rotation": {
                        "roll": 0.005229019559919834,
                        "pitch": 0.05932702124118805,
                        "yaw": -179.87396240234375
                    }
                },
                "velocity": {
                    "x": 0.0010568046709522605,
                    "y": 0.0001577389339217916,
                    "z": 0.0012777108931913972
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.631341934204102,
                "transform": {
                    "location": {
                        "x": 688.989990234375,
                        "y": 4290.19384765625,
                        "z": 369.7538146972656
                    },
                    "rotation": {
                        "roll": 0.001462320564314723,
                        "pitch": 0.21140800416469574,
                        "yaw": 179.6792449951172
                    }
                },
                "velocity": {
                    "x": -8.631063461303711,
                    "y": 0.04844527691602707,
                    "z": 0.049615200608968735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.024275779724121,
                "transform": {
                    "location": {
                        "x": 668.94140625,
                        "y": 4290.31494140625,
                        "z": 369.8648681640625
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.2795391380786896,
                        "yaw": 179.66294860839844
                    }
                },
                "velocity": {
                    "x": -9.023985862731934,
                    "y": 0.053111832588911057,
                    "z": 0.04900671914219856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04365062713623,
                "transform": {
                    "location": {
                        "x": 649.8958740234375,
                        "y": 4290.423828125,
                        "z": 369.99755859375
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": 0.30586951971054077,
                        "yaw": 179.64634704589844
                    }
                },
                "velocity": {
                    "x": -8.043391227722168,
                    "y": 0.04970311000943184,
                    "z": 0.041279323399066925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.340723514556885,
                "transform": {
                    "location": {
                        "x": 707.3544311523438,
                        "y": 4290.087890625,
                        "z": 369.6444091796875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.4869583249092102,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -6.340511798858643,
                    "y": 0.037171944975852966,
                    "z": 0.03604620695114136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7531887292861938,
        "expert_target_speed": 10.0,
        "target_point": [
            22.596886872787707,
            -0.505454299463539
        ],
        "target_point_next": [
            73.5901728095123,
            -1.3313899840254875
        ]
    },
    "225": {
        "acceleration": [
            -0.026593627408146858,
            1.2442251318134367e-05,
            0.005948778707534075
        ],
        "angular_velocity": [
            -0.010830022394657135,
            2.169869899749756,
            0.0006237982306629419
        ],
        "forward_vector": [
            -0.9999420046806335,
            -0.010293640196323395,
            -0.003169173374772072
        ],
        "right_vector": [
            0.010293862782418728,
            -0.9999470114707947,
            -5.396048436523415e-05
        ],
        "location": [
            653.133544921875,
            4287.1171875,
            369.94329833984375
        ],
        "rotation": [
            0.0030917234253138304,
            -0.1815805733203888,
            -179.4102020263672
        ],
        "velocity": [
            0.006868890952318907,
            3.10451359837316e-05,
            0.001914103631861508
        ],
        "speed": 0.006868961108880788,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.680990219116211,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 573.1650390625,
                        "y": 4294.2294921875,
                        "z": 370.6466064453125
                    },
                    "rotation": {
                        "roll": 5.2110614434663916e-11,
                        "pitch": -0.22766385972499847,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 574.0127563476562,
                        "y": 4297.474609375,
                        "z": 370.556640625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052818298339844,
                "transform": {
                    "location": {
                        "x": 614.5313720703125,
                        "y": 4294.07568359375,
                        "z": 370.148193359375
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.436339795589447,
                        "yaw": 0.17789791524410248
                    }
                },
                "velocity": {
                    "x": 8.052681922912598,
                    "y": -0.023345474153757095,
                    "z": -0.04062563180923462
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0769681930542,
                "transform": {
                    "location": {
                        "x": 615.5003662109375,
                        "y": 4297.3193359375,
                        "z": 370.1435546875
                    },
                    "rotation": {
                        "roll": 0.004499463364481926,
                        "pitch": -0.42309603095054626,
                        "yaw": -0.2103271782398224
                    }
                },
                "velocity": {
                    "x": 8.076812744140625,
                    "y": -0.029423587024211884,
                    "z": -0.04060351848602295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089555740356445,
                "transform": {
                    "location": {
                        "x": 659.8399047851562,
                        "y": 4297.06787109375,
                        "z": 369.9053955078125
                    },
                    "rotation": {
                        "roll": -6.103538908064365e-05,
                        "pitch": -0.30983784794807434,
                        "yaw": -0.3347778022289276
                    }
                },
                "velocity": {
                    "x": 8.089292526245117,
                    "y": -0.04724832996726036,
                    "z": -0.044933341443538666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018644332885742,
                "transform": {
                    "location": {
                        "x": 658.9332885742188,
                        "y": 4293.8212890625,
                        "z": 369.9044494628906
                    },
                    "rotation": {
                        "roll": 0.0004633902572095394,
                        "pitch": -0.309202641248703,
                        "yaw": -0.3205260932445526
                    }
                },
                "velocity": {
                    "x": 8.018394470214844,
                    "y": -0.04484732821583748,
                    "z": -0.044605597853660583
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02876091003418,
                "transform": {
                    "location": {
                        "x": 699.95458984375,
                        "y": 4296.8310546875,
                        "z": 369.6824645996094
                    },
                    "rotation": {
                        "roll": 0.0015440566930919886,
                        "pitch": -0.33633214235305786,
                        "yaw": -0.3512268364429474
                    }
                },
                "velocity": {
                    "x": 8.028487205505371,
                    "y": -0.04850929602980614,
                    "z": -0.0452263206243515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05298137664795,
                "transform": {
                    "location": {
                        "x": 700.6942138671875,
                        "y": 4293.57666015625,
                        "z": 369.6813659667969
                    },
                    "rotation": {
                        "roll": 0.00013572270108852535,
                        "pitch": -0.332944393157959,
                        "yaw": -0.347686767578125
                    }
                },
                "velocity": {
                    "x": 8.052709579467773,
                    "y": -0.04857683181762695,
                    "z": -0.04496017470955849
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.38842487335205,
                "transform": {
                    "location": {
                        "x": 706.7305908203125,
                        "y": 4286.83984375,
                        "z": 369.64208984375
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 0.32227563858032227,
                        "yaw": 179.66212463378906
                    }
                },
                "velocity": {
                    "x": -14.387928009033203,
                    "y": 0.08497041463851929,
                    "z": 0.08421802520751953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.322142601013184,
                "transform": {
                    "location": {
                        "x": 673.0625,
                        "y": 4287.0390625,
                        "z": 369.8454284667969
                    },
                    "rotation": {
                        "roll": 0.0012622509384527802,
                        "pitch": -0.055420152842998505,
                        "yaw": 179.66229248046875
                    }
                },
                "velocity": {
                    "x": -10.321805953979492,
                    "y": 0.060789674520492554,
                    "z": 0.05697925388813019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.107675313949585,
                "transform": {
                    "location": {
                        "x": 615.9713745117188,
                        "y": 4287.4140625,
                        "z": 370.13092041015625
                    },
                    "rotation": {
                        "roll": 0.0034431566018611193,
                        "pitch": 0.3161216378211975,
                        "yaw": -179.95095825195312
                    }
                },
                "velocity": {
                    "x": -3.10764741897583,
                    "y": -0.0012457285774871707,
                    "z": 0.013114509172737598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016071174759417772,
                "transform": {
                    "location": {
                        "x": 602.2992553710938,
                        "y": 4287.5234375,
                        "z": 370.2348327636719
                    },
                    "rotation": {
                        "roll": 0.0038166013546288013,
                        "pitch": 0.22006185352802277,
                        "yaw": -179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0004558103682938963,
                    "y": -2.178617251047399e-05,
                    "z": 0.0015409700572490692
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.459223747253418,
                "transform": {
                    "location": {
                        "x": 686.7246704101562,
                        "y": 4290.20751953125,
                        "z": 369.76654052734375
                    },
                    "rotation": {
                        "roll": 0.0013842122862115502,
                        "pitch": 0.23017053306102753,
                        "yaw": 179.66964721679688
                    }
                },
                "velocity": {
                    "x": -9.458918571472168,
                    "y": 0.05454203113913536,
                    "z": 0.052820947021245956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.16052532196045,
                "transform": {
                    "location": {
                        "x": 666.798828125,
                        "y": 4290.32763671875,
                        "z": 369.8758239746094
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.3710431754589081,
                        "yaw": 179.66290283203125
                    }
                },
                "velocity": {
                    "x": -8.160258293151855,
                    "y": 0.04802434891462326,
                    "z": 0.04538218304514885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007601737976074,
                "transform": {
                    "location": {
                        "x": 647.8897705078125,
                        "y": 4290.43505859375,
                        "z": 370.0082092285156
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": 0.30552801489830017,
                        "yaw": 179.64622497558594
                    }
                },
                "velocity": {
                    "x": -8.007342338562012,
                    "y": 0.04956221580505371,
                    "z": 0.041223134845495224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.316654205322266,
                "transform": {
                    "location": {
                        "x": 705.4735107421875,
                        "y": 4290.0986328125,
                        "z": 369.6553955078125
                    },
                    "rotation": {
                        "roll": 0.0012531541287899017,
                        "pitch": 0.6976764798164368,
                        "yaw": 179.6472930908203
                    }
                },
                "velocity": {
                    "x": -8.316367149353027,
                    "y": 0.049291953444480896,
                    "z": 0.04841001331806183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7734647393226624,
        "expert_target_speed": 10.0,
        "target_point": [
            22.591513171008874,
            -0.5055283109642431
        ],
        "target_point_next": [
            73.58479438085678,
            -1.331755781435311
        ]
    },
    "230": {
        "acceleration": [
            -0.011787423864006996,
            0.0010621773544698954,
            0.002135797403752804
        ],
        "angular_velocity": [
            -0.010647903196513653,
            0.7531914114952087,
            0.0001898559567052871
        ],
        "forward_vector": [
            -0.9999435544013977,
            -0.010295563377439976,
            0.00263535650447011
        ],
        "right_vector": [
            0.010295389220118523,
            -0.9999470114707947,
            -7.940298382891342e-05
        ],
        "location": [
            653.1314697265625,
            4287.1171875,
            369.9422302246094
        ],
        "rotation": [
            0.004549471661448479,
            0.15099498629570007,
            -179.41009521484375
        ],
        "velocity": [
            0.002446793019771576,
            3.582740464480594e-05,
            0.0014222190948203206
        ],
        "speed": 0.0024470553088409117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.678929328918457,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 575.2362670898438,
                        "y": 4294.21728515625,
                        "z": 370.4216613769531
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 576.083984375,
                        "y": 4297.46240234375,
                        "z": 370.3316650390625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.931826591491699,
                "transform": {
                    "location": {
                        "x": 616.5188598632812,
                        "y": 4294.06982421875,
                        "z": 370.1375427246094
                    },
                    "rotation": {
                        "roll": 0.0016199488891288638,
                        "pitch": -0.32739144563674927,
                        "yaw": 0.20479172468185425
                    }
                },
                "velocity": {
                    "x": 7.9316864013671875,
                    "y": -0.027411188930273056,
                    "z": -0.03838011249899864
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.906663417816162,
                "transform": {
                    "location": {
                        "x": 617.4856567382812,
                        "y": 4297.31103515625,
                        "z": 370.1332702636719
                    },
                    "rotation": {
                        "roll": 0.003996698185801506,
                        "pitch": -0.3622800409793854,
                        "yaw": -0.2481384128332138
                    }
                },
                "velocity": {
                    "x": 7.9064836502075195,
                    "y": -0.03648199513554573,
                    "z": -0.038866251707077026
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049399375915527,
                "transform": {
                    "location": {
                        "x": 661.8571166992188,
                        "y": 4297.05615234375,
                        "z": 369.89447021484375
                    },
                    "rotation": {
                        "roll": -6.103527994127944e-05,
                        "pitch": -0.3097763955593109,
                        "yaw": -0.3349914252758026
                    }
                },
                "velocity": {
                    "x": 8.049139976501465,
                    "y": -0.0470319464802742,
                    "z": -0.04419662058353424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079813003540039,
                "transform": {
                    "location": {
                        "x": 660.9461059570312,
                        "y": 4293.8095703125,
                        "z": 369.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0006232927553355694,
                        "pitch": -0.3087176978588104,
                        "yaw": -0.3204345107078552
                    }
                },
                "velocity": {
                    "x": 8.079561233520508,
                    "y": -0.04520799592137337,
                    "z": -0.04487179219722748
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031740188598633,
                "transform": {
                    "location": {
                        "x": 701.962158203125,
                        "y": 4296.8193359375,
                        "z": 369.67083740234375
                    },
                    "rotation": {
                        "roll": 0.00039115463732741773,
                        "pitch": -0.33510956168174744,
                        "yaw": -0.3255004584789276
                    }
                },
                "velocity": {
                    "x": 8.031471252441406,
                    "y": -0.047594550997018814,
                    "z": -0.045313358306884766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05282211303711,
                "transform": {
                    "location": {
                        "x": 702.7073974609375,
                        "y": 4293.5654296875,
                        "z": 369.6697082519531
                    },
                    "rotation": {
                        "roll": 0.00029572341009043157,
                        "pitch": -0.33284875750541687,
                        "yaw": -0.3487548828125
                    }
                },
                "velocity": {
                    "x": 8.052545547485352,
                    "y": -0.04916342720389366,
                    "z": -0.04509628564119339
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.19869327545166,
                "transform": {
                    "location": {
                        "x": 703.1856079101562,
                        "y": 4286.86083984375,
                        "z": 369.6625671386719
                    },
                    "rotation": {
                        "roll": 0.001566499238833785,
                        "pitch": 0.325437992811203,
                        "yaw": 179.668701171875
                    }
                },
                "velocity": {
                    "x": -14.198209762573242,
                    "y": 0.08208920061588287,
                    "z": 0.08363936841487885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.908781051635742,
                "transform": {
                    "location": {
                        "x": 670.6673583984375,
                        "y": 4287.05322265625,
                        "z": 369.8582458496094
                    },
                    "rotation": {
                        "roll": 0.0003714507329277694,
                        "pitch": -0.016269510611891747,
                        "yaw": 179.6630401611328
                    }
                },
                "velocity": {
                    "x": -8.908493995666504,
                    "y": 0.052477285265922546,
                    "z": 0.04853632673621178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.357051372528076,
                "transform": {
                    "location": {
                        "x": 615.2449340820312,
                        "y": 4287.4150390625,
                        "z": 370.1351623535156
                    },
                    "rotation": {
                        "roll": 0.009925290942192078,
                        "pitch": 0.1064758151769638,
                        "yaw": 179.9993896484375
                    }
                },
                "velocity": {
                    "x": -3.3570120334625244,
                    "y": 0.005743769928812981,
                    "z": 0.015201425179839134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008733058930374682,
                "transform": {
                    "location": {
                        "x": 602.2990112304688,
                        "y": 4287.5234375,
                        "z": 370.2345275878906
                    },
                    "rotation": {
                        "roll": 0.004337067250162363,
                        "pitch": 0.255455881357193,
                        "yaw": -179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.00013726792531087995,
                    "y": 0.00012004205927951261,
                    "z": 0.0008540553390048444
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.848341941833496,
                "transform": {
                    "location": {
                        "x": 684.2684326171875,
                        "y": 4290.2216796875,
                        "z": 369.7799377441406
                    },
                    "rotation": {
                        "roll": 0.00012698030332103372,
                        "pitch": 0.27279090881347656,
                        "yaw": 179.66514587402344
                    }
                },
                "velocity": {
                    "x": -9.84801197052002,
                    "y": 0.05758396536111832,
                    "z": 0.05630795285105705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.705862998962402,
                "transform": {
                    "location": {
                        "x": 664.9992065429688,
                        "y": 4290.337890625,
                        "z": 369.8850402832031
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.4384229779243469,
                        "yaw": 179.6776580810547
                    }
                },
                "velocity": {
                    "x": -6.705651760101318,
                    "y": 0.03842959180474281,
                    "z": 0.036786794662475586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042945861816406,
                "transform": {
                    "location": {
                        "x": 645.8832397460938,
                        "y": 4290.447265625,
                        "z": 370.01873779296875
                    },
                    "rotation": {
                        "roll": -9.155277075478807e-05,
                        "pitch": 0.3040800094604492,
                        "yaw": 179.64622497558594
                    }
                },
                "velocity": {
                    "x": -8.042683601379395,
                    "y": 0.04965105280280113,
                    "z": 0.04193515703082085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.04708480834961,
                "transform": {
                    "location": {
                        "x": 703.282470703125,
                        "y": 4290.111328125,
                        "z": 369.6679992675781
                    },
                    "rotation": {
                        "roll": -0.0023803713265806437,
                        "pitch": 0.5511552691459656,
                        "yaw": 179.6864013671875
                    }
                },
                "velocity": {
                    "x": -9.046785354614258,
                    "y": 0.05144628882408142,
                    "z": 0.052651431411504745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7950735092163086,
        "expert_target_speed": 10.0,
        "target_point": [
            22.58943712142626,
            -0.505550035270973
        ],
        "target_point_next": [
            73.58271675527757,
            -1.3318747677057359
        ]
    },
    "235": {
        "acceleration": [
            1.1540712118148804,
            0.025375476107001305,
            -0.013231849297881126
        ],
        "angular_velocity": [
            -0.02336854860186577,
            -0.013196805492043495,
            0.6477706432342529
        ],
        "forward_vector": [
            -0.9999348521232605,
            -0.01037677749991417,
            0.004760247189551592
        ],
        "right_vector": [
            0.010376463644206524,
            -0.9999461770057678,
            -9.049029176821932e-05
        ],
        "location": [
            653.11865234375,
            4287.1171875,
            369.94183349609375
        ],
        "rotation": [
            0.0051847705617547035,
            0.2727431058883667,
            -179.4054412841797
        ],
        "velocity": [
            -0.021969320252537727,
            0.0009033945971168578,
            0.0011716842418536544
        ],
        "speed": 0.02198788653228555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.666163444519043,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 577.3146362304688,
                        "y": 4294.205078125,
                        "z": 370.3238220214844
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 578.1670532226562,
                        "y": 4297.4501953125,
                        "z": 370.31768798828125
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.192008018493652,
                "transform": {
                    "location": {
                        "x": 618.5406494140625,
                        "y": 4294.06201171875,
                        "z": 370.12689208984375
                    },
                    "rotation": {
                        "roll": 0.0006666987901553512,
                        "pitch": -0.21689264476299286,
                        "yaw": 0.20392824709415436
                    }
                },
                "velocity": {
                    "x": 8.191855430603027,
                    "y": -0.03299344331026077,
                    "z": -0.03757260739803314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.163082122802734,
                "transform": {
                    "location": {
                        "x": 619.4982299804688,
                        "y": 4297.3017578125,
                        "z": 370.1223449707031
                    },
                    "rotation": {
                        "roll": 0.0026335613802075386,
                        "pitch": -0.21862751245498657,
                        "yaw": -0.2827148139476776
                    }
                },
                "velocity": {
                    "x": 8.162887573242188,
                    "y": -0.04158717021346092,
                    "z": -0.037981223315000534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084392547607422,
                "transform": {
                    "location": {
                        "x": 663.8735961914062,
                        "y": 4297.04443359375,
                        "z": 369.8835754394531
                    },
                    "rotation": {
                        "roll": -0.00036621076287701726,
                        "pitch": -0.31033647060394287,
                        "yaw": -0.3349914252758026
                    }
                },
                "velocity": {
                    "x": 8.08413028717041,
                    "y": -0.04726150259375572,
                    "z": -0.04467063397169113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023652076721191,
                "transform": {
                    "location": {
                        "x": 662.9586791992188,
                        "y": 4293.7978515625,
                        "z": 369.8827209472656
                    },
                    "rotation": {
                        "roll": 0.00020151972421444952,
                        "pitch": -0.3098105192184448,
                        "yaw": -0.323760986328125
                    }
                },
                "velocity": {
                    "x": 8.023398399353027,
                    "y": -0.045582957565784454,
                    "z": -0.044643353670835495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029973030090332,
                "transform": {
                    "location": {
                        "x": 703.9698486328125,
                        "y": 4296.8076171875,
                        "z": 369.6592102050781
                    },
                    "rotation": {
                        "roll": 0.0004152414621785283,
                        "pitch": -0.33599749207496643,
                        "yaw": -0.35235595703125
                    }
                },
                "velocity": {
                    "x": 8.029706001281738,
                    "y": -0.04743011295795441,
                    "z": -0.045146841555833817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052668571472168,
                "transform": {
                    "location": {
                        "x": 704.7205810546875,
                        "y": 4293.55322265625,
                        "z": 369.6580505371094
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.3344402015209198,
                        "yaw": -0.349761962890625
                    }
                },
                "velocity": {
                    "x": 8.052392959594727,
                    "y": -0.04907562583684921,
                    "z": -0.0450444296002388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.361053466796875,
                "transform": {
                    "location": {
                        "x": 699.59765625,
                        "y": 4286.88232421875,
                        "z": 369.6833190917969
                    },
                    "rotation": {
                        "roll": 0.0008888427400961518,
                        "pitch": 0.3347133994102478,
                        "yaw": 179.67178344726562
                    }
                },
                "velocity": {
                    "x": -14.360576629638672,
                    "y": 0.0825306698679924,
                    "z": 0.08307426422834396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.374037742614746,
                "transform": {
                    "location": {
                        "x": 668.8724365234375,
                        "y": 4287.0634765625,
                        "z": 369.8719482421875
                    },
                    "rotation": {
                        "roll": 0.00012245804828125983,
                        "pitch": -0.5016158819198608,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -4.373910427093506,
                    "y": 0.025732550770044327,
                    "z": 0.021328095346689224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6675400733947754,
                "transform": {
                    "location": {
                        "x": 614.2981567382812,
                        "y": 4287.4169921875,
                        "z": 370.138671875
                    },
                    "rotation": {
                        "roll": 0.0050897663459181786,
                        "pitch": 0.3714803159236908,
                        "yaw": 179.95216369628906
                    }
                },
                "velocity": {
                    "x": -3.667494058609009,
                    "y": 0.006905158516019583,
                    "z": 0.017019806429743767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017692032270133495,
                "transform": {
                    "location": {
                        "x": 602.2989501953125,
                        "y": 4287.5234375,
                        "z": 370.23443603515625
                    },
                    "rotation": {
                        "roll": 0.0038775198627263308,
                        "pitch": 0.26451271772384644,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 1.3972780834592413e-05,
                    "y": -4.272117803338915e-05,
                    "z": 0.000171115345438011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.698349952697754,
                "transform": {
                    "location": {
                        "x": 681.9599609375,
                        "y": 4290.23486328125,
                        "z": 369.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.406136691570282,
                        "yaw": 179.6591796875
                    }
                },
                "velocity": {
                    "x": -8.698050498962402,
                    "y": 0.05337252467870712,
                    "z": 0.048572149127721786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8637309074401855,
                "transform": {
                    "location": {
                        "x": 663.3247680664062,
                        "y": 4290.34716796875,
                        "z": 369.8951721191406
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.3116820156574249,
                        "yaw": 179.6768798828125
                    }
                },
                "velocity": {
                    "x": -6.863519191741943,
                    "y": 0.03881455212831497,
                    "z": 0.03741516172885895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00739860534668,
                "transform": {
                    "location": {
                        "x": 643.8771362304688,
                        "y": 4290.45849609375,
                        "z": 370.02923583984375
                    },
                    "rotation": {
                        "roll": 0.001688603893853724,
                        "pitch": 0.3002414405345917,
                        "yaw": 179.6463165283203
                    }
                },
                "velocity": {
                    "x": -8.007142066955566,
                    "y": 0.04938801750540733,
                    "z": 0.040824029594659805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.48171329498291,
                "transform": {
                    "location": {
                        "x": 700.848876953125,
                        "y": 4290.125,
                        "z": 369.68212890625
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": 0.6171758770942688,
                        "yaw": 179.69898986816406
                    }
                },
                "velocity": {
                    "x": -10.4813814163208,
                    "y": 0.05742395296692848,
                    "z": 0.06052441522479057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8224809169769287,
        "expert_target_speed": 0,
        "target_point": [
            22.576579373425574,
            -0.5072481828652629
        ],
        "target_point_next": [
            73.56979185593869,
            -1.3377065459737385
        ]
    },
    "240": {
        "acceleration": [
            -0.9861487150192261,
            -0.012668639421463013,
            0.004890251439064741
        ],
        "angular_velocity": [
            0.01758313737809658,
            0.22381719946861267,
            -0.6092249155044556
        ],
        "forward_vector": [
            -0.9999340176582336,
            -0.010206770151853561,
            0.005269384011626244
        ],
        "right_vector": [
            0.010206439532339573,
            -0.9999479055404663,
            -8.952565985964611e-05
        ],
        "location": [
            653.1045532226562,
            4287.1171875,
            369.9417419433594
        ],
        "rotation": [
            0.005129513796418905,
            0.30191484093666077,
            -179.41517639160156
        ],
        "velocity": [
            -0.0791085809469223,
            -0.0002634536358527839,
            0.0017359447665512562
        ],
        "speed": 0.0791090196327448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.652119636535645,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 579.3977661132812,
                        "y": 4294.19287109375,
                        "z": 370.3084716796875
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 580.2501831054688,
                        "y": 4297.43798828125,
                        "z": 370.3023376464844
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03857135772705,
                "transform": {
                    "location": {
                        "x": 620.5711059570312,
                        "y": 4294.0537109375,
                        "z": 370.1176452636719
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.27975770831108093,
                        "yaw": 0.18180741369724274
                    }
                },
                "velocity": {
                    "x": 8.038396835327148,
                    "y": -0.03709665685892105,
                    "z": -0.0377446748316288
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.101248741149902,
                "transform": {
                    "location": {
                        "x": 621.5360107421875,
                        "y": 4297.2919921875,
                        "z": 370.1129455566406
                    },
                    "rotation": {
                        "roll": 0.000926102336961776,
                        "pitch": -0.26403459906578064,
                        "yaw": -0.29791259765625
                    }
                },
                "velocity": {
                    "x": 8.101044654846191,
                    "y": -0.042127903550863266,
                    "z": -0.039117481559515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0535888671875,
                "transform": {
                    "location": {
                        "x": 665.8907470703125,
                        "y": 4297.03271484375,
                        "z": 369.87261962890625
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": -0.31310951709747314,
                        "yaw": -0.3350829482078552
                    }
                },
                "velocity": {
                    "x": 8.053323745727539,
                    "y": -0.04708992317318916,
                    "z": -0.04533849284052849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075711250305176,
                "transform": {
                    "location": {
                        "x": 664.9710693359375,
                        "y": 4293.7861328125,
                        "z": 369.8717346191406
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.31317099928855896,
                        "yaw": -0.3249511122703552
                    }
                },
                "velocity": {
                    "x": 8.075461387634277,
                    "y": -0.04577668011188507,
                    "z": -0.04405786469578743
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030369758605957,
                "transform": {
                    "location": {
                        "x": 705.9771728515625,
                        "y": 4296.7958984375,
                        "z": 369.6476135253906
                    },
                    "rotation": {
                        "roll": 0.001161116291768849,
                        "pitch": -0.33654388785362244,
                        "yaw": -0.3330993056297302
                    }
                },
                "velocity": {
                    "x": 8.030092239379883,
                    "y": -0.04857126250863075,
                    "z": -0.04569025710225105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053423881530762,
                "transform": {
                    "location": {
                        "x": 706.7337646484375,
                        "y": 4293.5419921875,
                        "z": 369.6463928222656
                    },
                    "rotation": {
                        "roll": 0.0009228060953319073,
                        "pitch": -0.33322441577911377,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 8.053144454956055,
                    "y": -0.04900818318128586,
                    "z": -0.04590141773223877
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.197249412536621,
                "transform": {
                    "location": {
                        "x": 696.1492919921875,
                        "y": 4286.90185546875,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.30819860100746155,
                        "yaw": 179.6667022705078
                    }
                },
                "velocity": {
                    "x": -13.196809768676758,
                    "y": 0.07758734375238419,
                    "z": 0.07468786090612411
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5237444639205933,
                "transform": {
                    "location": {
                        "x": 668.357666015625,
                        "y": 4287.06640625,
                        "z": 369.87628173828125
                    },
                    "rotation": {
                        "roll": -9.155280713457614e-05,
                        "pitch": -0.7219236493110657,
                        "yaw": 179.66229248046875
                    }
                },
                "velocity": {
                    "x": -1.523698091506958,
                    "y": 0.009004405699670315,
                    "z": 0.007752513512969017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7554709911346436,
                "transform": {
                    "location": {
                        "x": 613.5172119140625,
                        "y": 4287.41845703125,
                        "z": 370.1435852050781
                    },
                    "rotation": {
                        "roll": 0.0028190298471599817,
                        "pitch": 0.057906340807676315,
                        "yaw": 179.92788696289062
                    }
                },
                "velocity": {
                    "x": -2.755432367324829,
                    "y": 0.005259205121546984,
                    "z": 0.013589982874691486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.011269917711616e-05,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": -1.0128766007255763e-05,
                    "y": -6.730637778673554e-06,
                    "z": 6.904996553203091e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.072197437286377,
                "transform": {
                    "location": {
                        "x": 679.9891967773438,
                        "y": 4290.24658203125,
                        "z": 369.8022155761719
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.479458749294281,
                        "yaw": 179.63462829589844
                    }
                },
                "velocity": {
                    "x": -7.071957111358643,
                    "y": 0.0423186756670475,
                    "z": 0.04013850912451744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.417131423950195,
                "transform": {
                    "location": {
                        "x": 661.52294921875,
                        "y": 4290.357421875,
                        "z": 369.90521240234375
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.2710697054862976,
                        "yaw": 179.67218017578125
                    }
                },
                "velocity": {
                    "x": -7.4169020652771,
                    "y": 0.04338444024324417,
                    "z": 0.03901347145438194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044023513793945,
                "transform": {
                    "location": {
                        "x": 641.8705444335938,
                        "y": 4290.470703125,
                        "z": 370.0397644042969
                    },
                    "rotation": {
                        "roll": 0.0022908702958375216,
                        "pitch": 0.3013206124305725,
                        "yaw": 179.64630126953125
                    }
                },
                "velocity": {
                    "x": -8.04376220703125,
                    "y": 0.04957135394215584,
                    "z": 0.04191068559885025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.781976699829102,
                "transform": {
                    "location": {
                        "x": 698.2889404296875,
                        "y": 4290.13916015625,
                        "z": 369.69683837890625
                    },
                    "rotation": {
                        "roll": 2.31596586672822e-05,
                        "pitch": 0.3010474145412445,
                        "yaw": 179.68515014648438
                    }
                },
                "velocity": {
                    "x": -9.781658172607422,
                    "y": 0.05521419271826744,
                    "z": 0.05634987726807594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8557044267654419,
        "expert_target_speed": 0,
        "target_point": [
            22.5625667689296,
            -0.5032718003982228
        ],
        "target_point_next": [
            73.55591949037336,
            -1.3250738483469497
        ]
    },
    "245": {
        "acceleration": [
            0.21754682064056396,
            0.0004340382292866707,
            -0.010081864893436432
        ],
        "angular_velocity": [
            0.0008288232493214309,
            -0.022872934117913246,
            -0.01175667718052864
        ],
        "forward_vector": [
            -0.9999343156814575,
            -0.010159564204514027,
            0.0053045498207211494
        ],
        "right_vector": [
            0.010159365832805634,
            -0.9999483823776245,
            -6.42364175291732e-05
        ],
        "location": [
            653.093017578125,
            4287.1171875,
            369.94183349609375
        ],
        "rotation": [
            0.0036805274430662394,
            0.30392974615097046,
            -179.41787719726562
        ],
        "velocity": [
            -0.034763626754283905,
            -0.0003935607091989368,
            0.0015480041038244963
        ],
        "speed": 0.034765854442872376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.640628814697266,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 581.4808959960938,
                        "y": 4294.1806640625,
                        "z": 370.29443359375
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 582.3333129882812,
                        "y": 4297.42529296875,
                        "z": 370.290771484375
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08222770690918,
                "transform": {
                    "location": {
                        "x": 622.5831909179688,
                        "y": 4294.04443359375,
                        "z": 370.1081237792969
                    },
                    "rotation": {
                        "roll": 6.884489266667515e-05,
                        "pitch": -0.30990615487098694,
                        "yaw": 0.12928153574466705
                    }
                },
                "velocity": {
                    "x": 8.08203125,
                    "y": -0.039967410266399384,
                    "z": -0.03976229950785637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049323081970215,
                "transform": {
                    "location": {
                        "x": 623.5516357421875,
                        "y": 4297.28076171875,
                        "z": 370.1034240722656
                    },
                    "rotation": {
                        "roll": 0.0014579641865566373,
                        "pitch": -0.3164358139038086,
                        "yaw": -0.314605712890625
                    }
                },
                "velocity": {
                    "x": 8.049091339111328,
                    "y": -0.0451342910528183,
                    "z": -0.04106577858328819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083709716796875,
                "transform": {
                    "location": {
                        "x": 667.9077758789062,
                        "y": 4297.02099609375,
                        "z": 369.8616027832031
                    },
                    "rotation": {
                        "roll": 0.00017617922276258469,
                        "pitch": -0.31375154852867126,
                        "yaw": -0.3368224799633026
                    }
                },
                "velocity": {
                    "x": 8.083443641662598,
                    "y": -0.047690730541944504,
                    "z": -0.04502495005726814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025794982910156,
                "transform": {
                    "location": {
                        "x": 666.983642578125,
                        "y": 4293.7744140625,
                        "z": 369.86077880859375
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.31460532546043396,
                        "yaw": -0.324737548828125
                    }
                },
                "velocity": {
                    "x": 8.025538444519043,
                    "y": -0.04548940435051918,
                    "z": -0.04529213160276413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030662536621094,
                "transform": {
                    "location": {
                        "x": 707.9849243164062,
                        "y": 4296.7841796875,
                        "z": 369.63592529296875
                    },
                    "rotation": {
                        "roll": 0.0011593037052080035,
                        "pitch": -0.33704251050949097,
                        "yaw": -0.3660888075828552
                    }
                },
                "velocity": {
                    "x": 8.030375480651855,
                    "y": -0.050563469529151917,
                    "z": -0.04540878161787987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053114891052246,
                "transform": {
                    "location": {
                        "x": 708.7469482421875,
                        "y": 4293.52978515625,
                        "z": 369.63470458984375
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.3338254690170288,
                        "yaw": -0.3502501845359802
                    }
                },
                "velocity": {
                    "x": 8.052836418151855,
                    "y": -0.04904087260365486,
                    "z": -0.04561080038547516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.518595695495605,
                "transform": {
                    "location": {
                        "x": 693.0779418945312,
                        "y": 4286.919921875,
                        "z": 369.7210388183594
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": 0.29200422763824463,
                        "yaw": 179.66294860839844
                    }
                },
                "velocity": {
                    "x": -11.518206596374512,
                    "y": 0.06757226586341858,
                    "z": 0.06645391136407852
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.942000150680542,
                "transform": {
                    "location": {
                        "x": 667.9199829101562,
                        "y": 4287.06884765625,
                        "z": 369.86968994140625
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.4062596261501312,
                        "yaw": 179.65655517578125
                    }
                },
                "velocity": {
                    "x": -1.9419386386871338,
                    "y": 0.011479126289486885,
                    "z": 0.010349960066378117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5742132663726807,
                "transform": {
                    "location": {
                        "x": 612.8539428710938,
                        "y": 4287.42041015625,
                        "z": 370.1465148925781
                    },
                    "rotation": {
                        "roll": 0.0007867790991440415,
                        "pitch": 0.1262218952178955,
                        "yaw": 179.91517639160156
                    }
                },
                "velocity": {
                    "x": -2.5741751194000244,
                    "y": 0.0045707072131335735,
                    "z": 0.01322228368371725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041813254938460886,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 3.014337198692374e-05,
                    "y": -4.7213172365445644e-05,
                    "z": 0.0004143635160289705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.173628330230713,
                "transform": {
                    "location": {
                        "x": 678.2300415039062,
                        "y": 4290.25732421875,
                        "z": 369.8132019042969
                    },
                    "rotation": {
                        "roll": 0.0003127572708763182,
                        "pitch": 0.33868172764778137,
                        "yaw": 179.67245483398438
                    }
                },
                "velocity": {
                    "x": -7.173386573791504,
                    "y": 0.041999176144599915,
                    "z": 0.04134862869977951
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.246049880981445,
                "transform": {
                    "location": {
                        "x": 659.3538818359375,
                        "y": 4290.3701171875,
                        "z": 369.9178161621094
                    },
                    "rotation": {
                        "roll": -0.00021362309053074569,
                        "pitch": 0.15868577361106873,
                        "yaw": 179.68138122558594
                    }
                },
                "velocity": {
                    "x": -9.24576187133789,
                    "y": 0.05385206639766693,
                    "z": 0.04928598180413246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007672309875488,
                "transform": {
                    "location": {
                        "x": 639.8643798828125,
                        "y": 4290.48193359375,
                        "z": 370.05023193359375
                    },
                    "rotation": {
                        "roll": 0.0015334220370277762,
                        "pitch": 0.30055561661720276,
                        "yaw": 179.64649963378906
                    }
                },
                "velocity": {
                    "x": -8.007414817810059,
                    "y": 0.04938485100865364,
                    "z": 0.04105956107378006
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.954826354980469,
                "transform": {
                    "location": {
                        "x": 696.0718383789062,
                        "y": 4290.15185546875,
                        "z": 369.70953369140625
                    },
                    "rotation": {
                        "roll": 0.0014385494869202375,
                        "pitch": 0.02529902011156082,
                        "yaw": 179.65626525878906
                    }
                },
                "velocity": {
                    "x": -7.954554080963135,
                    "y": 0.04750722646713257,
                    "z": 0.045528069138526917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8517729043960571,
        "expert_target_speed": 0,
        "target_point": [
            22.551055452528534,
            -0.5020894915702409
        ],
        "target_point_next": [
            73.54444691186275,
            -1.3214843015896776
        ]
    },
    "250": {
        "acceleration": [
            -0.191492959856987,
            0.004188469145447016,
            0.004063986707478762
        ],
        "angular_velocity": [
            -0.008486107923090458,
            0.053243134170770645,
            -0.007641100324690342
        ],
        "forward_vector": [
            -0.9999343156814575,
            -0.010137390345335007,
            0.005353663116693497
        ],
        "right_vector": [
            0.010137135162949562,
            -0.9999486207962036,
            -7.478809857275337e-05
        ],
        "location": [
            653.0846557617188,
            4287.1171875,
            369.9418640136719
        ],
        "rotation": [
            0.004285103641450405,
            0.3067437708377838,
            -179.41915893554688
        ],
        "velocity": [
            -0.03598141297698021,
            -0.00011120927956653759,
            0.0014843654353171587
        ],
        "speed": 0.035981584836188935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.632299423217773,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 583.5640258789062,
                        "y": 4294.16796875,
                        "z": 370.2853088378906
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.038971900939941,
                "transform": {
                    "location": {
                        "x": 584.4049682617188,
                        "y": 4297.41357421875,
                        "z": 370.281005859375
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.2544245421886444,
                        "yaw": -0.31781005859375
                    }
                },
                "velocity": {
                    "x": 8.038740158081055,
                    "y": -0.022560929879546165,
                    "z": -0.0567307211458683
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.042220115661621,
                "transform": {
                    "location": {
                        "x": 624.5987548828125,
                        "y": 4294.0341796875,
                        "z": 370.0978088378906
                    },
                    "rotation": {
                        "roll": 9.686328121460974e-05,
                        "pitch": -0.2787741422653198,
                        "yaw": 0.13605168461799622
                    }
                },
                "velocity": {
                    "x": 8.042001724243164,
                    "y": -0.043059781193733215,
                    "z": -0.04078717529773712
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06166934967041,
                "transform": {
                    "location": {
                        "x": 625.564453125,
                        "y": 4297.26904296875,
                        "z": 370.0931091308594
                    },
                    "rotation": {
                        "roll": 0.0006975551368668675,
                        "pitch": -0.28414952754974365,
                        "yaw": -0.324920654296875
                    }
                },
                "velocity": {
                    "x": 8.061431884765625,
                    "y": -0.04637908935546875,
                    "z": -0.04090332239866257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05154037475586,
                "transform": {
                    "location": {
                        "x": 669.9244384765625,
                        "y": 4297.00927734375,
                        "z": 369.8505859375
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": -0.31304803490638733,
                        "yaw": -0.3400573432445526
                    }
                },
                "velocity": {
                    "x": 8.051277160644531,
                    "y": -0.047840800136327744,
                    "z": -0.044100046157836914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074515342712402,
                "transform": {
                    "location": {
                        "x": 668.9962158203125,
                        "y": 4293.76318359375,
                        "z": 369.8497619628906
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": -0.31317099928855896,
                        "yaw": -0.3246459364891052
                    }
                },
                "velocity": {
                    "x": 8.074260711669922,
                    "y": -0.045758988708257675,
                    "z": -0.044994235038757324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030211448669434,
                "transform": {
                    "location": {
                        "x": 709.9923095703125,
                        "y": 4296.7724609375,
                        "z": 369.6242980957031
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.33782798051834106,
                        "yaw": -0.3353881239891052
                    }
                },
                "velocity": {
                    "x": 8.029943466186523,
                    "y": -0.04777397960424423,
                    "z": -0.044850319623947144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054129600524902,
                "transform": {
                    "location": {
                        "x": 710.7601318359375,
                        "y": 4293.5185546875,
                        "z": 369.62298583984375
                    },
                    "rotation": {
                        "roll": 0.0004866494273301214,
                        "pitch": -0.33334052562713623,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 8.053850173950195,
                    "y": -0.04895348846912384,
                    "z": -0.04587618261575699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.065874099731445,
                "transform": {
                    "location": {
                        "x": 690.3878173828125,
                        "y": 4286.93603515625,
                        "z": 369.7363586425781
                    },
                    "rotation": {
                        "roll": 0.0008608992793597281,
                        "pitch": 0.29222962260246277,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -10.065533638000488,
                    "y": 0.05981877073645592,
                    "z": 0.057212959975004196
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.09596318006515503,
                "transform": {
                    "location": {
                        "x": 667.5856323242188,
                        "y": 4287.0703125,
                        "z": 369.8736267089844
                    },
                    "rotation": {
                        "roll": 0.0019185086712241173,
                        "pitch": 0.14046965539455414,
                        "yaw": 179.62353515625
                    }
                },
                "velocity": {
                    "x": -0.09596244245767593,
                    "y": 0.00037025794154033065,
                    "z": 6.662368832621723e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0796282291412354,
                "transform": {
                    "location": {
                        "x": 612.2810668945312,
                        "y": 4287.421875,
                        "z": 370.1494140625
                    },
                    "rotation": {
                        "roll": 0.0004350657691247761,
                        "pitch": 0.09436588734388351,
                        "yaw": 179.90989685058594
                    }
                },
                "velocity": {
                    "x": -2.079604148864746,
                    "y": 0.003024831647053361,
                    "z": 0.00954356137663126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011407199781388044,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 2.607367832752061e-06,
                    "y": 3.8406564272008836e-05,
                    "z": 0.0011400702642276883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.703444480895996,
                "transform": {
                    "location": {
                        "x": 676.3509521484375,
                        "y": 4290.2685546875,
                        "z": 369.8242492675781
                    },
                    "rotation": {
                        "roll": -0.0008239742019213736,
                        "pitch": 0.2688294053077698,
                        "yaw": 179.6391143798828
                    }
                },
                "velocity": {
                    "x": -7.703197002410889,
                    "y": 0.0464748851954937,
                    "z": 0.040679797530174255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.409817695617676,
                "transform": {
                    "location": {
                        "x": 657.14599609375,
                        "y": 4290.3828125,
                        "z": 369.92816162109375
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": 0.3465091288089752,
                        "yaw": 179.67935180664062
                    }
                },
                "velocity": {
                    "x": -8.409564018249512,
                    "y": 0.047097619622945786,
                    "z": 0.045176904648542404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043561935424805,
                "transform": {
                    "location": {
                        "x": 637.85791015625,
                        "y": 4290.494140625,
                        "z": 370.06060791015625
                    },
                    "rotation": {
                        "roll": 6.363452121149749e-05,
                        "pitch": 0.2999272644519806,
                        "yaw": 179.6463623046875
                    }
                },
                "velocity": {
                    "x": -8.043299674987793,
                    "y": 0.04974500462412834,
                    "z": 0.04181049391627312
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.623119831085205,
                "transform": {
                    "location": {
                        "x": 694.1624145507812,
                        "y": 4290.16357421875,
                        "z": 369.7204284667969
                    },
                    "rotation": {
                        "roll": 0.00037784199230372906,
                        "pitch": 0.1961425244808197,
                        "yaw": 179.67648315429688
                    }
                },
                "velocity": {
                    "x": -7.6228556632995605,
                    "y": 0.04487182945013046,
                    "z": 0.04484012350440025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8543190360069275,
        "expert_target_speed": 0,
        "target_point": [
            22.542705312630083,
            -0.501499324881519
        ],
        "target_point_next": [
            73.53611512289908,
            -1.319751304133355
        ]
    },
    "255": {
        "acceleration": [
            -3.666426181793213,
            -0.007062393706291914,
            0.012290000915527344
        ],
        "angular_velocity": [
            0.03502872586250305,
            0.9442902207374573,
            0.03973985090851784
        ],
        "forward_vector": [
            -0.9999299645423889,
            -0.010257274843752384,
            0.005896533839404583
        ],
        "right_vector": [
            0.010256931185722351,
            -0.9999473690986633,
            -8.855633495841175e-05
        ],
        "location": [
            653.0703125,
            4287.1171875,
            369.9418640136719
        ],
        "rotation": [
            0.005073992535471916,
            0.3378484547138214,
            -179.4122772216797
        ],
        "velocity": [
            -0.23444390296936035,
            -0.0006226689438335598,
            0.0021132754627615213
        ],
        "speed": 0.23444472985358503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.618011474609375,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052911758422852,
                "transform": {
                    "location": {
                        "x": 585.5831298828125,
                        "y": 4294.1669921875,
                        "z": 370.2723388671875
                    },
                    "rotation": {
                        "roll": -0.004730224143713713,
                        "pitch": -0.25107091665267944,
                        "yaw": 0.05021778121590614
                    }
                },
                "velocity": {
                    "x": 8.052663803100586,
                    "y": 0.04108114168047905,
                    "z": -0.04795866459608078
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.198223114013672,
                "transform": {
                    "location": {
                        "x": 586.431884765625,
                        "y": 4297.4140625,
                        "z": 370.26654052734375
                    },
                    "rotation": {
                        "roll": -0.009918212890625,
                        "pitch": -0.25249841809272766,
                        "yaw": 0.11918970197439194
                    }
                },
                "velocity": {
                    "x": 8.197938919067383,
                    "y": 0.04850316420197487,
                    "z": -0.048149723559617996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.128454208374023,
                "transform": {
                    "location": {
                        "x": 626.6217041015625,
                        "y": 4294.02294921875,
                        "z": 370.0877380371094
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.2781321108341217,
                        "yaw": 0.10007765144109726
                    }
                },
                "velocity": {
                    "x": 8.128228187561035,
                    "y": -0.044659681618213654,
                    "z": -0.04102036729454994
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.112260818481445,
                "transform": {
                    "location": {
                        "x": 627.5881958007812,
                        "y": 4297.25732421875,
                        "z": 370.0830078125
                    },
                    "rotation": {
                        "roll": 0.00028517303871922195,
                        "pitch": -0.2728865444660187,
                        "yaw": -0.3277282118797302
                    }
                },
                "velocity": {
                    "x": 8.112025260925293,
                    "y": -0.046297457069158554,
                    "z": -0.04087638109922409
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085214614868164,
                "transform": {
                    "location": {
                        "x": 671.941650390625,
                        "y": 4296.99755859375,
                        "z": 369.8395080566406
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.3150083124637604,
                        "yaw": -0.340911865234375
                    }
                },
                "velocity": {
                    "x": 8.084946632385254,
                    "y": -0.04809589684009552,
                    "z": -0.04485397785902023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0256986618042,
                "transform": {
                    "location": {
                        "x": 671.0086059570312,
                        "y": 4293.7509765625,
                        "z": 369.8387451171875
                    },
                    "rotation": {
                        "roll": -0.0017395017202943563,
                        "pitch": -0.31405889987945557,
                        "yaw": -0.3283080756664276
                    }
                },
                "velocity": {
                    "x": 8.025440216064453,
                    "y": -0.046036142855882645,
                    "z": -0.044934194535017014
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02993392944336,
                "transform": {
                    "location": {
                        "x": 711.9995727539062,
                        "y": 4296.7607421875,
                        "z": 369.61260986328125
                    },
                    "rotation": {
                        "roll": 0.001829038024879992,
                        "pitch": -0.33803969621658325,
                        "yaw": -0.3648376166820526
                    }
                },
                "velocity": {
                    "x": 8.029653549194336,
                    "y": -0.04909408837556839,
                    "z": -0.04577912390232086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05253791809082,
                "transform": {
                    "location": {
                        "x": 712.7733154296875,
                        "y": 4293.50634765625,
                        "z": 369.611328125
                    },
                    "rotation": {
                        "roll": 0.0009779013926163316,
                        "pitch": -0.33640044927597046,
                        "yaw": -0.354034423828125
                    }
                },
                "velocity": {
                    "x": 8.052252769470215,
                    "y": -0.04943987354636192,
                    "z": -0.04630180075764656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.74239730834961,
                "transform": {
                    "location": {
                        "x": 688.045166015625,
                        "y": 4286.94970703125,
                        "z": 369.7496337890625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.29203155636787415,
                        "yaw": 179.65907287597656
                    }
                },
                "velocity": {
                    "x": -8.742096900939941,
                    "y": 0.05201860889792442,
                    "z": 0.050386931747198105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5339342355728149,
                "transform": {
                    "location": {
                        "x": 667.5430908203125,
                        "y": 4287.0703125,
                        "z": 369.873779296875
                    },
                    "rotation": {
                        "roll": 3.958721936214715e-05,
                        "pitch": 0.1517394781112671,
                        "yaw": 179.5987548828125
                    }
                },
                "velocity": {
                    "x": -0.5339130163192749,
                    "y": 0.003376046661287546,
                    "z": 0.003359851660206914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017385828541591763,
                "transform": {
                    "location": {
                        "x": 612.0086059570312,
                        "y": 4287.421875,
                        "z": 370.15252685546875
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.39121273159980774,
                        "yaw": 179.94766235351562
                    }
                },
                "velocity": {
                    "x": -0.0015238219639286399,
                    "y": 0.00030377801158465445,
                    "z": -0.0007799717132002115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002590625954326242,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 2.488415702828206e-05,
                    "y": -4.414241630001925e-05,
                    "z": 0.0002540583664085716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.399288177490234,
                "transform": {
                    "location": {
                        "x": 674.1813354492188,
                        "y": 4290.28173828125,
                        "z": 369.83697509765625
                    },
                    "rotation": {
                        "roll": 0.0006278824876062572,
                        "pitch": 0.16081678867340088,
                        "yaw": 179.70118713378906
                    }
                },
                "velocity": {
                    "x": -9.398994445800781,
                    "y": 0.053355712443590164,
                    "z": 0.05184292793273926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.71812915802002,
                "transform": {
                    "location": {
                        "x": 655.027587890625,
                        "y": 4290.39404296875,
                        "z": 369.93988037109375
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.2944630980491638,
                        "yaw": 179.67628479003906
                    }
                },
                "velocity": {
                    "x": -8.717870712280273,
                    "y": 0.04936574026942253,
                    "z": 0.04564404487609863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006704330444336,
                "transform": {
                    "location": {
                        "x": 635.851806640625,
                        "y": 4290.505859375,
                        "z": 370.0710144042969
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.29244136810302734,
                        "yaw": 179.64271545410156
                    }
                },
                "velocity": {
                    "x": -8.006441116333008,
                    "y": 0.049931515008211136,
                    "z": 0.04147017374634743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.587715148925781,
                "transform": {
                    "location": {
                        "x": 692.1446533203125,
                        "y": 4290.17529296875,
                        "z": 369.7320861816406
                    },
                    "rotation": {
                        "roll": 0.0015145677607506514,
                        "pitch": 0.45059439539909363,
                        "yaw": 179.65158081054688
                    }
                },
                "velocity": {
                    "x": -8.587428092956543,
                    "y": 0.050449151545763016,
                    "z": 0.04883532598614693
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8620754480361938,
        "expert_target_speed": 0,
        "target_point": [
            22.52830238111776,
            -0.5040609927712867
        ],
        "target_point_next": [
            73.52161349965354,
            -1.328440485361446
        ]
    },
    "260": {
        "acceleration": [
            -0.26810646057128906,
            -0.008288687095046043,
            -0.0012569408863782883
        ],
        "angular_velocity": [
            -0.02762378752231598,
            -0.15928827226161957,
            -0.2356060892343521
        ],
        "forward_vector": [
            -0.9999197721481323,
            -0.009720003232359886,
            0.00811865832656622
        ],
        "right_vector": [
            0.009719548746943474,
            -0.9999527335166931,
            -9.53953349380754e-05
        ],
        "location": [
            652.9393310546875,
            4287.1171875,
            369.942138671875
        ],
        "rotation": [
            0.005465930327773094,
            0.4651699960231781,
            -179.44305419921875
        ],
        "velocity": [
            -0.6678546667098999,
            -0.003935559187084436,
            0.0025639915838837624
        ],
        "speed": 0.6678662624150935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.487546920776367,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080314636230469,
                "transform": {
                    "location": {
                        "x": 587.5999145507812,
                        "y": 4294.17529296875,
                        "z": 370.2622985839844
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": -0.2528330981731415,
                        "yaw": 0.3106042444705963
                    }
                },
                "velocity": {
                    "x": 8.080166816711426,
                    "y": 0.032291386276483536,
                    "z": -0.03670995309948921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.997293949127197,
                "transform": {
                    "location": {
                        "x": 588.4552001953125,
                        "y": 4297.42041015625,
                        "z": 370.256591796875
                    },
                    "rotation": {
                        "roll": -0.0033264157827943563,
                        "pitch": -0.25342050194740295,
                        "yaw": 0.35407742857933044
                    }
                },
                "velocity": {
                    "x": 7.997162342071533,
                    "y": 0.029512260109186172,
                    "z": -0.03517340123653412
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020974159240723,
                "transform": {
                    "location": {
                        "x": 628.6390380859375,
                        "y": 4294.01123046875,
                        "z": 370.0777587890625
                    },
                    "rotation": {
                        "roll": -0.0032958982046693563,
                        "pitch": -0.2948046028614044,
                        "yaw": 0.11296932399272919
                    }
                },
                "velocity": {
                    "x": 8.02074909210205,
                    "y": -0.0441090427339077,
                    "z": -0.04085448011755943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055888175964355,
                "transform": {
                    "location": {
                        "x": 629.608642578125,
                        "y": 4297.24560546875,
                        "z": 370.0729675292969
                    },
                    "rotation": {
                        "roll": 0.0003083788906224072,
                        "pitch": -0.296450674533844,
                        "yaw": -0.3290404975414276
                    }
                },
                "velocity": {
                    "x": 8.055645942687988,
                    "y": -0.04707275703549385,
                    "z": -0.04108836501836777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051326751708984,
                "transform": {
                    "location": {
                        "x": 673.9583740234375,
                        "y": 4296.98583984375,
                        "z": 369.82843017578125
                    },
                    "rotation": {
                        "roll": 0.0002916991070378572,
                        "pitch": -0.3164972960948944,
                        "yaw": -0.3408813178539276
                    }
                },
                "velocity": {
                    "x": 8.051060676574707,
                    "y": -0.04790313169360161,
                    "z": -0.044632527977228165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075765609741211,
                "transform": {
                    "location": {
                        "x": 673.0216064453125,
                        "y": 4293.7392578125,
                        "z": 369.82769775390625
                    },
                    "rotation": {
                        "roll": 0.001148379291407764,
                        "pitch": -0.31662023067474365,
                        "yaw": -0.3326416015625
                    }
                },
                "velocity": {
                    "x": 8.075502395629883,
                    "y": -0.04674409702420235,
                    "z": -0.045469507575035095
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031503677368164,
                "transform": {
                    "location": {
                        "x": 714.0071411132812,
                        "y": 4296.74951171875,
                        "z": 369.60089111328125
                    },
                    "rotation": {
                        "roll": 0.0007663809228688478,
                        "pitch": -0.3379850685596466,
                        "yaw": -0.3409423828125
                    }
                },
                "velocity": {
                    "x": 8.03122329711914,
                    "y": -0.04981624335050583,
                    "z": -0.04507407918572426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053508758544922,
                "transform": {
                    "location": {
                        "x": 714.7865600585938,
                        "y": 4293.4951171875,
                        "z": 369.599609375
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.33489781618118286,
                        "yaw": -0.354522705078125
                    }
                },
                "velocity": {
                    "x": 8.053213119506836,
                    "y": -0.05009012669324875,
                    "z": -0.047410063445568085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.419453620910645,
                "transform": {
                    "location": {
                        "x": 685.933837890625,
                        "y": 4286.9619140625,
                        "z": 369.7613525390625
                    },
                    "rotation": {
                        "roll": 0.0008841576054692268,
                        "pitch": 0.31283631920814514,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -8.41916275024414,
                    "y": 0.05005652830004692,
                    "z": 0.04894585534930229
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4976387023925781,
                "transform": {
                    "location": {
                        "x": 667.2762451171875,
                        "y": 4287.072265625,
                        "z": 369.8720703125
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": 0.5621860027313232,
                        "yaw": 179.62353515625
                    }
                },
                "velocity": {
                    "x": -1.497595191001892,
                    "y": 0.009013444185256958,
                    "z": 0.006992845330387354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004513069521635771,
                "transform": {
                    "location": {
                        "x": 612.0061645507812,
                        "y": 4287.421875,
                        "z": 370.1512756347656
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.04906807467341423,
                        "yaw": 179.94760131835938
                    }
                },
                "velocity": {
                    "x": 0.004441443365067244,
                    "y": -0.00020165176829323173,
                    "z": -0.0007750578224658966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021937898418400437,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 3.161266431561671e-05,
                    "y": 3.174514858983457e-06,
                    "z": -0.00021706611732952297
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.756400108337402,
                "transform": {
                    "location": {
                        "x": 671.9129638671875,
                        "y": 4290.294921875,
                        "z": 369.84808349609375
                    },
                    "rotation": {
                        "roll": 0.0004002686473540962,
                        "pitch": 0.3376162350177765,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -8.756102561950684,
                    "y": 0.05309782922267914,
                    "z": 0.04886346682906151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.621659278869629,
                "transform": {
                    "location": {
                        "x": 652.814697265625,
                        "y": 4290.4072265625,
                        "z": 369.9515686035156
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.3020651042461395,
                        "yaw": 179.66714477539062
                    }
                },
                "velocity": {
                    "x": -8.621387481689453,
                    "y": 0.05012977868318558,
                    "z": 0.046667154878377914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043998718261719,
                "transform": {
                    "location": {
                        "x": 633.8451538085938,
                        "y": 4290.517578125,
                        "z": 370.0812072753906
                    },
                    "rotation": {
                        "roll": 0.0009591704583726823,
                        "pitch": 0.29319268465042114,
                        "yaw": 179.6424560546875
                    }
                },
                "velocity": {
                    "x": -8.04373550415039,
                    "y": 0.05020143464207649,
                    "z": 0.041316185146570206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.506025314331055,
                "transform": {
                    "location": {
                        "x": 689.90771484375,
                        "y": 4290.189453125,
                        "z": 369.7447814941406
                    },
                    "rotation": {
                        "roll": 0.0020743890199810266,
                        "pitch": 0.5210341215133667,
                        "yaw": 179.62705993652344
                    }
                },
                "velocity": {
                    "x": -9.505690574645996,
                    "y": 0.05889679864048958,
                    "z": 0.053688447922468185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9314436912536621,
        "expert_target_speed": 0,
        "target_point": [
            22.397594516733935,
            -0.49069182897222474
        ],
        "target_point_next": [
            73.39134090974743,
            -1.2876919447893134
        ]
    },
    "265": {
        "acceleration": [
            -1.2412714958190918,
            0.0028739124536514282,
            0.020357705652713776
        ],
        "angular_velocity": [
            0.02160051092505455,
            -0.007284143008291721,
            -0.2367624044418335
        ],
        "forward_vector": [
            -0.9999297261238098,
            -0.008783338591456413,
            0.007966076023876667
        ],
        "right_vector": [
            0.008782596327364445,
            -0.9999614357948303,
            -0.000128079074784182
        ],
        "location": [
            652.7285766601562,
            4287.11572265625,
            369.9431457519531
        ],
        "rotation": [
            0.007338623516261578,
            0.45642736554145813,
            -179.49673461914062
        ],
        "velocity": [
            -0.9957597851753235,
            -0.0038343993946909904,
            0.00484325410798192
        ],
        "speed": 0.9957671677611812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.277514457702637,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033892631530762,
                "transform": {
                    "location": {
                        "x": 589.6138305664062,
                        "y": 4294.18310546875,
                        "z": 370.2533874511719
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": -0.252990186214447,
                        "yaw": 0.2048376500606537
                    }
                },
                "velocity": {
                    "x": 8.033784866333008,
                    "y": 0.01995912194252014,
                    "z": -0.03648955374956131
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.185502052307129,
                "transform": {
                    "location": {
                        "x": 590.4789428710938,
                        "y": 4297.4287109375,
                        "z": 370.2477111816406
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": -0.2522866725921631,
                        "yaw": 0.2979882061481476
                    }
                },
                "velocity": {
                    "x": 8.185372352600098,
                    "y": 0.02677835337817669,
                    "z": -0.03743218258023262
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.116724014282227,
                "transform": {
                    "location": {
                        "x": 630.6563720703125,
                        "y": 4293.99951171875,
                        "z": 370.06756591796875
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.29412841796875,
                        "yaw": 0.09378839284181595
                    }
                },
                "velocity": {
                    "x": 8.116485595703125,
                    "y": -0.04681104049086571,
                    "z": -0.040930669754743576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.087296485900879,
                "transform": {
                    "location": {
                        "x": 631.6259765625,
                        "y": 4297.23388671875,
                        "z": 370.0627746582031
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.29840412735939026,
                        "yaw": -0.3309020698070526
                    }
                },
                "velocity": {
                    "x": 8.087057113647461,
                    "y": -0.04668901488184929,
                    "z": -0.041151754558086395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085405349731445,
                "transform": {
                    "location": {
                        "x": 675.9754638671875,
                        "y": 4296.97412109375,
                        "z": 369.8172912597656
                    },
                    "rotation": {
                        "roll": 4.0094932046486065e-05,
                        "pitch": -0.3165314495563507,
                        "yaw": -0.3446350395679474
                    }
                },
                "velocity": {
                    "x": 8.08513355255127,
                    "y": -0.04880884662270546,
                    "z": -0.04485749080777168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023950576782227,
                "transform": {
                    "location": {
                        "x": 675.0335083007812,
                        "y": 4293.7275390625,
                        "z": 369.81658935546875
                    },
                    "rotation": {
                        "roll": 0.000749677128624171,
                        "pitch": -0.3173169195652008,
                        "yaw": -0.3327330946922302
                    }
                },
                "velocity": {
                    "x": 8.023686408996582,
                    "y": -0.04659206420183182,
                    "z": -0.04544166103005409
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029839515686035,
                "transform": {
                    "location": {
                        "x": 716.0148315429688,
                        "y": 4296.7373046875,
                        "z": 369.5892028808594
                    },
                    "rotation": {
                        "roll": 0.0012422781437635422,
                        "pitch": -0.33782798051834106,
                        "yaw": -0.3682860732078552
                    }
                },
                "velocity": {
                    "x": 8.02955150604248,
                    "y": -0.05099382624030113,
                    "z": -0.04502089321613312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053116798400879,
                "transform": {
                    "location": {
                        "x": 716.7999877929688,
                        "y": 4293.48291015625,
                        "z": 369.587890625
                    },
                    "rotation": {
                        "roll": 0.001090896432287991,
                        "pitch": -0.3365165591239929,
                        "yaw": -0.3580016791820526
                    }
                },
                "velocity": {
                    "x": 8.05282211303711,
                    "y": -0.049976084381341934,
                    "z": -0.04732852429151535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.814646244049072,
                "transform": {
                    "location": {
                        "x": 683.8751220703125,
                        "y": 4286.9736328125,
                        "z": 369.77301025390625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.30871087312698364,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -7.814385414123535,
                    "y": 0.046490419656038284,
                    "z": 0.043769463896751404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.597366213798523,
                "transform": {
                    "location": {
                        "x": 666.8328247070312,
                        "y": 4287.07666015625,
                        "z": 369.8756103515625
                    },
                    "rotation": {
                        "roll": -0.002746581332758069,
                        "pitch": 0.4051326513290405,
                        "yaw": 179.79391479492188
                    }
                },
                "velocity": {
                    "x": -0.5972822308540344,
                    "y": 0.00965308677405119,
                    "z": 0.00266436580568552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0018301104428246617,
                "transform": {
                    "location": {
                        "x": 612.0048828125,
                        "y": 4287.421875,
                        "z": 370.15045166015625
                    },
                    "rotation": {
                        "roll": 0.00136174529325217,
                        "pitch": 0.1703927218914032,
                        "yaw": 179.94760131835938
                    }
                },
                "velocity": {
                    "x": 0.001652352511882782,
                    "y": -3.794863368966617e-05,
                    "z": -0.0007858723402023315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00042572268284857273,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 2.787306766549591e-05,
                    "y": 4.816007276531309e-05,
                    "z": 0.00042207050137221813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.993951797485352,
                "transform": {
                    "location": {
                        "x": 669.7118530273438,
                        "y": 4290.30859375,
                        "z": 369.8605041503906
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": 0.29871830344200134,
                        "yaw": 179.67086791992188
                    }
                },
                "velocity": {
                    "x": -8.993654251098633,
                    "y": 0.054379653185606,
                    "z": 0.0489676371216774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.035353660583496,
                "transform": {
                    "location": {
                        "x": 650.7864990234375,
                        "y": 4290.41943359375,
                        "z": 369.96136474609375
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.42797961831092834,
                        "yaw": 179.6571807861328
                    }
                },
                "velocity": {
                    "x": -7.0351176261901855,
                    "y": 0.0440160296857357,
                    "z": 0.03723468631505966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008380889892578,
                "transform": {
                    "location": {
                        "x": 631.8389892578125,
                        "y": 4290.52978515625,
                        "z": 370.0914001464844
                    },
                    "rotation": {
                        "roll": 0.0007460464839823544,
                        "pitch": 0.2931995093822479,
                        "yaw": 179.64076232910156
                    }
                },
                "velocity": {
                    "x": -8.0081148147583,
                    "y": 0.05155698582530022,
                    "z": 0.04016115143895149
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.885846138000488,
                "transform": {
                    "location": {
                        "x": 687.5993041992188,
                        "y": 4290.203125,
                        "z": 369.75775146484375
                    },
                    "rotation": {
                        "roll": 0.0009213712764903903,
                        "pitch": 0.2853721082210541,
                        "yaw": 179.63697814941406
                    }
                },
                "velocity": {
                    "x": -8.885528564453125,
                    "y": 0.054744064807891846,
                    "z": 0.051445528864860535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000497579574585,
        "expert_target_speed": 0,
        "target_point": [
            22.187285324767526,
            -0.46931898662725857
        ],
        "target_point_next": [
            73.18175611009121,
            -1.2185383833029717
        ]
    },
    "270": {
        "acceleration": [
            -1.068882942199707,
            0.18203683197498322,
            0.00380135141313076
        ],
        "angular_velocity": [
            0.1410597562789917,
            -0.02736789919435978,
            -0.8360024094581604
        ],
        "forward_vector": [
            -0.9999464154243469,
            -0.007041106000542641,
            0.0075903395190835
        ],
        "right_vector": [
            0.007038491312414408,
            -0.9999751448631287,
            -0.00037108318065293133
        ],
        "location": [
            652.4497680664062,
            4287.11572265625,
            369.94476318359375
        ],
        "rotation": [
            0.021262113004922867,
            0.43489861488342285,
            -179.5965576171875
        ],
        "velocity": [
            -1.2344871759414673,
            0.013040689751505852,
            0.006433429662138224
        ],
        "speed": 1.234556052657446,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.999887466430664,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.40460205078125,
                "transform": {
                    "location": {
                        "x": 591.5482177734375,
                        "y": 4294.1875,
                        "z": 370.244873046875
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.268952339887619,
                        "yaw": 0.11860832571983337
                    }
                },
                "velocity": {
                    "x": 7.40451717376709,
                    "y": 0.012376603670418262,
                    "z": -0.0332661010324955
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985748291015625,
                "transform": {
                    "location": {
                        "x": 592.4993286132812,
                        "y": 4297.43408203125,
                        "z": 370.23870849609375
                    },
                    "rotation": {
                        "roll": -3.0517585400957614e-05,
                        "pitch": -0.2584816515445709,
                        "yaw": 0.13780175149440765
                    }
                },
                "velocity": {
                    "x": 7.985664367675781,
                    "y": 0.004339858423918486,
                    "z": -0.0364033579826355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035148620605469,
                "transform": {
                    "location": {
                        "x": 632.6753540039062,
                        "y": 4293.98779296875,
                        "z": 370.0572814941406
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": -0.2924481928348541,
                        "yaw": 0.10305186361074448
                    }
                },
                "velocity": {
                    "x": 8.034916877746582,
                    "y": -0.04519672319293022,
                    "z": -0.04085291177034378
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068033218383789,
                "transform": {
                    "location": {
                        "x": 633.6455078125,
                        "y": 4297.22216796875,
                        "z": 370.0523986816406
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.2903445065021515,
                        "yaw": -0.3339233100414276
                    }
                },
                "velocity": {
                    "x": 8.067793846130371,
                    "y": -0.04697318375110626,
                    "z": -0.0406891368329525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051877975463867,
                "transform": {
                    "location": {
                        "x": 677.9923095703125,
                        "y": 4296.96240234375,
                        "z": 369.8061218261719
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.31869661808013916,
                        "yaw": -0.3506774604320526
                    }
                },
                "velocity": {
                    "x": 8.051603317260742,
                    "y": -0.049311745911836624,
                    "z": -0.04455101862549782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077560424804688,
                "transform": {
                    "location": {
                        "x": 677.0464477539062,
                        "y": 4293.71630859375,
                        "z": 369.805419921875
                    },
                    "rotation": {
                        "roll": 0.0003465334011707455,
                        "pitch": -0.3176310956478119,
                        "yaw": -0.3368835747241974
                    }
                },
                "velocity": {
                    "x": 8.077292442321777,
                    "y": -0.04755042493343353,
                    "z": -0.04547891020774841
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030264854431152,
                "transform": {
                    "location": {
                        "x": 718.0221557617188,
                        "y": 4296.7255859375,
                        "z": 369.5775451660156
                    },
                    "rotation": {
                        "roll": 0.0013723602751269937,
                        "pitch": -0.33803969621658325,
                        "yaw": -0.3427123725414276
                    }
                },
                "velocity": {
                    "x": 8.029983520507812,
                    "y": -0.0500236414372921,
                    "z": -0.044943492859601974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053389549255371,
                "transform": {
                    "location": {
                        "x": 718.8131103515625,
                        "y": 4293.4716796875,
                        "z": 369.57611083984375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.33514371514320374,
                        "yaw": -0.3550109267234802
                    }
                },
                "velocity": {
                    "x": 8.053092956542969,
                    "y": -0.050171468406915665,
                    "z": -0.04761706665158272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.312994003295898,
                "transform": {
                    "location": {
                        "x": 682.0955810546875,
                        "y": 4286.984375,
                        "z": 369.7830810546875
                    },
                    "rotation": {
                        "roll": 0.0009949812665581703,
                        "pitch": 0.28919702768325806,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -6.312781810760498,
                    "y": 0.037517983466386795,
                    "z": 0.0356513112783432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0383412837982178,
                "transform": {
                    "location": {
                        "x": 666.5135498046875,
                        "y": 4287.078125,
                        "z": 369.87786865234375
                    },
                    "rotation": {
                        "roll": -0.003631591098383069,
                        "pitch": 0.3340645432472229,
                        "yaw": 179.72146606445312
                    }
                },
                "velocity": {
                    "x": -2.0382766723632812,
                    "y": 0.011691213585436344,
                    "z": 0.011220293119549751
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0012778156669810414,
                "transform": {
                    "location": {
                        "x": 612.004150390625,
                        "y": 4287.421875,
                        "z": 370.1501770019531
                    },
                    "rotation": {
                        "roll": 0.00196188036352396,
                        "pitch": 0.24499887228012085,
                        "yaw": 179.94760131835938
                    }
                },
                "velocity": {
                    "x": 0.0005257370066829026,
                    "y": -0.00011626391642494127,
                    "z": -0.0011588339693844318
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.0313727115280926e-05,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": -4.923194410366705e-06,
                    "y": -7.701851245656144e-07,
                    "z": -5.006635910831392e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.30740737915039,
                "transform": {
                    "location": {
                        "x": 667.5355834960938,
                        "y": 4290.3212890625,
                        "z": 369.8718566894531
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.36432909965515137,
                        "yaw": 179.6433868408203
                    }
                },
                "velocity": {
                    "x": -8.307137489318848,
                    "y": 0.04924728348851204,
                    "z": 0.04550177603960037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.133398056030273,
                "transform": {
                    "location": {
                        "x": 649.2032470703125,
                        "y": 4290.42919921875,
                        "z": 369.9698791503906
                    },
                    "rotation": {
                        "roll": 4.428823012858629e-05,
                        "pitch": 0.4071953594684601,
                        "yaw": 179.62448120117188
                    }
                },
                "velocity": {
                    "x": -6.1331963539123535,
                    "y": 0.03756579011678696,
                    "z": 0.03262124955654144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044222831726074,
                "transform": {
                    "location": {
                        "x": 629.83251953125,
                        "y": 4290.54150390625,
                        "z": 370.1015625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.2929946184158325,
                        "yaw": 179.6387939453125
                    }
                },
                "velocity": {
                    "x": -8.043960571289062,
                    "y": 0.05071992799639702,
                    "z": 0.040644243359565735
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.975004196166992,
                "transform": {
                    "location": {
                        "x": 685.4851684570312,
                        "y": 4290.21630859375,
                        "z": 369.7697448730469
                    },
                    "rotation": {
                        "roll": 0.00051978969713673,
                        "pitch": 0.160912424325943,
                        "yaw": 179.6642303466797
                    }
                },
                "velocity": {
                    "x": -7.974734306335449,
                    "y": 0.048307351768016815,
                    "z": 0.04439963400363922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0021018981933594,
        "expert_target_speed": 0,
        "target_point": [
            21.909267688189033,
            -0.42869678423504665
        ],
        "target_point_next": [
            72.90496647976953,
            -1.0890642107353137
        ]
    },
    "275": {
        "acceleration": [
            -2.1457338333129883,
            0.7792326807975769,
            0.012396061792969704
        ],
        "angular_velocity": [
            0.4473936855792999,
            0.24683071672916412,
            -6.861983299255371
        ],
        "forward_vector": [
            -0.9999335408210754,
            0.007978944107890129,
            0.008319401182234287
        ],
        "right_vector": [
            -0.00799922551959753,
            -0.9999650716781616,
            -0.0024073554668575525
        ],
        "location": [
            652.08203125,
            4287.13525390625,
            369.9465637207031
        ],
        "rotation": [
            0.13793621957302094,
            0.47667205333709717,
            179.54281616210938
        ],
        "velocity": [
            -1.697725534439087,
            0.16825315356254578,
            0.008171549066901207
        ],
        "speed": 1.706042529941802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.635727882385254,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.971451282501221,
                "transform": {
                    "location": {
                        "x": 593.4441528320312,
                        "y": 4294.1875,
                        "z": 370.2362365722656
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": -0.25277847051620483,
                        "yaw": -0.028869623318314552
                    }
                },
                "velocity": {
                    "x": 7.971359729766846,
                    "y": -0.014955437742173672,
                    "z": -0.03509020805358887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.173955917358398,
                "transform": {
                    "location": {
                        "x": 594.5202026367188,
                        "y": 4297.43505859375,
                        "z": 370.2296142578125
                    },
                    "rotation": {
                        "roll": 0.0006867176853120327,
                        "pitch": -0.2608380913734436,
                        "yaw": -0.074371337890625
                    }
                },
                "velocity": {
                    "x": 8.173858642578125,
                    "y": -0.013301294296979904,
                    "z": -0.037640281021595
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.115775108337402,
                "transform": {
                    "location": {
                        "x": 634.694580078125,
                        "y": 4293.97607421875,
                        "z": 370.0470275878906
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.29345905780792236,
                        "yaw": 0.09232798218727112
                    }
                },
                "velocity": {
                    "x": 8.1155366897583,
                    "y": -0.04643956944346428,
                    "z": -0.04131370037794113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09391975402832,
                "transform": {
                    "location": {
                        "x": 635.6658325195312,
                        "y": 4297.21044921875,
                        "z": 370.0422058105469
                    },
                    "rotation": {
                        "roll": 0.0003184964880347252,
                        "pitch": -0.29253697395324707,
                        "yaw": -0.336822509765625
                    }
                },
                "velocity": {
                    "x": 8.09367561340332,
                    "y": -0.0476454496383667,
                    "z": -0.04093975946307182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084538459777832,
                "transform": {
                    "location": {
                        "x": 680.0093383789062,
                        "y": 4296.95068359375,
                        "z": 369.7948303222656
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.3208003044128418,
                        "yaw": -0.35540771484375
                    }
                },
                "velocity": {
                    "x": 8.084256172180176,
                    "y": -0.05010094493627548,
                    "z": -0.04529428854584694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02385139465332,
                "transform": {
                    "location": {
                        "x": 679.0586547851562,
                        "y": 4293.7041015625,
                        "z": 369.7942810058594
                    },
                    "rotation": {
                        "roll": 1.621549017727375e-05,
                        "pitch": -0.32058173418045044,
                        "yaw": -0.3391418159008026
                    }
                },
                "velocity": {
                    "x": 8.023578643798828,
                    "y": -0.04894574359059334,
                    "z": -0.04448052868247032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031230926513672,
                "transform": {
                    "location": {
                        "x": 720.0298461914062,
                        "y": 4296.7138671875,
                        "z": 369.5658874511719
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.3379509150981903,
                        "yaw": -0.3641356825828552
                    }
                },
                "velocity": {
                    "x": 8.030951499938965,
                    "y": -0.04910280555486679,
                    "z": -0.0455300398170948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0527982711792,
                "transform": {
                    "location": {
                        "x": 720.8262939453125,
                        "y": 4293.45947265625,
                        "z": 369.56439208984375
                    },
                    "rotation": {
                        "roll": -0.0010070797288790345,
                        "pitch": -0.333074152469635,
                        "yaw": -0.3582763671875
                    }
                },
                "velocity": {
                    "x": 8.052504539489746,
                    "y": -0.05008464306592941,
                    "z": -0.04718014970421791
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5391461849212646,
                "transform": {
                    "location": {
                        "x": 680.9027099609375,
                        "y": 4286.99169921875,
                        "z": 369.7899169921875
                    },
                    "rotation": {
                        "roll": 0.0015461473958566785,
                        "pitch": 0.23866045475006104,
                        "yaw": 179.6590576171875
                    }
                },
                "velocity": {
                    "x": -2.5390665531158447,
                    "y": 0.015099287033081055,
                    "z": 0.013290910050272942
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.22615760564804077,
                "transform": {
                    "location": {
                        "x": 666.1135864257812,
                        "y": 4287.08056640625,
                        "z": 369.8818359375
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.11770464479923248,
                        "yaw": 179.70550537109375
                    }
                },
                "velocity": {
                    "x": -0.22614581882953644,
                    "y": 0.0012962723849341273,
                    "z": 0.0019094084855169058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00047894156887196004,
                "transform": {
                    "location": {
                        "x": 612.0039672851562,
                        "y": 4287.421875,
                        "z": 370.1501159667969
                    },
                    "rotation": {
                        "roll": 0.0026227040216326714,
                        "pitch": 0.2636657655239105,
                        "yaw": 179.94761657714844
                    }
                },
                "velocity": {
                    "x": 0.0002201493043685332,
                    "y": -9.218684863299131e-05,
                    "z": -0.000415235961554572
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007766882772557437,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 1.2862123185186647e-05,
                    "y": 1.0602513611956965e-05,
                    "z": 0.0007765094051137567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.937458515167236,
                "transform": {
                    "location": {
                        "x": 665.6240234375,
                        "y": 4290.3310546875,
                        "z": 369.8816833496094
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": 0.44325193762779236,
                        "yaw": 179.4065399169922
                    }
                },
                "velocity": {
                    "x": -6.937224388122559,
                    "y": 0.04241183027625084,
                    "z": 0.03799869492650032
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.600112438201904,
                "transform": {
                    "location": {
                        "x": 647.6275024414062,
                        "y": 4290.439453125,
                        "z": 369.9794006347656
                    },
                    "rotation": {
                        "roll": 1.960513372978312e-06,
                        "pitch": 0.2781389355659485,
                        "yaw": 179.66897583007812
                    }
                },
                "velocity": {
                    "x": -6.5999016761779785,
                    "y": 0.040561843663454056,
                    "z": 0.03372156247496605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00727367401123,
                "transform": {
                    "location": {
                        "x": 627.8263549804688,
                        "y": 4290.55322265625,
                        "z": 370.11163330078125
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.2865332365036011,
                        "yaw": 179.64218139648438
                    }
                },
                "velocity": {
                    "x": -8.00701904296875,
                    "y": 0.049831684678792953,
                    "z": 0.039997491985559464
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.298955917358398,
                "transform": {
                    "location": {
                        "x": 683.4772338867188,
                        "y": 4290.2275390625,
                        "z": 369.7811279296875
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.33101144433021545,
                        "yaw": 179.64845275878906
                    }
                },
                "velocity": {
                    "x": -8.298686027526855,
                    "y": 0.04907354712486267,
                    "z": 0.04555799439549446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.998456597328186,
        "expert_target_speed": 0,
        "target_point": [
            21.54535427773527,
            -0.08296868587150177
        ],
        "target_point_next": [
            72.54521910871792,
            0.022708185239979528
        ]
    },
    "280": {
        "acceleration": [
            -4.063887596130371,
            1.2746787071228027,
            0.038210488855838776
        ],
        "angular_velocity": [
            0.37022852897644043,
            0.6217813491821289,
            -10.838232040405273
        ],
        "forward_vector": [
            -0.9988448023796082,
            0.04692143574357033,
            0.010366372764110565
        ],
        "right_vector": [
            -0.046967387199401855,
            -0.9988874197006226,
            -0.004235006403177977
        ],
        "location": [
            651.55908203125,
            4287.20166015625,
            369.9488830566406
        ],
        "rotation": [
            0.2426617443561554,
            0.5939600467681885,
            177.3104705810547
        ],
        "velocity": [
            -2.5218234062194824,
            0.4225630462169647,
            0.013991088606417179
        ],
        "speed": 2.5569811927709973,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.122674942016602,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.316370010375977,
                "transform": {
                    "location": {
                        "x": 595.5221557617188,
                        "y": 4294.18310546875,
                        "z": 370.2267761230469
                    },
                    "rotation": {
                        "roll": 0.00033577464637346566,
                        "pitch": -0.25158318877220154,
                        "yaw": -0.1456298977136612
                    }
                },
                "velocity": {
                    "x": 8.316255569458008,
                    "y": -0.02408980391919613,
                    "z": -0.036324672400951385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974153995513916,
                "transform": {
                    "location": {
                        "x": 596.5377197265625,
                        "y": 4297.43115234375,
                        "z": 370.2204284667969
                    },
                    "rotation": {
                        "roll": 0.0005229549133218825,
                        "pitch": -0.26147329807281494,
                        "yaw": -0.198974609375
                    }
                },
                "velocity": {
                    "x": 7.974036693572998,
                    "y": -0.02335614338517189,
                    "z": -0.036440409719944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.029306411743164,
                "transform": {
                    "location": {
                        "x": 636.7120971679688,
                        "y": 4293.96435546875,
                        "z": 370.0367126464844
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.2950095236301422,
                        "yaw": 0.0957447960972786
                    }
                },
                "velocity": {
                    "x": 8.029070854187012,
                    "y": -0.046240705996751785,
                    "z": -0.040522027760744095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060697555541992,
                "transform": {
                    "location": {
                        "x": 637.6845703125,
                        "y": 4297.19873046875,
                        "z": 370.0318298339844
                    },
                    "rotation": {
                        "roll": 0.0009785157162696123,
                        "pitch": -0.2981923818588257,
                        "yaw": -0.3399962782859802
                    }
                },
                "velocity": {
                    "x": 8.060450553894043,
                    "y": -0.04782770946621895,
                    "z": -0.04116714745759964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051787376403809,
                "transform": {
                    "location": {
                        "x": 682.0263061523438,
                        "y": 4296.939453125,
                        "z": 369.7835388183594
                    },
                    "rotation": {
                        "roll": -0.00015258774510584772,
                        "pitch": -0.32070469856262207,
                        "yaw": -0.355712890625
                    }
                },
                "velocity": {
                    "x": 8.051509857177734,
                    "y": -0.049950964748859406,
                    "z": -0.044423140585422516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076937675476074,
                "transform": {
                    "location": {
                        "x": 681.0714111328125,
                        "y": 4293.69287109375,
                        "z": 369.7830505371094
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.32003533840179443,
                        "yaw": -0.3406676948070526
                    }
                },
                "velocity": {
                    "x": 8.076674461364746,
                    "y": -0.04804439842700958,
                    "z": -0.04404105246067047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 722.067626953125,
                        "y": 4296.69091796875,
                        "z": 369.5544738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 722.8812255859375,
                        "y": 4293.43017578125,
                        "z": 369.5526428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.365590363740921,
                "transform": {
                    "location": {
                        "x": 680.7429809570312,
                        "y": 4286.9921875,
                        "z": 369.7907409667969
                    },
                    "rotation": {
                        "roll": 3.733040648512542e-05,
                        "pitch": 0.2562960088253021,
                        "yaw": 179.64739990234375
                    }
                },
                "velocity": {
                    "x": -0.36557257175445557,
                    "y": 0.0022945415694266558,
                    "z": 0.0027872847858816385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8696242570877075,
                "transform": {
                    "location": {
                        "x": 665.8239135742188,
                        "y": 4287.08154296875,
                        "z": 369.8815002441406
                    },
                    "rotation": {
                        "roll": 0.0005513963405974209,
                        "pitch": 0.361043781042099,
                        "yaw": 179.69866943359375
                    }
                },
                "velocity": {
                    "x": -1.8695706129074097,
                    "y": 0.010506984777748585,
                    "z": 0.009500722400844097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00025097563047893345,
                "transform": {
                    "location": {
                        "x": 612.0038452148438,
                        "y": 4287.421875,
                        "z": 370.1500549316406
                    },
                    "rotation": {
                        "roll": 0.002366191940382123,
                        "pitch": 0.2734534442424774,
                        "yaw": 179.94761657714844
                    }
                },
                "velocity": {
                    "x": 4.4950691517442465e-05,
                    "y": 3.6601720694307005e-06,
                    "z": 0.00024689026759006083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001424572546966374,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": -2.674870074770297e-06,
                    "y": 1.538493620500958e-06,
                    "z": 0.00014242382894735783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.978704452514648,
                "transform": {
                    "location": {
                        "x": 663.9068603515625,
                        "y": 4290.34228515625,
                        "z": 369.8918762207031
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": 0.3319949805736542,
                        "yaw": 179.50009155273438
                    }
                },
                "velocity": {
                    "x": -6.978464603424072,
                    "y": 0.04392072185873985,
                    "z": 0.03769489377737045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.984160900115967,
                "transform": {
                    "location": {
                        "x": 645.8726196289062,
                        "y": 4290.44873046875,
                        "z": 369.98931884765625
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.1727832853794098,
                        "yaw": 179.60594177246094
                    }
                },
                "velocity": {
                    "x": -7.983907222747803,
                    "y": 0.04798475280404091,
                    "z": 0.0417703315615654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043222427368164,
                "transform": {
                    "location": {
                        "x": 625.8198852539062,
                        "y": 4290.56494140625,
                        "z": 370.1215515136719
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 0.28520137071609497,
                        "yaw": 179.6429443359375
                    }
                },
                "velocity": {
                    "x": -8.042962074279785,
                    "y": 0.05020074173808098,
                    "z": 0.04088030755519867
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026596069335938,
                "transform": {
                    "location": {
                        "x": 681.3917846679688,
                        "y": 4290.23974609375,
                        "z": 369.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": 0.2821960747241974,
                        "yaw": 179.67295837402344
                    }
                },
                "velocity": {
                    "x": -8.026327133178711,
                    "y": 0.04775921627879143,
                    "z": 0.045133426785469055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9985939860343933,
        "expert_target_speed": 10.0,
        "target_point": [
            21.00674607428395,
            0.798113777545504
        ],
        "target_point_next": [
            71.9637908423688,
            2.890234443994696
        ]
    },
    "285": {
        "acceleration": [
            -5.117149353027344,
            2.217233180999756,
            0.01546267420053482
        ],
        "angular_velocity": [
            0.6988427639007568,
            0.5588907599449158,
            -18.135589599609375
        ],
        "forward_vector": [
            -0.9936105012893677,
            0.11203742027282715,
            0.013633185997605324
        ],
        "right_vector": [
            -0.11213637888431549,
            -0.9936701059341431,
            -0.006722830701619387
        ],
        "location": [
            650.765625,
            4287.35107421875,
            369.95245361328125
        ],
        "rotation": [
            0.38522854447364807,
            0.7811481952667236,
            173.56661987304688
        ],
        "velocity": [
            -3.79130482673645,
            0.8894899487495422,
            0.019206322729587555
        ],
        "speed": 3.8942502048740484,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.354260444641113,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.871496200561523,
                "transform": {
                    "location": {
                        "x": 597.535400390625,
                        "y": 4294.1767578125,
                        "z": 370.2177734375
                    },
                    "rotation": {
                        "roll": 0.0008186527411453426,
                        "pitch": -0.2720600664615631,
                        "yaw": -0.2091064453125
                    }
                },
                "velocity": {
                    "x": 7.871340274810791,
                    "y": -0.0323929525911808,
                    "z": -0.037507571280002594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.894894599914551,
                "transform": {
                    "location": {
                        "x": 598.5531005859375,
                        "y": 4297.42431640625,
                        "z": 370.2111511230469
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": -0.2686449885368347,
                        "yaw": -0.2703551948070526
                    }
                },
                "velocity": {
                    "x": 7.894733905792236,
                    "y": -0.034783363342285156,
                    "z": -0.03636970743536949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.118576049804688,
                "transform": {
                    "location": {
                        "x": 638.7311401367188,
                        "y": 4293.95263671875,
                        "z": 370.02630615234375
                    },
                    "rotation": {
                        "roll": -0.004211425315588713,
                        "pitch": -0.298827588558197,
                        "yaw": 0.0898822471499443
                    }
                },
                "velocity": {
                    "x": 8.118338584899902,
                    "y": -0.04595048725605011,
                    "z": -0.0416729599237442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093796730041504,
                "transform": {
                    "location": {
                        "x": 639.7039794921875,
                        "y": 4297.18701171875,
                        "z": 370.0213623046875
                    },
                    "rotation": {
                        "roll": 0.00014676548016723245,
                        "pitch": -0.30242711305618286,
                        "yaw": -0.3408202826976776
                    }
                },
                "velocity": {
                    "x": 8.093547821044922,
                    "y": -0.048130154609680176,
                    "z": -0.041312240064144135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084982872009277,
                "transform": {
                    "location": {
                        "x": 684.0432739257812,
                        "y": 4296.92724609375,
                        "z": 369.772216796875
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.3219614326953888,
                        "yaw": -0.355682373046875
                    }
                },
                "velocity": {
                    "x": 8.084697723388672,
                    "y": -0.05018969252705574,
                    "z": -0.045716796070337296
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025079727172852,
                "transform": {
                    "location": {
                        "x": 683.083740234375,
                        "y": 4293.68115234375,
                        "z": 369.77178955078125
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.32119646668434143,
                        "yaw": -0.345977783203125
                    }
                },
                "velocity": {
                    "x": 8.024791717529297,
                    "y": -0.0500740185379982,
                    "z": -0.04592552036046982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 724.1504516601562,
                        "y": 4296.65185546875,
                        "z": 369.5435791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 724.9640502929688,
                        "y": 4293.388671875,
                        "z": 369.5408020019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1160509586334229,
                "transform": {
                    "location": {
                        "x": 680.549072265625,
                        "y": 4286.99365234375,
                        "z": 369.7912292480469
                    },
                    "rotation": {
                        "roll": 0.00030506119946949184,
                        "pitch": 0.329119473695755,
                        "yaw": 179.59231567382812
                    }
                },
                "velocity": {
                    "x": -1.1160056591033936,
                    "y": 0.008086524903774261,
                    "z": 0.0059783076867461205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7626749277114868,
                "transform": {
                    "location": {
                        "x": 665.3005981445312,
                        "y": 4287.08447265625,
                        "z": 369.8839111328125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.40311774611473083,
                        "yaw": 179.6464080810547
                    }
                },
                "velocity": {
                    "x": -0.7626581192016602,
                    "y": 0.00011682994227157906,
                    "z": 0.005061607342213392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00016119403881020844,
                "transform": {
                    "location": {
                        "x": 612.0038452148438,
                        "y": 4287.421875,
                        "z": 370.1500549316406
                    },
                    "rotation": {
                        "roll": 0.002366191940382123,
                        "pitch": 0.2734534442424774,
                        "yaw": 179.94761657714844
                    }
                },
                "velocity": {
                    "x": 9.013563612825237e-06,
                    "y": 3.180621934006922e-05,
                    "z": -0.00015776767395436764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4797453331993893e-05,
                "transform": {
                    "location": {
                        "x": 602.2988891601562,
                        "y": 4287.5234375,
                        "z": 370.2344055175781
                    },
                    "rotation": {
                        "roll": 0.0039781308732926846,
                        "pitch": 0.2686586380004883,
                        "yaw": -179.87391662597656
                    }
                },
                "velocity": {
                    "x": 7.802247637300752e-06,
                    "y": -2.635206328704953e-07,
                    "z": 1.2570605576911476e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.493334770202637,
                "transform": {
                    "location": {
                        "x": 662.079345703125,
                        "y": 4290.35498046875,
                        "z": 369.9022216796875
                    },
                    "rotation": {
                        "roll": 0.0006825349992141128,
                        "pitch": 0.26221778988838196,
                        "yaw": 179.62261962890625
                    }
                },
                "velocity": {
                    "x": -7.493098735809326,
                    "y": 0.04345144331455231,
                    "z": 0.04056360945105553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.315979957580566,
                "transform": {
                    "location": {
                        "x": 643.7820434570312,
                        "y": 4290.4619140625,
                        "z": 369.999755859375
                    },
                    "rotation": {
                        "roll": 0.0015180542832240462,
                        "pitch": 0.23545026779174805,
                        "yaw": 179.6514434814453
                    }
                },
                "velocity": {
                    "x": -8.315723419189453,
                    "y": 0.04843483865261078,
                    "z": 0.043825920671224594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009316444396973,
                "transform": {
                    "location": {
                        "x": 623.8135375976562,
                        "y": 4290.57763671875,
                        "z": 370.1314697265625
                    },
                    "rotation": {
                        "roll": -0.00036621102481149137,
                        "pitch": 0.28518086671829224,
                        "yaw": 179.63775634765625
                    }
                },
                "velocity": {
                    "x": -8.009054183959961,
                    "y": 0.05067060887813568,
                    "z": 0.04044513776898384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.174750804901123,
                "transform": {
                    "location": {
                        "x": 679.5279541015625,
                        "y": 4290.2509765625,
                        "z": 369.8031311035156
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.17675845324993134,
                        "yaw": 179.63467407226562
                    }
                },
                "velocity": {
                    "x": -7.174506664276123,
                    "y": 0.04330279678106308,
                    "z": 0.040325555950403214
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0010379552841187,
        "expert_target_speed": 10.0,
        "target_point": [
            20.104600912773172,
            2.2276341099313495
        ],
        "target_point_next": [
            70.8162934675514,
            7.642578117881761
        ]
    },
    "290": {
        "acceleration": [
            -4.13050651550293,
            3.2058072090148926,
            0.08805349469184875
        ],
        "angular_velocity": [
            0.8578553199768066,
            -0.1467846781015396,
            -23.398780822753906
        ],
        "forward_vector": [
            -0.9792476296424866,
            0.2021312266588211,
            0.014733854681253433
        ],
        "right_vector": [
            -0.2022845447063446,
            -0.979278028011322,
            -0.009774592705070972
        ],
        "location": [
            649.6656494140625,
            4287.6416015625,
            369.95819091796875
        ],
        "rotation": [
            0.5601125955581665,
            0.8442181944847107,
            168.33709716796875
        ],
        "velocity": [
            -4.90614652633667,
            1.5855271816253662,
            0.029925374314188957
        ],
        "speed": 5.155983919831233,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.31910514831543,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.151442527770996,
                "transform": {
                    "location": {
                        "x": 599.5313720703125,
                        "y": 4294.16796875,
                        "z": 370.20831298828125
                    },
                    "rotation": {
                        "roll": 0.000611752038821578,
                        "pitch": -0.26413023471832275,
                        "yaw": -0.26202392578125
                    }
                },
                "velocity": {
                    "x": 8.151264190673828,
                    "y": -0.039161525666713715,
                    "z": -0.0371318943798542
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.835371494293213,
                "transform": {
                    "location": {
                        "x": 600.332275390625,
                        "y": 4297.4169921875,
                        "z": 370.2031555175781
                    },
                    "rotation": {
                        "roll": 0.0003332759370096028,
                        "pitch": -0.2978167235851288,
                        "yaw": -0.302276611328125
                    }
                },
                "velocity": {
                    "x": 6.835208415985107,
                    "y": -0.03406941518187523,
                    "z": -0.03273703157901764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030499458312988,
                "transform": {
                    "location": {
                        "x": 640.7493896484375,
                        "y": 4293.94091796875,
                        "z": 370.01580810546875
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.3044693171977997,
                        "yaw": 0.09960008412599564
                    }
                },
                "velocity": {
                    "x": 8.030251502990723,
                    "y": -0.04786353558301926,
                    "z": -0.041124533861875534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063072204589844,
                "transform": {
                    "location": {
                        "x": 641.723388671875,
                        "y": 4297.17529296875,
                        "z": 370.01080322265625
                    },
                    "rotation": {
                        "roll": 0.0018386245938017964,
                        "pitch": -0.30242711305618286,
                        "yaw": -0.3440856635570526
                    }
                },
                "velocity": {
                    "x": 8.062816619873047,
                    "y": -0.049234431236982346,
                    "z": -0.04112203046679497
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051849365234375,
                "transform": {
                    "location": {
                        "x": 686.060302734375,
                        "y": 4296.91552734375,
                        "z": 369.7608947753906
                    },
                    "rotation": {
                        "roll": 0.0010263418080285192,
                        "pitch": -0.32373046875,
                        "yaw": -0.3580016791820526
                    }
                },
                "velocity": {
                    "x": 8.05156421661377,
                    "y": -0.05034961923956871,
                    "z": -0.045388106256723404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074944496154785,
                "transform": {
                    "location": {
                        "x": 685.0966796875,
                        "y": 4293.66943359375,
                        "z": 369.760498046875
                    },
                    "rotation": {
                        "roll": 0.0005824435502290726,
                        "pitch": -0.3240993022918701,
                        "yaw": -0.3495788872241974
                    }
                },
                "velocity": {
                    "x": 8.074670791625977,
                    "y": -0.04918982461094856,
                    "z": -0.044832970947027206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 726.2332763671875,
                        "y": 4296.61279296875,
                        "z": 369.53265380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 727.046875,
                        "y": 4293.34716796875,
                        "z": 369.5290832519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9329969882965088,
                "transform": {
                    "location": {
                        "x": 680.1644287109375,
                        "y": 4286.99560546875,
                        "z": 369.7933044433594
                    },
                    "rotation": {
                        "roll": 2.8208058211021125e-05,
                        "pitch": 0.338606595993042,
                        "yaw": 179.53762817382812
                    }
                },
                "velocity": {
                    "x": -1.9329169988632202,
                    "y": 0.014355776831507683,
                    "z": 0.010149364359676838
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9196366667747498,
                "transform": {
                    "location": {
                        "x": 665.2078247070312,
                        "y": 4287.08447265625,
                        "z": 369.88702392578125
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.09123766422271729,
                        "yaw": 179.6012420654297
                    }
                },
                "velocity": {
                    "x": -0.9196082353591919,
                    "y": 0.005353024695068598,
                    "z": 0.004863910377025604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003493705880828202,
                "transform": {
                    "location": {
                        "x": 612.0037841796875,
                        "y": 4287.421875,
                        "z": 370.1500549316406
                    },
                    "rotation": {
                        "roll": 0.00276244361884892,
                        "pitch": 0.27780425548553467,
                        "yaw": 179.94764709472656
                    }
                },
                "velocity": {
                    "x": 3.006584847753402e-05,
                    "y": 1.1609876310103573e-05,
                    "z": -0.0003478808212094009
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3926907181739807,
                "transform": {
                    "location": {
                        "x": 602.26904296875,
                        "y": 4287.5234375,
                        "z": 370.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0022131989244371653,
                        "pitch": 0.2968263328075409,
                        "yaw": -179.873046875
                    }
                },
                "velocity": {
                    "x": -0.39267101883888245,
                    "y": -0.0030128599610179663,
                    "z": 0.0025286388117820024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.172107696533203,
                "transform": {
                    "location": {
                        "x": 659.9644165039062,
                        "y": 4290.3671875,
                        "z": 369.9145202636719
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.15581026673316956,
                        "yaw": 179.60635375976562
                    }
                },
                "velocity": {
                    "x": -9.171809196472168,
                    "y": 0.05488293990492821,
                    "z": 0.04958609491586685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.872668743133545,
                "transform": {
                    "location": {
                        "x": 641.7685546875,
                        "y": 4290.4736328125,
                        "z": 370.0096130371094
                    },
                    "rotation": {
                        "roll": 0.001922580529935658,
                        "pitch": 0.3295019567012787,
                        "yaw": 179.6299285888672
                    }
                },
                "velocity": {
                    "x": -7.872415542602539,
                    "y": 0.048012785613536835,
                    "z": 0.0410844124853611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042505264282227,
                "transform": {
                    "location": {
                        "x": 621.8070678710938,
                        "y": 4290.58935546875,
                        "z": 370.1414489746094
                    },
                    "rotation": {
                        "roll": -0.0017395018367096782,
                        "pitch": 0.28487351536750793,
                        "yaw": 179.64315795898438
                    }
                },
                "velocity": {
                    "x": -8.042257308959961,
                    "y": 0.0486132837831974,
                    "z": 0.04025956243276596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.005433082580566,
                "transform": {
                    "location": {
                        "x": 677.9244384765625,
                        "y": 4290.26123046875,
                        "z": 369.81201171875
                    },
                    "rotation": {
                        "roll": 0.0005578538402915001,
                        "pitch": 0.1206006407737732,
                        "yaw": 179.55406188964844
                    }
                },
                "velocity": {
                    "x": -6.005226135253906,
                    "y": 0.03767174109816551,
                    "z": 0.032698821276426315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9995945692062378,
        "expert_target_speed": 10.0,
        "target_point": [
            18.68188128505716,
            4.112975283171204
        ],
        "target_point_next": [
            68.68894118832635,
            14.127531699230483
        ]
    },
    "295": {
        "acceleration": [
            -0.35859107971191406,
            -0.9721827507019043,
            -0.00860501080751419
        ],
        "angular_velocity": [
            -2.1555094718933105,
            -0.6480665802955627,
            -4.635836124420166
        ],
        "forward_vector": [
            -0.9646028280258179,
            0.26352933049201965,
            0.0096797626465559
        ],
        "right_vector": [
            -0.2635698914527893,
            -0.9646351337432861,
            -0.0031616699416190386
        ],
        "location": [
            648.4052124023438,
            4288.02001953125,
            369.96612548828125
        ],
        "rotation": [
            0.1811591386795044,
            0.5546181797981262,
            164.7196807861328
        ],
        "velocity": [
            -5.012561321258545,
            1.548035740852356,
            0.026538990437984467
        ],
        "speed": 5.246159133531265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.1908087730407715,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077559471130371,
                "transform": {
                    "location": {
                        "x": 601.5704345703125,
                        "y": 4294.15869140625,
                        "z": 370.1988830566406
                    },
                    "rotation": {
                        "roll": 0.00019155936024617404,
                        "pitch": -0.2674838602542877,
                        "yaw": -0.2794799208641052
                    }
                },
                "velocity": {
                    "x": 8.077380180358887,
                    "y": -0.03913600742816925,
                    "z": -0.03695900738239288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.386709690093994,
                "transform": {
                    "location": {
                        "x": 602.0936279296875,
                        "y": 4297.40771484375,
                        "z": 370.1944580078125
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.2598886787891388,
                        "yaw": -0.3132018744945526
                    }
                },
                "velocity": {
                    "x": 7.386521816253662,
                    "y": -0.04038917273283005,
                    "z": -0.03381260856986046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117319107055664,
                "transform": {
                    "location": {
                        "x": 642.7681274414062,
                        "y": 4293.92919921875,
                        "z": 370.00518798828125
                    },
                    "rotation": {
                        "roll": -0.004364013206213713,
                        "pitch": -0.3014230728149414,
                        "yaw": 0.07785560935735703
                    }
                },
                "velocity": {
                    "x": 8.117079734802246,
                    "y": -0.04674841836094856,
                    "z": -0.04136671498417854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092400550842285,
                "transform": {
                    "location": {
                        "x": 643.7430419921875,
                        "y": 4297.16357421875,
                        "z": 370.00018310546875
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.3010542392730713,
                        "yaw": -0.3466185927391052
                    }
                },
                "velocity": {
                    "x": 8.092148780822754,
                    "y": -0.04897389933466911,
                    "z": -0.041017744690179825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084118843078613,
                "transform": {
                    "location": {
                        "x": 688.0773315429688,
                        "y": 4296.90380859375,
                        "z": 369.7494812011719
                    },
                    "rotation": {
                        "roll": -6.10350543865934e-05,
                        "pitch": -0.3246456980705261,
                        "yaw": -0.35845947265625
                    }
                },
                "velocity": {
                    "x": 8.083832740783691,
                    "y": -0.05056094005703926,
                    "z": -0.04546019062399864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02487850189209,
                "transform": {
                    "location": {
                        "x": 687.1085815429688,
                        "y": 4293.6572265625,
                        "z": 369.7491455078125
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.3244886100292206,
                        "yaw": -0.3477783203125
                    }
                },
                "velocity": {
                    "x": 8.024613380432129,
                    "y": -0.047356367111206055,
                    "z": -0.044879596680402756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52696,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 728.3161010742188,
                        "y": 4296.57373046875,
                        "z": 369.5216979980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52695,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 729.1297607421875,
                        "y": 4293.31298828125,
                        "z": 369.5173034667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.338409423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9616337418556213,
                "transform": {
                    "location": {
                        "x": 679.6785888671875,
                        "y": 4286.99755859375,
                        "z": 369.79620361328125
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": 0.31296607851982117,
                        "yaw": 179.3004608154297
                    }
                },
                "velocity": {
                    "x": -0.9615364074707031,
                    "y": 0.01249320711940527,
                    "z": 0.005578699056059122
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8999272584915161,
                "transform": {
                    "location": {
                        "x": 664.8578491210938,
                        "y": 4287.0859375,
                        "z": 369.8851013183594
                    },
                    "rotation": {
                        "roll": -0.0024719233624637127,
                        "pitch": 0.5599457025527954,
                        "yaw": 179.57081604003906
                    }
                },
                "velocity": {
                    "x": -1.8998658657073975,
                    "y": 0.011484567075967789,
                    "z": 0.010081109590828419
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00023912929464131594,
                "transform": {
                    "location": {
                        "x": 612.0037841796875,
                        "y": 4287.421875,
                        "z": 370.1500549316406
                    },
                    "rotation": {
                        "roll": 0.00276244361884892,
                        "pitch": 0.27780425548553467,
                        "yaw": 179.94764709472656
                    }
                },
                "velocity": {
                    "x": 1.7998814655584283e-05,
                    "y": 1.4333861145132687e-05,
                    "z": -0.00023801974020898342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.164628505706787,
                "transform": {
                    "location": {
                        "x": 602.072509765625,
                        "y": 4287.5224609375,
                        "z": 370.2348327636719
                    },
                    "rotation": {
                        "roll": 0.0030827985610812902,
                        "pitch": 0.34243151545524597,
                        "yaw": -179.85513305664062
                    }
                },
                "velocity": {
                    "x": -1.1646013259887695,
                    "y": -0.006198686081916094,
                    "z": 0.004983825609087944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.254722595214844,
                "transform": {
                    "location": {
                        "x": 657.7670288085938,
                        "y": 4290.38037109375,
                        "z": 369.92474365234375
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": 0.3516590893268585,
                        "yaw": 179.6722412109375
                    }
                },
                "velocity": {
                    "x": -8.254462242126465,
                    "y": 0.04838084056973457,
                    "z": 0.044314250349998474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037918090820312,
                "transform": {
                    "location": {
                        "x": 639.7868041992188,
                        "y": 4290.48583984375,
                        "z": 370.0202331542969
                    },
                    "rotation": {
                        "roll": 0.0020804633386433125,
                        "pitch": 0.2901054322719574,
                        "yaw": 179.677001953125
                    }
                },
                "velocity": {
                    "x": -8.037686347961426,
                    "y": 0.0455131009221077,
                    "z": 0.04056047275662422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009099960327148,
                "transform": {
                    "location": {
                        "x": 619.8009033203125,
                        "y": 4290.6015625,
                        "z": 370.1512451171875
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.28084370493888855,
                        "yaw": 179.64649963378906
                    }
                },
                "velocity": {
                    "x": -8.008859634399414,
                    "y": 0.048040054738521576,
                    "z": 0.03929884731769562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.125020980834961,
                "transform": {
                    "location": {
                        "x": 676.4076538085938,
                        "y": 4290.27099609375,
                        "z": 369.8205261230469
                    },
                    "rotation": {
                        "roll": -0.0015869134804233909,
                        "pitch": 0.28804272413253784,
                        "yaw": 179.61599731445312
                    }
                },
                "velocity": {
                    "x": -6.124813556671143,
                    "y": 0.037692852318286896,
                    "z": 0.03356080874800682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9994246959686279,
        "expert_target_speed": 0,
        "target_point": [
            17.06954994235958,
            5.316352723713057
        ],
        "target_point_next": [
            66.34512090346604,
            18.46608606080207
        ]
    },
    "300": {
        "acceleration": [
            -8.905858993530273,
            1.9647550582885742,
            0.07348213344812393
        ],
        "angular_velocity": [
            0.24303705990314484,
            2.4300079345703125,
            0.6007575988769531
        ],
        "forward_vector": [
            -0.9639555811882019,
            0.26589488983154297,
            0.00946137961000204
        ],
        "right_vector": [
            -0.2658822238445282,
            -0.9640020728111267,
            0.002594864461570978
        ],
        "location": [
            647.107177734375,
            4288.38232421875,
            369.9729309082031
        ],
        "rotation": [
            -0.1486816108226776,
            0.5421052575111389,
            164.57916259765625
        ],
        "velocity": [
            -5.822492599487305,
            1.5625535249710083,
            0.03091183677315712
        ],
        "speed": 6.028515040164017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.1114983558654785,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.025843620300293,
                "transform": {
                    "location": {
                        "x": 603.575927734375,
                        "y": 4294.1484375,
                        "z": 370.18951416015625
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.2728523910045624,
                        "yaw": -0.3016357719898224
                    }
                },
                "velocity": {
                    "x": 8.025640487670898,
                    "y": -0.0426960363984108,
                    "z": -0.03800193592905998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.224343299865723,
                "transform": {
                    "location": {
                        "x": 604.0248413085938,
                        "y": 4297.39697265625,
                        "z": 370.1853332519531
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.2491447925567627,
                        "yaw": -0.3255309462547302
                    }
                },
                "velocity": {
                    "x": 8.224114418029785,
                    "y": -0.04749087616801262,
                    "z": -0.038802266120910645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030884742736816,
                "transform": {
                    "location": {
                        "x": 644.7861938476562,
                        "y": 4293.91748046875,
                        "z": 369.9947204589844
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -0.3022836744785309,
                        "yaw": 0.09732795506715775
                    }
                },
                "velocity": {
                    "x": 8.030641555786133,
                    "y": -0.04723029583692551,
                    "z": -0.04095207899808884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063041687011719,
                "transform": {
                    "location": {
                        "x": 645.762451171875,
                        "y": 4297.15185546875,
                        "z": 369.9896545410156
                    },
                    "rotation": {
                        "roll": 0.001286121434532106,
                        "pitch": -0.3022495210170746,
                        "yaw": -0.3500977158546448
                    }
                },
                "velocity": {
                    "x": 8.062786102294922,
                    "y": -0.049225687980651855,
                    "z": -0.04109076410531998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051777839660645,
                "transform": {
                    "location": {
                        "x": 690.0941162109375,
                        "y": 4296.89208984375,
                        "z": 369.7380676269531
                    },
                    "rotation": {
                        "roll": 0.00019044234068132937,
                        "pitch": -0.3246115446090698,
                        "yaw": -0.3585205078125
                    }
                },
                "velocity": {
                    "x": 8.051496505737305,
                    "y": -0.05038166418671608,
                    "z": -0.04462249204516411
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07664966583252,
                "transform": {
                    "location": {
                        "x": 689.1217651367188,
                        "y": 4293.64599609375,
                        "z": 369.73773193359375
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": -0.32473450899124146,
                        "yaw": -0.345306396484375
                    }
                },
                "velocity": {
                    "x": 8.076373100280762,
                    "y": -0.04876450449228287,
                    "z": -0.045714329928159714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7780120372772217,
                "transform": {
                    "location": {
                        "x": 679.5772705078125,
                        "y": 4286.99853515625,
                        "z": 369.7969055175781
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.31007006764411926,
                        "yaw": 179.28292846679688
                    }
                },
                "velocity": {
                    "x": -0.7779802680015564,
                    "y": 0.006133891176432371,
                    "z": 0.0034327981993556023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.291849374771118,
                "transform": {
                    "location": {
                        "x": 664.20654296875,
                        "y": 4287.09033203125,
                        "z": 369.88775634765625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.6676441431045532,
                        "yaw": 179.58712768554688
                    }
                },
                "velocity": {
                    "x": -3.2917394638061523,
                    "y": 0.02022637613117695,
                    "z": 0.01773061789572239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.325485396198928e-05,
                "transform": {
                    "location": {
                        "x": 612.0037841796875,
                        "y": 4287.421875,
                        "z": 370.1500549316406
                    },
                    "rotation": {
                        "roll": 0.0017684127669781446,
                        "pitch": 0.2786102294921875,
                        "yaw": 179.94772338867188
                    }
                },
                "velocity": {
                    "x": -7.787607501086313e-06,
                    "y": 8.128867921186611e-05,
                    "z": 1.621339106350206e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9376434087753296,
                "transform": {
                    "location": {
                        "x": 601.6799926757812,
                        "y": 4287.52099609375,
                        "z": 370.2366027832031
                    },
                    "rotation": {
                        "roll": 0.0019353082170709968,
                        "pitch": 0.35174790024757385,
                        "yaw": -179.7884063720703
                    }
                },
                "velocity": {
                    "x": -1.9376063346862793,
                    "y": -0.009252765215933323,
                    "z": 0.007605714723467827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.681909084320068,
                "transform": {
                    "location": {
                        "x": 655.8056030273438,
                        "y": 4290.392578125,
                        "z": 369.9351501464844
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.36252593994140625,
                        "yaw": 179.65530395507812
                    }
                },
                "velocity": {
                    "x": -7.681675434112549,
                    "y": 0.043963510543107986,
                    "z": 0.04072510451078415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069781303405762,
                "transform": {
                    "location": {
                        "x": 637.765869140625,
                        "y": 4290.49755859375,
                        "z": 370.0307312011719
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.29043328762054443,
                        "yaw": 179.6429901123047
                    }
                },
                "velocity": {
                    "x": -8.069537162780762,
                    "y": 0.047505155205726624,
                    "z": 0.04107653349637985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042777061462402,
                "transform": {
                    "location": {
                        "x": 617.7943725585938,
                        "y": 4290.61328125,
                        "z": 370.1610412597656
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.27637675404548645,
                        "yaw": 179.6485137939453
                    }
                },
                "velocity": {
                    "x": -8.042539596557617,
                    "y": 0.0492866076529026,
                    "z": 0.037381649017333984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.37013053894043,
                "transform": {
                    "location": {
                        "x": 674.5755615234375,
                        "y": 4290.28173828125,
                        "z": 369.8307189941406
                    },
                    "rotation": {
                        "roll": -0.0011901851976290345,
                        "pitch": 0.6520712971687317,
                        "yaw": 179.65060424804688
                    }
                },
                "velocity": {
                    "x": -8.369864463806152,
                    "y": 0.04908125847578049,
                    "z": 0.04515885189175606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0018709897994995,
        "expert_target_speed": 10.0,
        "target_point": [
            15.70881532383779,
            5.36231132329376
        ],
        "target_point_next": [
            64.95198375683557,
            18.632870582759733
        ]
    },
    "305": {
        "acceleration": [
            -2.754535675048828,
            0.2547001838684082,
            -0.00112190842628479
        ],
        "angular_velocity": [
            -0.24993164837360382,
            -0.1168825626373291,
            6.131171703338623
        ],
        "forward_vector": [
            -0.9670170545578003,
            0.25442782044410706,
            0.012022086419165134
        ],
        "right_vector": [
            -0.25440534949302673,
            -0.9670917391777039,
            0.0033878220710903406
        ],
        "location": [
            645.52978515625,
            4288.79638671875,
            369.9807434082031
        ],
        "rotation": [
            -0.1941222995519638,
            0.6888313889503479,
            165.2592315673828
        ],
        "velocity": [
            -6.684814453125,
            1.6957087516784668,
            0.033608969300985336
        ],
        "speed": 6.896533364178545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 4.006839752197266,
        "front_vehicle_info": {
            "id": 52577,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09301471710205,
                "transform": {
                    "location": {
                        "x": 605.5932006835938,
                        "y": 4294.13671875,
                        "z": 370.1799011230469
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.26965585350990295,
                        "yaw": -0.316131591796875
                    }
                },
                "velocity": {
                    "x": 8.092803955078125,
                    "y": -0.04483247175812721,
                    "z": -0.03749214485287666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.545422554016113,
                "transform": {
                    "location": {
                        "x": 606.19775390625,
                        "y": 4297.38427734375,
                        "z": 370.1751403808594
                    },
                    "rotation": {
                        "roll": 0.00039036854286678135,
                        "pitch": -0.255182683467865,
                        "yaw": -0.3366393446922302
                    }
                },
                "velocity": {
                    "x": 8.54517936706543,
                    "y": -0.04963308200240135,
                    "z": -0.04112094268202782
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.1180419921875,
                "transform": {
                    "location": {
                        "x": 646.8051147460938,
                        "y": 4293.90576171875,
                        "z": 369.9840087890625
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.30383411049842834,
                        "yaw": 0.07034072279930115
                    }
                },
                "velocity": {
                    "x": 8.117793083190918,
                    "y": -0.04799299314618111,
                    "z": -0.041632384061813354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093167304992676,
                "transform": {
                    "location": {
                        "x": 647.7821044921875,
                        "y": 4297.140625,
                        "z": 369.97900390625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.3048723042011261,
                        "yaw": -0.350738525390625
                    }
                },
                "velocity": {
                    "x": 8.092907905578613,
                    "y": -0.049603551626205444,
                    "z": -0.0417509600520134
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085474014282227,
                "transform": {
                    "location": {
                        "x": 692.111328125,
                        "y": 4296.8798828125,
                        "z": 369.7265625
                    },
                    "rotation": {
                        "roll": 0.0009190848795697093,
                        "pitch": -0.3270021080970764,
                        "yaw": -0.3597411811351776
                    }
                },
                "velocity": {
                    "x": 8.085182189941406,
                    "y": -0.051580581814050674,
                    "z": -0.045260921120643616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022913932800293,
                "transform": {
                    "location": {
                        "x": 691.1337890625,
                        "y": 4293.63427734375,
                        "z": 369.7262878417969
                    },
                    "rotation": {
                        "roll": 0.0012003587326034904,
                        "pitch": -0.32729580998420715,
                        "yaw": -0.3489990234375
                    }
                },
                "velocity": {
                    "x": 8.022642135620117,
                    "y": -0.0489681251347065,
                    "z": -0.04428911954164505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5516542196273804,
                "transform": {
                    "location": {
                        "x": 679.2900390625,
                        "y": 4287.0,
                        "z": 369.7982482910156
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": 0.33575841784477234,
                        "yaw": 179.26026916503906
                    }
                },
                "velocity": {
                    "x": -1.5515899658203125,
                    "y": 0.011769547127187252,
                    "z": 0.007812995463609695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2853875160217285,
                "transform": {
                    "location": {
                        "x": 663.1235961914062,
                        "y": 4287.09716796875,
                        "z": 369.8929748535156
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.760486900806427,
                        "yaw": 179.61317443847656
                    }
                },
                "velocity": {
                    "x": -5.2852020263671875,
                    "y": 0.03222053870558739,
                    "z": 0.030338868498802185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.038490843027830124,
                "transform": {
                    "location": {
                        "x": 612.0018310546875,
                        "y": 4287.421875,
                        "z": 370.1500244140625
                    },
                    "rotation": {
                        "roll": 0.002179125789552927,
                        "pitch": 0.28851401805877686,
                        "yaw": 179.9595489501953
                    }
                },
                "velocity": {
                    "x": -0.03849078714847565,
                    "y": 5.106725438963622e-05,
                    "z": -4.084586907993071e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1249990463256836,
                "transform": {
                    "location": {
                        "x": 601.0492553710938,
                        "y": 4287.517578125,
                        "z": 370.2392578125
                    },
                    "rotation": {
                        "roll": 0.002619515871629119,
                        "pitch": 0.38405469059944153,
                        "yaw": -179.7667999267578
                    }
                },
                "velocity": {
                    "x": -3.1249260902404785,
                    "y": -0.015410271473228931,
                    "z": 0.014764136634767056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2968218326568604,
                "transform": {
                    "location": {
                        "x": 654.3493041992188,
                        "y": 4290.39599609375,
                        "z": 369.9403381347656
                    },
                    "rotation": {
                        "roll": -0.012481689453125,
                        "pitch": 0.6514838933944702,
                        "yaw": 178.89300537109375
                    }
                },
                "velocity": {
                    "x": -3.2962682247161865,
                    "y": 0.05834588408470154,
                    "z": 0.0156975369900465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003368377685547,
                "transform": {
                    "location": {
                        "x": 635.7596435546875,
                        "y": 4290.50927734375,
                        "z": 370.0409240722656
                    },
                    "rotation": {
                        "roll": 0.0011651144595816731,
                        "pitch": 0.29468849301338196,
                        "yaw": 179.68182373046875
                    }
                },
                "velocity": {
                    "x": -8.003133773803711,
                    "y": 0.04526403918862343,
                    "z": 0.04129842668771744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007285118103027,
                "transform": {
                    "location": {
                        "x": 615.788330078125,
                        "y": 4290.625,
                        "z": 370.1705627441406
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.27664998173713684,
                        "yaw": 179.6486358642578
                    }
                },
                "velocity": {
                    "x": -8.007049560546875,
                    "y": 0.04915701597929001,
                    "z": 0.03676539286971092
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.639785766601562,
                "transform": {
                    "location": {
                        "x": 672.3773193359375,
                        "y": 4290.294921875,
                        "z": 369.84271240234375
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.44411253929138184,
                        "yaw": 179.66482543945312
                    }
                },
                "velocity": {
                    "x": -8.639511108398438,
                    "y": 0.04984219744801521,
                    "z": 0.04752795025706291
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7765135169029236,
        "expert_target_speed": 10.0,
        "target_point": [
            14.14052249188522,
            5.174556814799834
        ],
        "target_point_next": [
            63.53773247646017,
            17.859706641246365
        ]
    },
    "310": {
        "acceleration": [
            -2.492237091064453,
            -0.24155616760253906,
            -0.005080625414848328
        ],
        "angular_velocity": [
            -0.3367367684841156,
            -0.14605414867401123,
            2.414994239807129
        ],
        "forward_vector": [
            -0.9713022112846375,
            0.2375899702310562,
            0.011090408079326153
        ],
        "right_vector": [
            -0.237553671002388,
            -0.9713639616966248,
            0.004502579569816589
        ],
        "location": [
            643.7706909179688,
            4289.2265625,
            369.9901428222656
        ],
        "rotation": [
            -0.2579955756664276,
            0.6354466080665588,
            166.25479125976562
        ],
        "velocity": [
            -7.3594489097595215,
            1.7040220499038696,
            0.03699018433690071
        ],
        "speed": 7.554149813309185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.099050521850586,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                633.755126953125,
                4290.52099609375,
                370.05120849609375
            ],
            "velocity": [
                -8.036218643188477,
                0.0475454144179821,
                0.04128328338265419
            ],
            "speed_kmh": 28.93127517831449,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070420265197754,
                "transform": {
                    "location": {
                        "x": 607.6150512695312,
                        "y": 4294.125,
                        "z": 370.1703796386719
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.2715136706829071,
                        "yaw": -0.3261412978172302
                    }
                },
                "velocity": {
                    "x": 8.070197105407715,
                    "y": -0.04673486948013306,
                    "z": -0.03762156516313553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.151468276977539,
                "transform": {
                    "location": {
                        "x": 608.2744750976562,
                        "y": 4297.37255859375,
                        "z": 370.16558837890625
                    },
                    "rotation": {
                        "roll": 0.00043596859904937446,
                        "pitch": -0.28326159715652466,
                        "yaw": -0.3390808403491974
                    }
                },
                "velocity": {
                    "x": 8.151226997375488,
                    "y": -0.04789038375020027,
                    "z": -0.040416374802589417
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030959129333496,
                "transform": {
                    "location": {
                        "x": 648.8233032226562,
                        "y": 4293.89404296875,
                        "z": 369.973388671875
                    },
                    "rotation": {
                        "roll": -0.004119873046875,
                        "pitch": -0.3077341616153717,
                        "yaw": 0.09514594078063965
                    }
                },
                "velocity": {
                    "x": 8.030717849731445,
                    "y": -0.04668565094470978,
                    "z": -0.041177790611982346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063009262084961,
                "transform": {
                    "location": {
                        "x": 649.8014526367188,
                        "y": 4297.12841796875,
                        "z": 369.9683532714844
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.30676427483558655,
                        "yaw": -0.3507995307445526
                    }
                },
                "velocity": {
                    "x": 8.062751770019531,
                    "y": -0.04939431697130203,
                    "z": -0.041347384452819824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051079750061035,
                "transform": {
                    "location": {
                        "x": 694.1281127929688,
                        "y": 4296.86669921875,
                        "z": 369.7150573730469
                    },
                    "rotation": {
                        "roll": 0.0013452550629153848,
                        "pitch": -0.32784906029701233,
                        "yaw": -0.3607482314109802
                    }
                },
                "velocity": {
                    "x": 8.050800323486328,
                    "y": -0.04961494728922844,
                    "z": -0.04507327452301979
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077437400817871,
                "transform": {
                    "location": {
                        "x": 693.1466064453125,
                        "y": 4293.62255859375,
                        "z": 369.7147521972656
                    },
                    "rotation": {
                        "roll": 8.66977934492752e-05,
                        "pitch": -0.3279993236064911,
                        "yaw": -0.3533324897289276
                    }
                },
                "velocity": {
                    "x": 8.077156066894531,
                    "y": -0.0498870350420475,
                    "z": -0.04529529809951782
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.299248695373535,
                "transform": {
                    "location": {
                        "x": 678.8045043945312,
                        "y": 4287.0048828125,
                        "z": 369.8009033203125
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": 0.33902326226234436,
                        "yaw": 179.34188842773438
                    }
                },
                "velocity": {
                    "x": -2.2991652488708496,
                    "y": 0.014831839129328728,
                    "z": 0.012813825160264969
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.153412818908691,
                "transform": {
                    "location": {
                        "x": 661.7288818359375,
                        "y": 4287.10595703125,
                        "z": 369.9022216796875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.5693167448043823,
                        "yaw": 179.63607788085938
                    }
                },
                "velocity": {
                    "x": -6.153210163116455,
                    "y": 0.03717445954680443,
                    "z": 0.03336438164114952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5054560899734497,
                "transform": {
                    "location": {
                        "x": 611.9439697265625,
                        "y": 4287.421875,
                        "z": 370.1498718261719
                    },
                    "rotation": {
                        "roll": 0.000520715257152915,
                        "pitch": 0.402783066034317,
                        "yaw": 179.92543029785156
                    }
                },
                "velocity": {
                    "x": -0.5054526329040527,
                    "y": 0.000636184005998075,
                    "z": 0.001745738903991878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.497357368469238,
                "transform": {
                    "location": {
                        "x": 600.0846557617188,
                        "y": 4287.5166015625,
                        "z": 370.2434997558594
                    },
                    "rotation": {
                        "roll": 0.004895386286079884,
                        "pitch": 0.41132763028144836,
                        "yaw": -179.8726043701172
                    }
                },
                "velocity": {
                    "x": -4.497311115264893,
                    "y": 0.002168424427509308,
                    "z": 0.020307140424847603
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0026677127461880445,
                "transform": {
                    "location": {
                        "x": 654.1380615234375,
                        "y": 4290.396484375,
                        "z": 369.9413146972656
                    },
                    "rotation": {
                        "roll": -0.006866452284157276,
                        "pitch": 0.6655609011650085,
                        "yaw": 178.2520294189453
                    }
                },
                "velocity": {
                    "x": 0.002293261932209134,
                    "y": 0.00042687662062235177,
                    "z": 0.001294379006139934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03646469116211,
                "transform": {
                    "location": {
                        "x": 633.755126953125,
                        "y": 4290.52099609375,
                        "z": 370.05120849609375
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.2873733639717102,
                        "yaw": 179.64404296875
                    }
                },
                "velocity": {
                    "x": -8.036218643188477,
                    "y": 0.0475454144179821,
                    "z": 0.04128328338265419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044921875,
                "transform": {
                    "location": {
                        "x": 613.7816772460938,
                        "y": 4290.63671875,
                        "z": 370.18017578125
                    },
                    "rotation": {
                        "roll": 0.00031413722899742424,
                        "pitch": 0.2771349251270294,
                        "yaw": 179.64805603027344
                    }
                },
                "velocity": {
                    "x": -8.044677734375,
                    "y": 0.049372028559446335,
                    "z": 0.03860994428396225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.359700679779053,
                "transform": {
                    "location": {
                        "x": 670.3859252929688,
                        "y": 4290.306640625,
                        "z": 369.8536376953125
                    },
                    "rotation": {
                        "roll": -0.0009765621507540345,
                        "pitch": 0.14077019691467285,
                        "yaw": 179.67051696777344
                    }
                },
                "velocity": {
                    "x": -7.359466552734375,
                    "y": 0.04249649867415428,
                    "z": 0.04049425199627876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.47822093963623047,
        "expert_target_speed": 10.0,
        "target_point": [
            12.417367194553929,
            4.927971335826982
        ],
        "target_point_next": [
            62.02752566509922,
            16.752926173244788
        ]
    },
    "315": {
        "acceleration": [
            -1.4953327178955078,
            -2.1066856384277344,
            0.016941502690315247
        ],
        "angular_velocity": [
            -1.4690905809402466,
            -0.13357441127300262,
            16.135272979736328
        ],
        "forward_vector": [
            -0.9801024794578552,
            0.19827252626419067,
            0.009326918981969357
        ],
        "right_vector": [
            -0.19818851351737976,
            -0.9801205992698669,
            0.00921240821480751
        ],
        "location": [
            641.8714599609375,
            4289.6201171875,
            370.00030517578125
        ],
        "rotation": [
            -0.527862548828125,
            0.5344008207321167,
            168.56353759765625
        ],
        "velocity": [
            -7.798181533813477,
            1.3426580429077148,
            0.04087463393807411
        ],
        "speed": 7.912923976286786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.167625427246094,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                631.7450561523438,
                4290.53271484375,
                370.0614013671875
            ],
            "velocity": [
                -8.033617973327637,
                0.04758350923657417,
                0.040022484958171844
            ],
            "speed_kmh": 28.921890898661886,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044214248657227,
                "transform": {
                    "location": {
                        "x": 609.6266479492188,
                        "y": 4294.11376953125,
                        "z": 370.1608581542969
                    },
                    "rotation": {
                        "roll": 2.27517793973675e-05,
                        "pitch": -0.27105605602264404,
                        "yaw": -0.330963134765625
                    }
                },
                "velocity": {
                    "x": 8.043989181518555,
                    "y": -0.04745873808860779,
                    "z": -0.03693730756640434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3078203201293945,
                "transform": {
                    "location": {
                        "x": 610.25732421875,
                        "y": 4297.36083984375,
                        "z": 370.15618896484375
                    },
                    "rotation": {
                        "roll": 0.0014965609880164266,
                        "pitch": -0.2937937378883362,
                        "yaw": -0.342620849609375
                    }
                },
                "velocity": {
                    "x": 7.3076043128967285,
                    "y": -0.04405037686228752,
                    "z": -0.03485455736517906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117393493652344,
                "transform": {
                    "location": {
                        "x": 650.8421630859375,
                        "y": 4293.88232421875,
                        "z": 369.962646484375
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.30520015954971313,
                        "yaw": 0.0750017762184143
                    }
                },
                "velocity": {
                    "x": 8.117134094238281,
                    "y": -0.049745138734579086,
                    "z": -0.041749343276023865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093000411987305,
                "transform": {
                    "location": {
                        "x": 651.8211669921875,
                        "y": 4297.11669921875,
                        "z": 369.95758056640625
                    },
                    "rotation": {
                        "roll": 0.00017035682685673237,
                        "pitch": -0.3061222434043884,
                        "yaw": -0.351806640625
                    }
                },
                "velocity": {
                    "x": 8.09273624420166,
                    "y": -0.05065372213721275,
                    "z": -0.04138641804456711
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084579467773438,
                "transform": {
                    "location": {
                        "x": 696.1451416015625,
                        "y": 4296.85498046875,
                        "z": 369.70355224609375
                    },
                    "rotation": {
                        "roll": 0.0005495891091413796,
                        "pitch": -0.3280608057975769,
                        "yaw": -0.3583678901195526
                    }
                },
                "velocity": {
                    "x": 8.084295272827148,
                    "y": -0.050546396523714066,
                    "z": -0.04511994123458862
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024210929870605,
                "transform": {
                    "location": {
                        "x": 695.1589965820312,
                        "y": 4293.6103515625,
                        "z": 369.70330810546875
                    },
                    "rotation": {
                        "roll": -9.155277803074569e-05,
                        "pitch": -0.32879847288131714,
                        "yaw": -0.3541564643383026
                    }
                },
                "velocity": {
                    "x": 8.02392864227295,
                    "y": -0.0496055893599987,
                    "z": -0.045505914837121964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.08548641204834,
                "transform": {
                    "location": {
                        "x": 678.1238403320312,
                        "y": 4287.00927734375,
                        "z": 369.8046875
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": 0.33814898133277893,
                        "yaw": 179.43927001953125
                    }
                },
                "velocity": {
                    "x": -3.0853819847106934,
                    "y": 0.01877441443502903,
                    "z": 0.017074240371584892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.362928867340088,
                "transform": {
                    "location": {
                        "x": 659.9998168945312,
                        "y": 4287.11669921875,
                        "z": 369.9112548828125
                    },
                    "rotation": {
                        "roll": 0.00026617629919201136,
                        "pitch": 0.605981171131134,
                        "yaw": 179.59893798828125
                    }
                },
                "velocity": {
                    "x": -7.362693786621094,
                    "y": 0.0443926565349102,
                    "z": 0.03858190402388573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2812190055847168,
                "transform": {
                    "location": {
                        "x": 611.7177734375,
                        "y": 4287.421875,
                        "z": 370.150390625
                    },
                    "rotation": {
                        "roll": 0.002917609876021743,
                        "pitch": 0.5502331852912903,
                        "yaw": 179.93655395507812
                    }
                },
                "velocity": {
                    "x": -1.2812016010284424,
                    "y": 0.002644237596541643,
                    "z": 0.0061292932368814945
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.219878196716309,
                "transform": {
                    "location": {
                        "x": 598.8214111328125,
                        "y": 4287.51611328125,
                        "z": 370.2500305175781
                    },
                    "rotation": {
                        "roll": 0.0036573889665305614,
                        "pitch": 0.36740952730178833,
                        "yaw": -179.9186553955078
                    }
                },
                "velocity": {
                    "x": -5.2198166847229,
                    "y": 0.002645698143169284,
                    "z": 0.025218257680535316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.44905734062194824,
                "transform": {
                    "location": {
                        "x": 654.1058349609375,
                        "y": 4290.396484375,
                        "z": 369.9444885253906
                    },
                    "rotation": {
                        "roll": -0.005767821799963713,
                        "pitch": 0.31715983152389526,
                        "yaw": 178.23760986328125
                    }
                },
                "velocity": {
                    "x": -0.44903358817100525,
                    "y": 0.004272541496902704,
                    "z": 0.0017568492330610752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033858299255371,
                "transform": {
                    "location": {
                        "x": 631.7450561523438,
                        "y": 4290.53271484375,
                        "z": 370.0614013671875
                    },
                    "rotation": {
                        "roll": 0.0007867913227528334,
                        "pitch": 0.2891218960285187,
                        "yaw": 179.68052673339844
                    }
                },
                "velocity": {
                    "x": -8.033617973327637,
                    "y": 0.04758350923657417,
                    "z": 0.040022484958171844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006864547729492,
                "transform": {
                    "location": {
                        "x": 611.775390625,
                        "y": 4290.6484375,
                        "z": 370.18988037109375
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.2759191393852234,
                        "yaw": 179.64805603027344
                    }
                },
                "velocity": {
                    "x": -8.006627082824707,
                    "y": 0.04916813597083092,
                    "z": 0.03717099875211716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0655107498168945,
                "transform": {
                    "location": {
                        "x": 668.848876953125,
                        "y": 4290.3154296875,
                        "z": 369.8617858886719
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2286064177751541,
                        "yaw": 179.67237854003906
                    }
                },
                "velocity": {
                    "x": -4.065412521362305,
                    "y": 0.022176146507263184,
                    "z": 0.017497576773166656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.277405709028244,
        "expert_target_speed": 10.0,
        "target_point": [
            10.666252582808552,
            4.432901866508925
        ],
        "target_point_next": [
            60.712504337663844,
            14.249727507683914
        ]
    },
    "320": {
        "acceleration": [
            -0.3784370422363281,
            -3.6822259426116943,
            0.005232617259025574
        ],
        "angular_velocity": [
            -1.5548336505889893,
            -0.3055495321750641,
            21.56081771850586
        ],
        "forward_vector": [
            -0.9933655261993408,
            0.11475162953138351,
            0.007546591106802225
        ],
        "right_vector": [
            -0.1146121695637703,
            -0.9932672381401062,
            0.01686185784637928
        ],
        "location": [
            639.8878173828125,
            4289.8701171875,
            370.01116943359375
        ],
        "rotation": [
            -0.9661865830421448,
            0.4323919415473938,
            173.41050720214844
        ],
        "velocity": [
            -8.039262771606445,
            0.5316160917282104,
            0.04120170325040817
        ],
        "speed": 8.056820810960222,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.171969413757324,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                629.7384033203125,
                4290.54443359375,
                370.0715637207031
            ],
            "velocity": [
                -8.025014877319336,
                0.047928810119628906,
                0.04066212475299835
            ],
            "speed_kmh": 28.89093965434693,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097087860107422,
                "transform": {
                    "location": {
                        "x": 611.6461181640625,
                        "y": 4294.1015625,
                        "z": 370.1512451171875
                    },
                    "rotation": {
                        "roll": 6.784180004615337e-05,
                        "pitch": -0.27340564131736755,
                        "yaw": -0.3337401747703552
                    }
                },
                "velocity": {
                    "x": 8.09686279296875,
                    "y": -0.04714459180831909,
                    "z": -0.037768542766571045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8098225593566895,
                "transform": {
                    "location": {
                        "x": 611.9854125976562,
                        "y": 4297.3505859375,
                        "z": 370.1480407714844
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.29720884561538696,
                        "yaw": -0.2919006049633026
                    }
                },
                "velocity": {
                    "x": 6.8096232414245605,
                    "y": -0.04027680680155754,
                    "z": -0.033071208745241165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030881881713867,
                "transform": {
                    "location": {
                        "x": 652.8601684570312,
                        "y": 4293.87060546875,
                        "z": 369.9519348144531
                    },
                    "rotation": {
                        "roll": -0.004669189453125,
                        "pitch": -0.30737897753715515,
                        "yaw": 0.08989832550287247
                    }
                },
                "velocity": {
                    "x": 8.0306396484375,
                    "y": -0.04679260775446892,
                    "z": -0.041159361600875854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062678337097168,
                "transform": {
                    "location": {
                        "x": 653.8405151367188,
                        "y": 4297.10498046875,
                        "z": 369.9468688964844
                    },
                    "rotation": {
                        "roll": 0.0005255339783616364,
                        "pitch": -0.30782976746559143,
                        "yaw": -0.3542174994945526
                    }
                },
                "velocity": {
                    "x": 8.062417984008789,
                    "y": -0.04980005323886871,
                    "z": -0.04146767407655716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051863670349121,
                "transform": {
                    "location": {
                        "x": 698.1619262695312,
                        "y": 4296.84228515625,
                        "z": 369.69195556640625
                    },
                    "rotation": {
                        "roll": 0.0006030680960975587,
                        "pitch": -0.3306289613246918,
                        "yaw": -0.3576659858226776
                    }
                },
                "velocity": {
                    "x": 8.051589012145996,
                    "y": -0.04923064261674881,
                    "z": -0.044694285839796066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07551383972168,
                "transform": {
                    "location": {
                        "x": 697.171875,
                        "y": 4293.59912109375,
                        "z": 369.6917419433594
                    },
                    "rotation": {
                        "roll": 0.00011570595233934,
                        "pitch": -0.3291262984275818,
                        "yaw": -0.354400634765625
                    }
                },
                "velocity": {
                    "x": 8.075234413146973,
                    "y": -0.0498708039522171,
                    "z": -0.04503985121846199
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7981350421905518,
                "transform": {
                    "location": {
                        "x": 677.2607421875,
                        "y": 4287.015625,
                        "z": 369.8094482421875
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": 0.336284339427948,
                        "yaw": 179.5282745361328
                    }
                },
                "velocity": {
                    "x": -3.7980129718780518,
                    "y": 0.02254369668662548,
                    "z": 0.020472688600420952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.462677001953125,
                "transform": {
                    "location": {
                        "x": 657.9808959960938,
                        "y": 4287.12939453125,
                        "z": 369.9220275878906
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": 0.5988982915878296,
                        "yaw": 179.63059997558594
                    }
                },
                "velocity": {
                    "x": -8.462408065795898,
                    "y": 0.050632037222385406,
                    "z": 0.04450777918100357
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1246752738952637,
                "transform": {
                    "location": {
                        "x": 611.2791137695312,
                        "y": 4287.42236328125,
                        "z": 370.1522216796875
                    },
                    "rotation": {
                        "roll": 0.0031057512387633324,
                        "pitch": 0.6136583089828491,
                        "yaw": 179.9058074951172
                    }
                },
                "velocity": {
                    "x": -2.1246471405029297,
                    "y": 0.00454756710678339,
                    "z": 0.00993562676012516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.6479902267456055,
                "transform": {
                    "location": {
                        "x": 597.4628295898438,
                        "y": 4287.5166015625,
                        "z": 370.2567138671875
                    },
                    "rotation": {
                        "roll": 0.0023516053333878517,
                        "pitch": 0.31409305334091187,
                        "yaw": -179.8870849609375
                    }
                },
                "velocity": {
                    "x": -5.6479315757751465,
                    "y": 0.004345067776739597,
                    "z": 0.025321539491415024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2874013185501099,
                "transform": {
                    "location": {
                        "x": 653.8821411132812,
                        "y": 4290.3994140625,
                        "z": 369.9463195800781
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": 0.22637294232845306,
                        "yaw": 178.40281677246094
                    }
                },
                "velocity": {
                    "x": -1.2873661518096924,
                    "y": 0.0066450899466872215,
                    "z": 0.006813220679759979
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.025260925292969,
                "transform": {
                    "location": {
                        "x": 629.7384033203125,
                        "y": 4290.54443359375,
                        "z": 370.0715637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28967514634132385,
                        "yaw": 179.63995361328125
                    }
                },
                "velocity": {
                    "x": -8.025014877319336,
                    "y": 0.047928810119628906,
                    "z": 0.04066212475299835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043242454528809,
                "transform": {
                    "location": {
                        "x": 609.7689819335938,
                        "y": 4290.66015625,
                        "z": 370.1993713378906
                    },
                    "rotation": {
                        "roll": 0.0005490895127877593,
                        "pitch": 0.27326902747154236,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.043006896972656,
                    "y": 0.049379993230104446,
                    "z": 0.0368659570813179
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4780568778514862,
                "transform": {
                    "location": {
                        "x": 668.5447998046875,
                        "y": 4290.31689453125,
                        "z": 369.86328125
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": -0.4438803195953369,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -0.4780482351779938,
                    "y": 0.0005435383063741028,
                    "z": 0.0028238678351044655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49278873205184937,
        "expert_target_speed": 10.0,
        "target_point": [
            9.003437722429155,
            3.5365282031324403
        ],
        "target_point_next": [
            59.700188247505146,
            9.089623428121323
        ]
    },
    "325": {
        "acceleration": [
            0.5164718627929688,
            -2.798980474472046,
            -0.0033418089151382446
        ],
        "angular_velocity": [
            0.19777297973632812,
            -0.3363279402256012,
            25.503440856933594
        ],
        "forward_vector": [
            -0.99995356798172,
            0.007759755942970514,
            0.005710570141673088
        ],
        "right_vector": [
            -0.007647659629583359,
            -0.9997826218605042,
            0.019396400079131126
        ],
        "location": [
            637.8845825195312,
            4289.91259765625,
            370.0219421386719
        ],
        "rotation": [
            -1.111419677734375,
            0.32719334959983826,
            179.55538940429688
        ],
        "velocity": [
            -7.980541229248047,
            -0.2857472896575928,
            0.041185274720191956
        ],
        "speed": 7.985655253344874,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.174114227294922,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                627.7310180664062,
                4290.55615234375,
                370.0816345214844
            ],
            "velocity": [
                -8.032572746276855,
                0.04743063822388649,
                0.040619637817144394
            ],
            "speed_kmh": 28.918135729998976,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042244911193848,
                "transform": {
                    "location": {
                        "x": 613.6627807617188,
                        "y": 4294.09033203125,
                        "z": 370.1416015625
                    },
                    "rotation": {
                        "roll": 0.0003176413883920759,
                        "pitch": -0.27600109577178955,
                        "yaw": -0.336395263671875
                    }
                },
                "velocity": {
                    "x": 8.042019844055176,
                    "y": -0.047423336654901505,
                    "z": -0.03704840689897537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.549842357635498,
                "transform": {
                    "location": {
                        "x": 613.7694702148438,
                        "y": 4297.34033203125,
                        "z": 370.13909912109375
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": -0.25949254631996155,
                        "yaw": -0.3098449409008026
                    }
                },
                "velocity": {
                    "x": 7.549628257751465,
                    "y": -0.0445735938847065,
                    "z": -0.03530716523528099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.118075370788574,
                "transform": {
                    "location": {
                        "x": 654.8790893554688,
                        "y": 4293.85888671875,
                        "z": 369.9412841796875
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.3081371486186981,
                        "yaw": 0.07695251703262329
                    }
                },
                "velocity": {
                    "x": 8.117815971374512,
                    "y": -0.048855602741241455,
                    "z": -0.042695917189121246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092869758605957,
                "transform": {
                    "location": {
                        "x": 655.8602294921875,
                        "y": 4297.09326171875,
                        "z": 369.9361267089844
                    },
                    "rotation": {
                        "roll": 0.0007419965695589781,
                        "pitch": -0.30740630626678467,
                        "yaw": -0.3571471869945526
                    }
                },
                "velocity": {
                    "x": 8.09260368347168,
                    "y": -0.05039965361356735,
                    "z": -0.04194285720586777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084944725036621,
                "transform": {
                    "location": {
                        "x": 700.1791381835938,
                        "y": 4296.83056640625,
                        "z": 369.6802673339844
                    },
                    "rotation": {
                        "roll": 0.000645839492790401,
                        "pitch": -0.3320291340351105,
                        "yaw": -0.351806640625
                    }
                },
                "velocity": {
                    "x": 8.08466625213623,
                    "y": -0.049528349190950394,
                    "z": -0.0451604388654232
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024859428405762,
                "transform": {
                    "location": {
                        "x": 699.1839599609375,
                        "y": 4293.5869140625,
                        "z": 369.68017578125
                    },
                    "rotation": {
                        "roll": 0.0006841797148808837,
                        "pitch": -0.3326370120048523,
                        "yaw": -0.3540344536304474
                    }
                },
                "velocity": {
                    "x": 8.024578094482422,
                    "y": -0.04958825930953026,
                    "z": -0.04527845233678818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.524906158447266,
                "transform": {
                    "location": {
                        "x": 676.2171630859375,
                        "y": 4287.02197265625,
                        "z": 369.8152770996094
                    },
                    "rotation": {
                        "roll": 0.0006462341407313943,
                        "pitch": 0.33407819271087646,
                        "yaw": 179.59498596191406
                    }
                },
                "velocity": {
                    "x": -4.5247673988342285,
                    "y": 0.02551945671439171,
                    "z": 0.02461964637041092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.269890308380127,
                "transform": {
                    "location": {
                        "x": 656.2650146484375,
                        "y": 4287.13916015625,
                        "z": 369.9390563964844
                    },
                    "rotation": {
                        "roll": -0.0004272462101653218,
                        "pitch": -0.3742055594921112,
                        "yaw": 179.65550231933594
                    }
                },
                "velocity": {
                    "x": -4.2697672843933105,
                    "y": 0.025167865678668022,
                    "z": 0.020425137132406235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.384714126586914,
                "transform": {
                    "location": {
                        "x": 610.594482421875,
                        "y": 4287.4248046875,
                        "z": 370.1550598144531
                    },
                    "rotation": {
                        "roll": 0.006589233409613371,
                        "pitch": 0.7409934997558594,
                        "yaw": 179.86778259277344
                    }
                },
                "velocity": {
                    "x": -3.384655714035034,
                    "y": 0.012898114509880543,
                    "z": 0.015136145986616611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.955891132354736,
                "transform": {
                    "location": {
                        "x": 595.7600708007812,
                        "y": 4287.5185546875,
                        "z": 370.26312255859375
                    },
                    "rotation": {
                        "roll": 0.006109822075814009,
                        "pitch": 0.4681343138217926,
                        "yaw": -179.99154663085938
                    }
                },
                "velocity": {
                    "x": -7.955782890319824,
                    "y": 0.020601822063326836,
                    "z": 0.03609032556414604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.120213747024536,
                "transform": {
                    "location": {
                        "x": 653.45654296875,
                        "y": 4290.40380859375,
                        "z": 369.94866943359375
                    },
                    "rotation": {
                        "roll": -0.00012207053077872843,
                        "pitch": 0.22247974574565887,
                        "yaw": 178.6331787109375
                    }
                },
                "velocity": {
                    "x": -2.120157241821289,
                    "y": 0.011529161594808102,
                    "z": 0.010338563472032547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032814979553223,
                "transform": {
                    "location": {
                        "x": 627.7310180664062,
                        "y": 4290.55615234375,
                        "z": 370.0816345214844
                    },
                    "rotation": {
                        "roll": 0.00039134881808422506,
                        "pitch": 0.28271517157554626,
                        "yaw": 179.6788787841797
                    }
                },
                "velocity": {
                    "x": -8.032572746276855,
                    "y": 0.04743063822388649,
                    "z": 0.040619637817144394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008282661437988,
                "transform": {
                    "location": {
                        "x": 607.7626342773438,
                        "y": 4290.671875,
                        "z": 370.2088623046875
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.27225133776664734,
                        "yaw": 179.64810180664062
                    }
                },
                "velocity": {
                    "x": -8.008047103881836,
                    "y": 0.049190156161785126,
                    "z": 0.03675946965813637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0069220066070557,
                "transform": {
                    "location": {
                        "x": 668.2145385742188,
                        "y": 4290.31884765625,
                        "z": 369.86541748046875
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.37960824370384216,
                        "yaw": 179.64544677734375
                    }
                },
                "velocity": {
                    "x": -2.0068602561950684,
                    "y": 0.011927733197808266,
                    "z": 0.010266751982271671
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9999430179595947,
        "expert_target_speed": 10.0,
        "target_point": [
            7.326763458964337,
            2.5793904745606078
        ],
        "target_point_next": [
            58.326650287840955,
            2.673856454495736
        ]
    },
    "330": {
        "acceleration": [
            0.9574985504150391,
            0.2768838405609131,
            -0.0017507374286651611
        ],
        "angular_velocity": [
            2.4621224403381348,
            -0.19498133659362793,
            2.291271448135376
        ],
        "forward_vector": [
            -0.9985368847846985,
            -0.053901173174381256,
            0.004329071380198002
        ],
        "right_vector": [
            0.05394574999809265,
            -0.9984838366508484,
            0.010942608118057251
        ],
        "location": [
            635.9132080078125,
            4289.818359375,
            370.03228759765625
        ],
        "rotation": [
            -0.6269837021827698,
            0.24803830683231354,
            -176.91017150878906
        ],
        "velocity": [
            -7.783669471740723,
            -0.4803433418273926,
            0.04074752703309059
        ],
        "speed": 7.798476785330992,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.21770191192627,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                625.7232055664062,
                4290.56787109375,
                370.0915832519531
            ],
            "velocity": [
                -8.029616355895996,
                0.0467817485332489,
                0.04035702720284462
            ],
            "speed_kmh": 28.90747457556416,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0776844024658203,
                "transform": {
                    "location": {
                        "x": 573.595703125,
                        "y": 4297.47705078125,
                        "z": 370.411865234375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.23111309111118317,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.008024884387850761,
                    "y": -0.00012058237189194188,
                    "z": -2.0776689052581787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 573.5765380859375,
                        "y": 4294.22705078125,
                        "z": 370.40814208984375
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087127685546875,
                "transform": {
                    "location": {
                        "x": 615.6788330078125,
                        "y": 4294.078125,
                        "z": 370.1319580078125
                    },
                    "rotation": {
                        "roll": -6.103519990574569e-05,
                        "pitch": -0.27487412095069885,
                        "yaw": -0.3377380669116974
                    }
                },
                "velocity": {
                    "x": 8.086897850036621,
                    "y": -0.047671835869550705,
                    "z": -0.0379619263112545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.579667091369629,
                "transform": {
                    "location": {
                        "x": 615.7446899414062,
                        "y": 4297.32861328125,
                        "z": 370.1294860839844
                    },
                    "rotation": {
                        "roll": 0.00031011697137728333,
                        "pitch": -0.24413827061653137,
                        "yaw": -0.3357543349266052
                    }
                },
                "velocity": {
                    "x": 8.579421043395996,
                    "y": -0.05011967197060585,
                    "z": -0.04138777032494545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03087329864502,
                "transform": {
                    "location": {
                        "x": 656.8973388671875,
                        "y": 4293.8466796875,
                        "z": 369.9305419921875
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.309202641248703,
                        "yaw": 0.07520085573196411
                    }
                },
                "velocity": {
                    "x": 8.030604362487793,
                    "y": -0.04867430031299591,
                    "z": -0.043986767530441284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06368350982666,
                "transform": {
                    "location": {
                        "x": 657.8795166015625,
                        "y": 4297.08154296875,
                        "z": 369.9253845214844
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.3091411888599396,
                        "yaw": -0.3553771674633026
                    }
                },
                "velocity": {
                    "x": 8.0634126663208,
                    "y": -0.04995937645435333,
                    "z": -0.043259575963020325
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051234245300293,
                "transform": {
                    "location": {
                        "x": 702.1959228515625,
                        "y": 4296.81884765625,
                        "z": 369.6686096191406
                    },
                    "rotation": {
                        "roll": 0.0003622024378273636,
                        "pitch": -0.3315100371837616,
                        "yaw": -0.3527222275733948
                    }
                },
                "velocity": {
                    "x": 8.050951957702637,
                    "y": -0.0496431440114975,
                    "z": -0.04572012275457382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076761245727539,
                "transform": {
                    "location": {
                        "x": 701.1968383789062,
                        "y": 4293.57568359375,
                        "z": 369.66851806640625
                    },
                    "rotation": {
                        "roll": 0.0012851080391556025,
                        "pitch": -0.3320906162261963,
                        "yaw": -0.354034423828125
                    }
                },
                "velocity": {
                    "x": 8.076478004455566,
                    "y": -0.049872688949108124,
                    "z": -0.045596905052661896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.203499794006348,
                "transform": {
                    "location": {
                        "x": 674.9863891601562,
                        "y": 4287.02978515625,
                        "z": 369.8223876953125
                    },
                    "rotation": {
                        "roll": 0.001746585825458169,
                        "pitch": 0.33336102962493896,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -5.20332670211792,
                    "y": 0.029891937971115112,
                    "z": 0.030128326267004013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.12237097322940826,
                "transform": {
                    "location": {
                        "x": 655.9417114257812,
                        "y": 4287.14111328125,
                        "z": 369.9460754394531
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -1.0625587701797485,
                        "yaw": 179.6594696044922
                    }
                },
                "velocity": {
                    "x": -0.12236844748258591,
                    "y": 0.0007772837416268885,
                    "z": -0.00011510848707985133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.744847297668457,
                "transform": {
                    "location": {
                        "x": 609.5651245117188,
                        "y": 4287.42822265625,
                        "z": 370.1595153808594
                    },
                    "rotation": {
                        "roll": 0.004807122517377138,
                        "pitch": 0.848084032535553,
                        "yaw": 179.82391357421875
                    }
                },
                "velocity": {
                    "x": -4.744757175445557,
                    "y": 0.018809949979186058,
                    "z": 0.022350940853357315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.257266998291016,
                "transform": {
                    "location": {
                        "x": 593.683349609375,
                        "y": 4287.5234375,
                        "z": 370.27362060546875
                    },
                    "rotation": {
                        "roll": 0.004883423447608948,
                        "pitch": 0.3418099582195282,
                        "yaw": 179.83624267578125
                    }
                },
                "velocity": {
                    "x": -8.257129669189453,
                    "y": 0.03025176003575325,
                    "z": 0.03689519688487053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9807872772216797,
                "transform": {
                    "location": {
                        "x": 652.8174438476562,
                        "y": 4290.40966796875,
                        "z": 369.9521484375
                    },
                    "rotation": {
                        "roll": -0.0005798341007903218,
                        "pitch": 0.21663309633731842,
                        "yaw": 178.9137420654297
                    }
                },
                "velocity": {
                    "x": -2.9807047843933105,
                    "y": 0.01639869250357151,
                    "z": 0.014931716956198215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029853820800781,
                "transform": {
                    "location": {
                        "x": 625.7232055664062,
                        "y": 4290.56787109375,
                        "z": 370.0915832519531
                    },
                    "rotation": {
                        "roll": 0.0006196915055625141,
                        "pitch": 0.2805909812450409,
                        "yaw": 179.6466827392578
                    }
                },
                "velocity": {
                    "x": -8.029616355895996,
                    "y": 0.0467817485332489,
                    "z": 0.04035702720284462
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042314529418945,
                "transform": {
                    "location": {
                        "x": 605.7562866210938,
                        "y": 4290.68359375,
                        "z": 370.2183532714844
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -8.042071342468262,
                    "y": 0.04994608461856842,
                    "z": 0.03752608224749565
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.019310956820845604,
                "transform": {
                    "location": {
                        "x": 667.7904052734375,
                        "y": 4290.32177734375,
                        "z": 369.8675842285156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.04336486756801605,
                        "yaw": 179.7977294921875
                    }
                },
                "velocity": {
                    "x": -0.019233988597989082,
                    "y": 0.0016724684974178672,
                    "z": 0.0004118122742511332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.000349760055542,
        "expert_target_speed": 10.0,
        "target_point": [
            56.40695961931735,
            -0.9148120411783771
        ],
        "target_point_next": [
            62.39619387865046,
            -1.273808824715223
        ]
    },
    "335": {
        "acceleration": [
            0.7595920562744141,
            -0.17472386360168457,
            -0.0112152099609375
        ],
        "angular_velocity": [
            0.8580055832862854,
            0.051094185560941696,
            4.243635654449463
        ],
        "forward_vector": [
            -0.9979451894760132,
            -0.06397164613008499,
            0.003604880766943097
        ],
        "right_vector": [
            0.06398831307888031,
            -0.9979395270347595,
            0.004713213536888361
        ],
        "location": [
            634.0017700195312,
            4289.70068359375,
            370.0422668457031
        ],
        "rotation": [
            -0.2700499892234802,
            0.2065449059009552,
            -176.33216857910156
        ],
        "velocity": [
            -7.536922454833984,
            -0.5100563168525696,
            0.03803325444459915
        ],
        "speed": 7.55416160381428,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.323540687561035,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                623.7158813476562,
                4290.57958984375,
                370.10150146484375
            ],
            "velocity": [
                -8.030388832092285,
                0.04769623652100563,
                0.0407743938267231
            ],
            "speed_kmh": 28.910282362973295,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14024847745895386,
                "transform": {
                    "location": {
                        "x": 573.5953369140625,
                        "y": 4297.47705078125,
                        "z": 370.3302307128906
                    },
                    "rotation": {
                        "roll": -3.051765088457614e-05,
                        "pitch": -0.23095600306987762,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.0005805990658700466,
                    "y": -3.100965841440484e-05,
                    "z": 0.14024727046489716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23505082726478577,
                "transform": {
                    "location": {
                        "x": 573.5759887695312,
                        "y": 4294.22705078125,
                        "z": 370.2633056640625
                    },
                    "rotation": {
                        "roll": 0.0001463393127778545,
                        "pitch": -0.2312018871307373,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0009497888386249542,
                    "y": 6.228214715520153e-06,
                    "z": 0.23504890501499176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05239200592041,
                "transform": {
                    "location": {
                        "x": 617.6966552734375,
                        "y": 4294.06689453125,
                        "z": 370.1221923828125
                    },
                    "rotation": {
                        "roll": 0.00024041808501351625,
                        "pitch": -0.27517464756965637,
                        "yaw": -0.341094970703125
                    }
                },
                "velocity": {
                    "x": 8.05216121673584,
                    "y": -0.04797804355621338,
                    "z": -0.03744665905833244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.406717300415039,
                "transform": {
                    "location": {
                        "x": 617.9134521484375,
                        "y": 4297.31591796875,
                        "z": 370.11932373046875
                    },
                    "rotation": {
                        "roll": 0.00018605559307616204,
                        "pitch": -0.26921871304512024,
                        "yaw": -0.41070556640625
                    }
                },
                "velocity": {
                    "x": 8.406455993652344,
                    "y": -0.051694177091121674,
                    "z": -0.041482504457235336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117406845092773,
                "transform": {
                    "location": {
                        "x": 658.9160766601562,
                        "y": 4293.8349609375,
                        "z": 369.9195861816406
                    },
                    "rotation": {
                        "roll": -0.0031433103140443563,
                        "pitch": -0.30904555320739746,
                        "yaw": 0.07232628017663956
                    }
                },
                "velocity": {
                    "x": 8.117140769958496,
                    "y": -0.04805675894021988,
                    "z": -0.04483417794108391
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093031883239746,
                "transform": {
                    "location": {
                        "x": 659.8992309570312,
                        "y": 4297.06982421875,
                        "z": 369.91448974609375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.3117913007736206,
                        "yaw": -0.354705810546875
                    }
                },
                "velocity": {
                    "x": 8.092751502990723,
                    "y": -0.05011751502752304,
                    "z": -0.04499831050634384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084853172302246,
                "transform": {
                    "location": {
                        "x": 704.2129516601562,
                        "y": 4296.80712890625,
                        "z": 369.6568908691406
                    },
                    "rotation": {
                        "roll": 0.0010694712400436401,
                        "pitch": -0.33193352818489075,
                        "yaw": -0.353363037109375
                    }
                },
                "velocity": {
                    "x": 8.08457088470459,
                    "y": -0.04982326924800873,
                    "z": -0.045654911547899246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024045944213867,
                "transform": {
                    "location": {
                        "x": 703.209228515625,
                        "y": 4293.5634765625,
                        "z": 369.6568908691406
                    },
                    "rotation": {
                        "roll": 0.00036160461604595184,
                        "pitch": -0.3320291340351105,
                        "yaw": -0.355926513671875
                    }
                },
                "velocity": {
                    "x": 8.023752212524414,
                    "y": -0.0511842779815197,
                    "z": -0.045814912766218185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.944305419921875,
                "transform": {
                    "location": {
                        "x": 673.6212158203125,
                        "y": 4287.03759765625,
                        "z": 369.8298645019531
                    },
                    "rotation": {
                        "roll": 0.0013419246533885598,
                        "pitch": 0.3315510153770447,
                        "yaw": 179.65673828125
                    }
                },
                "velocity": {
                    "x": -5.944121360778809,
                    "y": 0.034340355545282364,
                    "z": 0.031711988151073456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8200764060020447,
                "transform": {
                    "location": {
                        "x": 655.7887573242188,
                        "y": 4287.1416015625,
                        "z": 369.9356994628906
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.32504868507385254,
                        "yaw": 179.6280975341797
                    }
                },
                "velocity": {
                    "x": -0.8200363516807556,
                    "y": 0.005503807682543993,
                    "z": 0.00595651613548398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3570170402526855,
                "transform": {
                    "location": {
                        "x": 608.2617797851562,
                        "y": 4287.43359375,
                        "z": 370.16656494140625
                    },
                    "rotation": {
                        "roll": 0.002186405938118696,
                        "pitch": 0.691652238368988,
                        "yaw": 179.79359436035156
                    }
                },
                "velocity": {
                    "x": -5.356914043426514,
                    "y": 0.02119510807096958,
                    "z": 0.025595558807253838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.797767162322998,
                "transform": {
                    "location": {
                        "x": 591.691162109375,
                        "y": 4287.53125,
                        "z": 370.2834777832031
                    },
                    "rotation": {
                        "roll": 0.0013896569143980742,
                        "pitch": 0.2362220734357834,
                        "yaw": 179.80349731445312
                    }
                },
                "velocity": {
                    "x": -7.79763126373291,
                    "y": 0.029583711177110672,
                    "z": 0.03530550003051758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.075654983520508,
                "transform": {
                    "location": {
                        "x": 651.9329833984375,
                        "y": 4290.4169921875,
                        "z": 369.9569091796875
                    },
                    "rotation": {
                        "roll": 0.000601711857598275,
                        "pitch": 0.1987380087375641,
                        "yaw": 179.18606567382812
                    }
                },
                "velocity": {
                    "x": -4.075537204742432,
                    "y": 0.021782493218779564,
                    "z": 0.022006358951330185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030633926391602,
                "transform": {
                    "location": {
                        "x": 623.7158813476562,
                        "y": 4290.57958984375,
                        "z": 370.10150146484375
                    },
                    "rotation": {
                        "roll": 7.664800068596378e-05,
                        "pitch": 0.28151988983154297,
                        "yaw": 179.6775360107422
                    }
                },
                "velocity": {
                    "x": -8.030388832092285,
                    "y": 0.04769623652100563,
                    "z": 0.0407743938267231
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008768081665039,
                "transform": {
                    "location": {
                        "x": 603.75,
                        "y": 4290.6953125,
                        "z": 370.22784423828125
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": 0.27310508489608765,
                        "yaw": 179.64401245117188
                    }
                },
                "velocity": {
                    "x": -8.008522033691406,
                    "y": 0.04979907348752022,
                    "z": 0.038142137229442596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1138312816619873,
                "transform": {
                    "location": {
                        "x": 667.6599731445312,
                        "y": 4290.322265625,
                        "z": 369.8684387207031
                    },
                    "rotation": {
                        "roll": 0.0005746986716985703,
                        "pitch": 0.3382992446422577,
                        "yaw": 179.7716827392578
                    }
                },
                "velocity": {
                    "x": -1.113793969154358,
                    "y": 0.006182333920150995,
                    "z": 0.006703710183501244
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0007344484329224,
        "expert_target_speed": 10.0,
        "target_point": [
            54.47981028854666,
            -1.4789433053477112
        ],
        "target_point_next": [
            60.46511831078263,
            -1.8983399943152333
        ]
    },
    "340": {
        "acceleration": [
            -0.7252025604248047,
            -0.3451251983642578,
            0.0018053501844406128
        ],
        "angular_velocity": [
            0.2633522152900696,
            0.45692506432533264,
            -0.5202409625053406
        ],
        "forward_vector": [
            -0.997381329536438,
            -0.07218194752931595,
            0.004492863547056913
        ],
        "right_vector": [
            0.07219496369361877,
            -0.9973865747451782,
            0.002805341500788927
        ],
        "location": [
            632.1241455078125,
            4289.5654296875,
            370.0516357421875
        ],
        "rotation": [
            -0.1607360541820526,
            0.2574229836463928,
            -175.8606414794922
        ],
        "velocity": [
            -7.546219825744629,
            -0.5911725759506226,
            0.03768389672040939
        ],
        "speed": 7.569340702664757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.466645240783691,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                621.7080688476562,
                4290.59130859375,
                370.1114501953125
            ],
            "velocity": [
                -8.030538558959961,
                0.05022163316607475,
                0.04084967449307442
            ],
            "speed_kmh": 28.910878165502286,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9252058267593384,
                "transform": {
                    "location": {
                        "x": 573.6609497070312,
                        "y": 4297.4775390625,
                        "z": 370.35308837890625
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -0.1570192128419876,
                        "yaw": -0.314971923828125
                    }
                },
                "velocity": {
                    "x": 0.9242154359817505,
                    "y": 0.006656061392277479,
                    "z": 0.04227674379944801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0957866683602333,
                "transform": {
                    "location": {
                        "x": 573.5759887695312,
                        "y": 4294.22705078125,
                        "z": 370.3118591308594
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.23101747035980225,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0003909585648216307,
                    "y": 8.116736717056483e-05,
                    "z": 0.09578584134578705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08143138885498,
                "transform": {
                    "location": {
                        "x": 619.7130737304688,
                        "y": 4294.0546875,
                        "z": 370.1125183105469
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": -0.27780425548553467,
                        "yaw": -0.34161376953125
                    }
                },
                "velocity": {
                    "x": 8.081193923950195,
                    "y": -0.0481809563934803,
                    "z": -0.03896402195096016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.12047004699707,
                "transform": {
                    "location": {
                        "x": 619.971923828125,
                        "y": 4297.3037109375,
                        "z": 370.1095275878906
                    },
                    "rotation": {
                        "roll": 0.0010105067631229758,
                        "pitch": -0.2908909022808075,
                        "yaw": -0.543975830078125
                    }
                },
                "velocity": {
                    "x": 8.120203971862793,
                    "y": -0.0519312359392643,
                    "z": -0.04033784940838814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030567169189453,
                "transform": {
                    "location": {
                        "x": 660.9340209960938,
                        "y": 4293.8232421875,
                        "z": 369.9087829589844
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.31231722235679626,
                        "yaw": 0.08357302099466324
                    }
                },
                "velocity": {
                    "x": 8.030285835266113,
                    "y": -0.05030873045325279,
                    "z": -0.04454330727458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062455177307129,
                "transform": {
                    "location": {
                        "x": 661.9185791015625,
                        "y": 4297.05810546875,
                        "z": 369.9035339355469
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.3121669590473175,
                        "yaw": -0.355926513671875
                    }
                },
                "velocity": {
                    "x": 8.062183380126953,
                    "y": -0.04889450594782829,
                    "z": -0.04471905529499054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 706.2936401367188,
                        "y": 4296.71044921875,
                        "z": 369.6493225097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 705.2769165039062,
                        "y": 4293.48486328125,
                        "z": 369.6520690917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.672779560089111,
                "transform": {
                    "location": {
                        "x": 672.0684204101562,
                        "y": 4287.046875,
                        "z": 369.83831787109375
                    },
                    "rotation": {
                        "roll": 0.0004103722458239645,
                        "pitch": 0.3343309164047241,
                        "yaw": 179.64599609375
                    }
                },
                "velocity": {
                    "x": -6.6725664138793945,
                    "y": 0.03855424374341965,
                    "z": 0.03684667497873306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.860336422920227,
                "transform": {
                    "location": {
                        "x": 655.5631103515625,
                        "y": 4287.1435546875,
                        "z": 369.9354248046875
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.5260338187217712,
                        "yaw": 179.6342315673828
                    }
                },
                "velocity": {
                    "x": -0.8603023290634155,
                    "y": 0.00489481445401907,
                    "z": 0.005888862535357475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.543083667755127,
                "transform": {
                    "location": {
                        "x": 606.8169555664062,
                        "y": 4287.439453125,
                        "z": 370.1731872558594
                    },
                    "rotation": {
                        "roll": 0.001558197196573019,
                        "pitch": 0.7387190461158752,
                        "yaw": 179.78329467773438
                    }
                },
                "velocity": {
                    "x": -6.54296350479126,
                    "y": 0.026018837466835976,
                    "z": 0.02999572642147541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038488388061523,
                "transform": {
                    "location": {
                        "x": 589.7134399414062,
                        "y": 4287.5390625,
                        "z": 370.2920227050781
                    },
                    "rotation": {
                        "roll": 0.002838373649865389,
                        "pitch": 0.26576948165893555,
                        "yaw": 179.74337768554688
                    }
                },
                "velocity": {
                    "x": -8.038321495056152,
                    "y": 0.039222005754709244,
                    "z": 0.03391822800040245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.155742168426514,
                "transform": {
                    "location": {
                        "x": 650.77197265625,
                        "y": 4290.4248046875,
                        "z": 369.96331787109375
                    },
                    "rotation": {
                        "roll": 0.0009127304656431079,
                        "pitch": 0.19299381971359253,
                        "yaw": 179.41038513183594
                    }
                },
                "velocity": {
                    "x": -5.155572891235352,
                    "y": 0.0288989320397377,
                    "z": 0.03018300049006939
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030799865722656,
                "transform": {
                    "location": {
                        "x": 621.7080688476562,
                        "y": 4290.59130859375,
                        "z": 370.1114501953125
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.281704306602478,
                        "yaw": 179.63519287109375
                    }
                },
                "velocity": {
                    "x": -8.030538558959961,
                    "y": 0.05022163316607475,
                    "z": 0.04084967449307442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04340934753418,
                "transform": {
                    "location": {
                        "x": 601.743408203125,
                        "y": 4290.70703125,
                        "z": 370.23724365234375
                    },
                    "rotation": {
                        "roll": 0.000768836762290448,
                        "pitch": 0.27016812562942505,
                        "yaw": 179.6440887451172
                    }
                },
                "velocity": {
                    "x": -8.04316520690918,
                    "y": 0.05000951141119003,
                    "z": 0.037635792046785355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.493849515914917,
                "transform": {
                    "location": {
                        "x": 667.19921875,
                        "y": 4290.32470703125,
                        "z": 369.8709716796875
                    },
                    "rotation": {
                        "roll": 0.0026849117130041122,
                        "pitch": 0.5406709313392639,
                        "yaw": 179.7675018310547
                    }
                },
                "velocity": {
                    "x": -2.4937758445739746,
                    "y": 0.013614777475595474,
                    "z": 0.013494719751179218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0015182495117188,
        "expert_target_speed": 10.0,
        "target_point": [
            52.5833046282854,
            -1.9266113572025336
        ],
        "target_point_next": [
            58.56495848010013,
            -2.3952507717092653
        ]
    },
    "345": {
        "acceleration": [
            -2.57080078125,
            -0.22908806800842285,
            0.018185824155807495
        ],
        "angular_velocity": [
            0.3090544044971466,
            0.716792106628418,
            3.8379688262939453
        ],
        "forward_vector": [
            -0.996634304523468,
            -0.08166433125734329,
            0.0071335420943796635
        ],
        "right_vector": [
            0.08167790621519089,
            -0.9966574311256409,
            0.0016319423448294401
        ],
        "location": [
            630.183349609375,
            4289.40771484375,
            370.0608215332031
        ],
        "rotation": [
            -0.09350582957267761,
            0.4087253212928772,
            -175.31564331054688
        ],
        "velocity": [
            -8.023324012756348,
            -0.6795715093612671,
            0.0403328500688076
        ],
        "speed": 8.052052263243711,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.551193237304688,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                619.7002563476562,
                4290.60302734375,
                370.1213073730469
            ],
            "velocity": [
                -8.030495643615723,
                0.047005005180835724,
                0.039360493421554565
            ],
            "speed_kmh": 28.910626804932278,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9163827896118164,
                "transform": {
                    "location": {
                        "x": 574.0282592773438,
                        "y": 4297.478515625,
                        "z": 370.35662841796875
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": -0.12456898391246796,
                        "yaw": -0.1678466796875
                    }
                },
                "velocity": {
                    "x": 1.9163280725479126,
                    "y": 0.014466925524175167,
                    "z": 0.0004573726619128138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.137210726737976,
                "transform": {
                    "location": {
                        "x": 573.695556640625,
                        "y": 4294.2275390625,
                        "z": 370.3191833496094
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.19879265129566193,
                        "yaw": -0.2948608100414276
                    }
                },
                "velocity": {
                    "x": 1.1371865272521973,
                    "y": 0.006794308312237263,
                    "z": -0.0029910753946751356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053596496582031,
                "transform": {
                    "location": {
                        "x": 621.7298583984375,
                        "y": 4294.04345703125,
                        "z": 370.1026916503906
                    },
                    "rotation": {
                        "roll": 0.00048042956041172147,
                        "pitch": -0.2842997908592224,
                        "yaw": -0.3450317084789276
                    }
                },
                "velocity": {
                    "x": 8.053346633911133,
                    "y": -0.048499420285224915,
                    "z": -0.04087628796696663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.075811862945557,
                "transform": {
                    "location": {
                        "x": 621.922119140625,
                        "y": 4297.2900390625,
                        "z": 370.10015869140625
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": -0.3138130307197571,
                        "yaw": -0.5104064345359802
                    }
                },
                "velocity": {
                    "x": 7.07558012008667,
                    "y": -0.0448605939745903,
                    "z": -0.035584092140197754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117924690246582,
                "transform": {
                    "location": {
                        "x": 662.953125,
                        "y": 4293.81103515625,
                        "z": 369.8977966308594
                    },
                    "rotation": {
                        "roll": -0.0037841796875,
                        "pitch": -0.31075993180274963,
                        "yaw": 0.07078910619020462
                    }
                },
                "velocity": {
                    "x": 8.117661476135254,
                    "y": -0.047740619629621506,
                    "z": -0.04453127831220627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092911720275879,
                "transform": {
                    "location": {
                        "x": 663.9382934570312,
                        "y": 4297.04638671875,
                        "z": 369.8926086425781
                    },
                    "rotation": {
                        "roll": -0.0002136231050826609,
                        "pitch": -0.3115863800048828,
                        "yaw": -0.3535155951976776
                    }
                },
                "velocity": {
                    "x": 8.092633247375488,
                    "y": -0.049965471029281616,
                    "z": -0.04480472952127457
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52701,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 708.3765258789062,
                        "y": 4296.69091796875,
                        "z": 369.6375427246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52700,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 707.3591918945312,
                        "y": 4293.43896484375,
                        "z": 369.6436767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.436636924743652,
                "transform": {
                    "location": {
                        "x": 670.2741088867188,
                        "y": 4287.05712890625,
                        "z": 369.84814453125
                    },
                    "rotation": {
                        "roll": 0.00020676576241385192,
                        "pitch": 0.33398255705833435,
                        "yaw": 179.6676788330078
                    }
                },
                "velocity": {
                    "x": -7.436404228210449,
                    "y": 0.04195353761315346,
                    "z": 0.04123171791434288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1905757188796997,
                "transform": {
                    "location": {
                        "x": 655.3373413085938,
                        "y": 4287.14599609375,
                        "z": 369.9382629394531
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.33445385098457336,
                        "yaw": 179.63844299316406
                    }
                },
                "velocity": {
                    "x": -1.1905457973480225,
                    "y": 0.005760212894529104,
                    "z": 0.006173782050609589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.063661575317383,
                "transform": {
                    "location": {
                        "x": 604.9808959960938,
                        "y": 4287.44775390625,
                        "z": 370.18121337890625
                    },
                    "rotation": {
                        "roll": 0.006529441103339195,
                        "pitch": 0.8943654298782349,
                        "yaw": 179.7487335205078
                    }
                },
                "velocity": {
                    "x": -8.0634765625,
                    "y": 0.03935135155916214,
                    "z": 0.0379035547375679
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.986706733703613,
                "transform": {
                    "location": {
                        "x": 587.7036743164062,
                        "y": 4287.54931640625,
                        "z": 370.3009033203125
                    },
                    "rotation": {
                        "roll": 0.0010620570974424481,
                        "pitch": 0.25356394052505493,
                        "yaw": 179.7418212890625
                    }
                },
                "velocity": {
                    "x": -7.986542224884033,
                    "y": 0.037932418286800385,
                    "z": 0.03453990817070007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.538832664489746,
                "transform": {
                    "location": {
                        "x": 649.4448852539062,
                        "y": 4290.43359375,
                        "z": 369.9699401855469
                    },
                    "rotation": {
                        "roll": -1.0422143009725104e-10,
                        "pitch": 0.2533043920993805,
                        "yaw": 179.5548095703125
                    }
                },
                "velocity": {
                    "x": -5.53867244720459,
                    "y": 0.029745573177933693,
                    "z": 0.029809465631842613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030730247497559,
                "transform": {
                    "location": {
                        "x": 619.7002563476562,
                        "y": 4290.60302734375,
                        "z": 370.1213073730469
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.277749627828598,
                        "yaw": 179.67213439941406
                    }
                },
                "velocity": {
                    "x": -8.030495643615723,
                    "y": 0.047005005180835724,
                    "z": 0.039360493421554565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007365226745605,
                "transform": {
                    "location": {
                        "x": 599.7372436523438,
                        "y": 4290.71923828125,
                        "z": 370.24664306640625
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.26873376965522766,
                        "yaw": 179.6405487060547
                    }
                },
                "velocity": {
                    "x": -8.007122039794922,
                    "y": 0.050277095288038254,
                    "z": 0.03706091642379761
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.032219886779785,
                "transform": {
                    "location": {
                        "x": 666.3756713867188,
                        "y": 4290.3291015625,
                        "z": 369.87554931640625
                    },
                    "rotation": {
                        "roll": 0.0014495105715468526,
                        "pitch": 0.6182072162628174,
                        "yaw": 179.72811889648438
                    }
                },
                "velocity": {
                    "x": -4.032103061676025,
                    "y": 0.021522488445043564,
                    "z": 0.021862363442778587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9981955289840698,
        "expert_target_speed": 10.0,
        "target_point": [
            50.615407200829026,
            -2.425376309536488
        ],
        "target_point_next": [
            56.59233284684464,
            -2.9508908438360053
        ]
    },
    "350": {
        "acceleration": [
            -3.2181549072265625,
            -0.1723039150238037,
            0.027861595153808594
        ],
        "angular_velocity": [
            0.27635815739631653,
            0.4504832327365875,
            -2.2334256172180176
        ],
        "forward_vector": [
            -0.9964249730110168,
            -0.08393565565347672,
            0.009597391821444035
        ],
        "right_vector": [
            0.08394274115562439,
            -0.9964705109596252,
            0.0003371407219674438
        ],
        "location": [
            628.080078125,
            4289.22998046875,
            370.0708923339844
        ],
        "rotation": [
            -0.0193176306784153,
            0.5498985052108765,
            -175.18495178222656
        ],
        "velocity": [
            -8.782489776611328,
            -0.7411134243011475,
            0.04348693788051605
        ],
        "speed": 8.813703862960331,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.47957706451416,
        "front_vehicle_info": {
            "id": 52584,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                617.6925048828125,
                4290.6142578125,
                370.1310729980469
            ],
            "velocity": [
                -8.0301513671875,
                0.050612907856702805,
                0.037411946803331375
            ],
            "speed_kmh": 28.909432858669607,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0512990951538086,
                "transform": {
                    "location": {
                        "x": 574.6421508789062,
                        "y": 4297.48193359375,
                        "z": 370.3548889160156
                    },
                    "rotation": {
                        "roll": -0.005126952659338713,
                        "pitch": -0.11202875524759293,
                        "yaw": -0.007415771484375
                    }
                },
                "velocity": {
                    "x": 3.0511977672576904,
                    "y": 0.022605443373322487,
                    "z": -0.010377216152846813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7286405563354492,
                "transform": {
                    "location": {
                        "x": 574.0618286132812,
                        "y": 4294.228515625,
                        "z": 370.3171081542969
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.2042226493358612,
                        "yaw": -0.1880798190832138
                    }
                },
                "velocity": {
                    "x": 1.7285758256912231,
                    "y": 0.011496295221149921,
                    "z": -0.009576091542840004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084199905395508,
                "transform": {
                    "location": {
                        "x": 623.7470703125,
                        "y": 4294.03173828125,
                        "z": 370.0926513671875
                    },
                    "rotation": {
                        "roll": 0.00023559475084766746,
                        "pitch": -0.2837192118167877,
                        "yaw": -0.3465881049633026
                    }
                },
                "velocity": {
                    "x": 8.083940505981445,
                    "y": -0.04975806176662445,
                    "z": -0.04145378619432449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8302178382873535,
                "transform": {
                    "location": {
                        "x": 623.6292724609375,
                        "y": 4297.27880859375,
                        "z": 370.091552734375
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": -0.3016279637813568,
                        "yaw": -0.4038390815258026
                    }
                },
                "velocity": {
                    "x": 6.830013275146484,
                    "y": -0.04114474356174469,
                    "z": -0.03313309699296951
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03088092803955,
                "transform": {
                    "location": {
                        "x": 664.9710693359375,
                        "y": 4293.79931640625,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -0.3152746856212616,
                        "yaw": 0.08931460231542587
                    }
                },
                "velocity": {
                    "x": 8.030611991882324,
                    "y": -0.048739347606897354,
                    "z": -0.04413672909140587
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06307601928711,
                "transform": {
                    "location": {
                        "x": 665.9576416015625,
                        "y": 4297.03369140625,
                        "z": 369.8816223144531
                    },
                    "rotation": {
                        "roll": 0.0014177471166476607,
                        "pitch": -0.31494683027267456,
                        "yaw": -0.3599853217601776
                    }
                },
                "velocity": {
                    "x": 8.062785148620605,
                    "y": -0.05184860900044441,
                    "z": -0.04467674717307091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.1743550300598145,
                "transform": {
                    "location": {
                        "x": 668.556884765625,
                        "y": 4287.06689453125,
                        "z": 369.8578796386719
                    },
                    "rotation": {
                        "roll": 0.000356318341800943,
                        "pitch": 0.2931312024593353,
                        "yaw": 179.67401123046875
                    }
                },
                "velocity": {
                    "x": -6.174160480499268,
                    "y": 0.03517799824476242,
                    "z": 0.03417603299021721
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.262204170227051,
                "transform": {
                    "location": {
                        "x": 654.9051513671875,
                        "y": 4287.1484375,
                        "z": 369.93896484375
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.5179673433303833,
                        "yaw": 179.6436309814453
                    }
                },
                "velocity": {
                    "x": -2.2621371746063232,
                    "y": 0.013209470547735691,
                    "z": 0.01134257297962904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.490155220031738,
                "transform": {
                    "location": {
                        "x": 602.9227294921875,
                        "y": 4287.45751953125,
                        "z": 370.1915588378906
                    },
                    "rotation": {
                        "roll": 0.004179686773568392,
                        "pitch": 0.6969593167304993,
                        "yaw": 179.72003173828125
                    }
                },
                "velocity": {
                    "x": -8.48995590209961,
                    "y": 0.04152077063918114,
                    "z": 0.04067351296544075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01376724243164,
                "transform": {
                    "location": {
                        "x": 585.7094116210938,
                        "y": 4287.55859375,
                        "z": 370.3095703125
                    },
                    "rotation": {
                        "roll": 0.001577405957505107,
                        "pitch": 0.2505449950695038,
                        "yaw": 179.7007293701172
                    }
                },
                "velocity": {
                    "x": -8.013577461242676,
                    "y": 0.04373573139309883,
                    "z": 0.0336301326751709
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.458066940307617,
                "transform": {
                    "location": {
                        "x": 647.9988403320312,
                        "y": 4290.44287109375,
                        "z": 369.9777526855469
                    },
                    "rotation": {
                        "roll": 4.734650792670436e-05,
                        "pitch": 0.22780728340148926,
                        "yaw": 179.7088623046875
                    }
                },
                "velocity": {
                    "x": -6.45786714553833,
                    "y": 0.038130778819322586,
                    "z": 0.03356263041496277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030397415161133,
                "transform": {
                    "location": {
                        "x": 617.6925048828125,
                        "y": 4290.6142578125,
                        "z": 370.1310729980469
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.27277040481567383,
                        "yaw": 179.63226318359375
                    }
                },
                "velocity": {
                    "x": -8.0301513671875,
                    "y": 0.050612907856702805,
                    "z": 0.037411946803331375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045263290405273,
                "transform": {
                    "location": {
                        "x": 597.7306518554688,
                        "y": 4290.73095703125,
                        "z": 370.25592041015625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.2677707076072693,
                        "yaw": 179.6402587890625
                    }
                },
                "velocity": {
                    "x": -8.04501724243164,
                    "y": 0.05048714578151703,
                    "z": 0.037563588470220566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.421672344207764,
                "transform": {
                    "location": {
                        "x": 665.1834716796875,
                        "y": 4290.3359375,
                        "z": 369.88226318359375
                    },
                    "rotation": {
                        "roll": 0.0014888083096593618,
                        "pitch": 0.6128523349761963,
                        "yaw": 179.69357299804688
                    }
                },
                "velocity": {
                    "x": -5.4214959144592285,
                    "y": 0.0297317523509264,
                    "z": 0.032068368047475815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0000154972076416,
        "expert_target_speed": 10.0,
        "target_point": [
            48.49897510286963,
            -2.541392010911042
        ],
        "target_point_next": [
            54.47468640054335,
            -3.0805396628709514
        ]
    },
    "355": {
        "acceleration": [
            0.12037277221679688,
            -0.016705989837646484,
            0.005977004766464233
        ],
        "angular_velocity": [
            0.012052014470100403,
            -0.8579431176185608,
            2.4102067947387695
        ],
        "forward_vector": [
            -0.996461033821106,
            -0.08353579044342041,
            0.009343845769762993
        ],
        "right_vector": [
            0.08353777974843979,
            -0.9965046048164368,
            -0.0001773465919541195
        ],
        "location": [
            625.7998657226562,
            4289.03955078125,
            370.08233642578125
        ],
        "rotation": [
            0.010161655023694038,
            0.5353707075119019,
            -175.2079620361328
        ],
        "velocity": [
            -9.228429794311523,
            -0.7761600613594055,
            0.045044105499982834
        ],
        "speed": 9.261011872867137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.965923309326172,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                600.8837890625,
                4287.46728515625,
                370.20269775390625
            ],
            "velocity": [
                -7.908257484436035,
                0.04014315828680992,
                0.03693297132849693
            ],
            "speed_kmh": 28.470404194028642,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.424590587615967,
                "transform": {
                    "location": {
                        "x": 575.5863037109375,
                        "y": 4297.4873046875,
                        "z": 370.3509826660156
                    },
                    "rotation": {
                        "roll": -0.006591796409338713,
                        "pitch": -0.08996724337339401,
                        "yaw": 0.17213374376296997
                    }
                },
                "velocity": {
                    "x": 4.424419403076172,
                    "y": 0.034123681485652924,
                    "z": -0.018740244209766388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.305162191390991,
                "transform": {
                    "location": {
                        "x": 574.5686645507812,
                        "y": 4294.23095703125,
                        "z": 370.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.2116948664188385,
                        "yaw": -0.0461425706744194
                    }
                },
                "velocity": {
                    "x": 2.3050878047943115,
                    "y": 0.016007421538233757,
                    "z": -0.009345264174044132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050958633422852,
                "transform": {
                    "location": {
                        "x": 625.763671875,
                        "y": 4294.02001953125,
                        "z": 370.0826416015625
                    },
                    "rotation": {
                        "roll": 3.20198196277488e-05,
                        "pitch": -0.2830840051174164,
                        "yaw": -0.3490905165672302
                    }
                },
                "velocity": {
                    "x": 8.05070686340332,
                    "y": -0.04906259477138519,
                    "z": -0.04055674374103546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.619387149810791,
                "transform": {
                    "location": {
                        "x": 625.4266357421875,
                        "y": 4297.2685546875,
                        "z": 370.0823669433594
                    },
                    "rotation": {
                        "roll": -0.0007934572058729827,
                        "pitch": -0.2633379399776459,
                        "yaw": -0.3565368354320526
                    }
                },
                "velocity": {
                    "x": 7.619163513183594,
                    "y": -0.04464652016758919,
                    "z": -0.03764333575963974
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.118005752563477,
                "transform": {
                    "location": {
                        "x": 666.989990234375,
                        "y": 4293.787109375,
                        "z": 369.8758850097656
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.3160669803619385,
                        "yaw": 0.05883726105093956
                    }
                },
                "velocity": {
                    "x": 8.117732048034668,
                    "y": -0.04927453771233559,
                    "z": -0.04492586478590965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09290885925293,
                "transform": {
                    "location": {
                        "x": 667.9773559570312,
                        "y": 4297.0205078125,
                        "z": 369.8705749511719
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": -0.31570500135421753,
                        "yaw": -0.3631591498851776
                    }
                },
                "velocity": {
                    "x": 8.092629432678223,
                    "y": -0.05027370899915695,
                    "z": -0.044692594558000565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002669517998583615,
                "transform": {
                    "location": {
                        "x": 667.829833984375,
                        "y": 4287.0712890625,
                        "z": 369.8624572753906
                    },
                    "rotation": {
                        "roll": -3.0517518098349683e-05,
                        "pitch": 0.18919622898101807,
                        "yaw": 179.6768798828125
                    }
                },
                "velocity": {
                    "x": -0.00014848441060166806,
                    "y": 0.0001382189366267994,
                    "z": 0.000173525681020692
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7026524543762207,
                "transform": {
                    "location": {
                        "x": 654.591064453125,
                        "y": 4287.150390625,
                        "z": 369.9447937011719
                    },
                    "rotation": {
                        "roll": 0.0003609696577768773,
                        "pitch": 0.00023222641902975738,
                        "yaw": 179.6510009765625
                    }
                },
                "velocity": {
                    "x": -0.7026261687278748,
                    "y": 0.004749849904328585,
                    "z": 0.003791437018662691
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.908445358276367,
                "transform": {
                    "location": {
                        "x": 600.8837890625,
                        "y": 4287.46728515625,
                        "z": 370.20269775390625
                    },
                    "rotation": {
                        "roll": 0.003113064682111144,
                        "pitch": 0.2810076177120209,
                        "yaw": 179.7091064453125
                    }
                },
                "velocity": {
                    "x": -7.908257484436035,
                    "y": 0.04014315828680992,
                    "z": 0.03693297132849693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.057570457458496,
                "transform": {
                    "location": {
                        "x": 583.6959838867188,
                        "y": 4287.5703125,
                        "z": 370.3182067871094
                    },
                    "rotation": {
                        "roll": 0.0006717370124533772,
                        "pitch": 0.25075671076774597,
                        "yaw": 179.70420837402344
                    }
                },
                "velocity": {
                    "x": -8.057385444641113,
                    "y": 0.04346613958477974,
                    "z": 0.033055659383535385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.927003860473633,
                "transform": {
                    "location": {
                        "x": 646.1708984375,
                        "y": 4290.453125,
                        "z": 369.9879150390625
                    },
                    "rotation": {
                        "roll": 0.0009907758794724941,
                        "pitch": 0.15979227423667908,
                        "yaw": 179.7062225341797
                    }
                },
                "velocity": {
                    "x": -7.9268012046813965,
                    "y": 0.03828580677509308,
                    "z": 0.04177950695157051
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030461311340332,
                "transform": {
                    "location": {
                        "x": 615.6846923828125,
                        "y": 4290.62646484375,
                        "z": 370.1406555175781
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 0.2730094790458679,
                        "yaw": 179.66586303710938
                    }
                },
                "velocity": {
                    "x": -8.030223846435547,
                    "y": 0.04926585406064987,
                    "z": 0.03720498085021973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007357597351074,
                "transform": {
                    "location": {
                        "x": 595.724365234375,
                        "y": 4290.744140625,
                        "z": 370.26519775390625
                    },
                    "rotation": {
                        "roll": 0.0007239598198793828,
                        "pitch": 0.261186420917511,
                        "yaw": 179.63677978515625
                    }
                },
                "velocity": {
                    "x": -8.007113456726074,
                    "y": 0.05074562132358551,
                    "z": 0.03642112761735916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.534818649291992,
                "transform": {
                    "location": {
                        "x": 663.8236083984375,
                        "y": 4290.34375,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0008788871928118169,
                        "pitch": 0.42326679825782776,
                        "yaw": 179.6908721923828
                    }
                },
                "velocity": {
                    "x": -5.534643650054932,
                    "y": 0.03238968178629875,
                    "z": 0.02981722727417946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.863053560256958,
        "expert_target_speed": 10.0,
        "target_point": [
            46.21184251261061,
            -2.5211731849378207
        ],
        "target_point_next": [
            52.18777005068184,
            -3.0579187144778492
        ]
    },
    "360": {
        "acceleration": [
            -3.5886383056640625,
            -0.33774256706237793,
            0.041670799255371094
        ],
        "angular_velocity": [
            -0.024645349010825157,
            0.09693233668804169,
            -0.8460987210273743
        ],
        "forward_vector": [
            -0.9963979125022888,
            -0.0838058590888977,
            0.012957209721207619
        ],
        "right_vector": [
            0.08380953222513199,
            -0.9964817762374878,
            -0.00025961341452784836
        ],
        "location": [
            623.2710571289062,
            4288.826171875,
            370.0939636230469
        ],
        "rotation": [
            0.014876002445816994,
            0.7424141764640808,
            -175.19223022460938
        ],
        "velocity": [
            -10.656628608703613,
            -0.9013890027999878,
            0.05312062054872513
        ],
        "speed": 10.694682577720998,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.34187126159668,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                598.9669189453125,
                4287.4765625,
                370.21240234375
            ],
            "velocity": [
                -7.222907066345215,
                0.03926217928528786,
                0.03382965922355652
            ],
            "speed_kmh": 26.003134791770407,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.28438138961792,
                "transform": {
                    "location": {
                        "x": 576.8450927734375,
                        "y": 4297.49365234375,
                        "z": 370.3464050292969
                    },
                    "rotation": {
                        "roll": 0.005060036201030016,
                        "pitch": -0.1235307976603508,
                        "yaw": 0.21484017372131348
                    }
                },
                "velocity": {
                    "x": 5.284332752227783,
                    "y": 0.007456637918949127,
                    "z": -0.02133367583155632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8724148273468018,
                "transform": {
                    "location": {
                        "x": 575.2188110351562,
                        "y": 4294.23388671875,
                        "z": 370.3121337890625
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.21420155465602875,
                        "yaw": 0.09777981042861938
                    }
                },
                "velocity": {
                    "x": 2.872316598892212,
                    "y": 0.021238382905721664,
                    "z": -0.010653714649379253
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085020065307617,
                "transform": {
                    "location": {
                        "x": 627.7808227539062,
                        "y": 4294.00830078125,
                        "z": 370.0726623535156
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.28387629985809326,
                        "yaw": -0.349365234375
                    }
                },
                "velocity": {
                    "x": 8.084766387939453,
                    "y": -0.049303144216537476,
                    "z": -0.04080488532781601
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.701631546020508,
                "transform": {
                    "location": {
                        "x": 627.42578125,
                        "y": 4297.25634765625,
                        "z": 370.0722961425781
                    },
                    "rotation": {
                        "roll": 0.0012729939771816134,
                        "pitch": -0.2491447925567627,
                        "yaw": -0.361846923828125
                    }
                },
                "velocity": {
                    "x": 8.70137882232666,
                    "y": -0.05084137246012688,
                    "z": -0.042515967041254044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.031050682067871,
                "transform": {
                    "location": {
                        "x": 669.008056640625,
                        "y": 4293.775390625,
                        "z": 369.8648376464844
                    },
                    "rotation": {
                        "roll": -0.004364012740552425,
                        "pitch": -0.3158552646636963,
                        "yaw": 0.08709534257650375
                    }
                },
                "velocity": {
                    "x": 8.030786514282227,
                    "y": -0.0476398691534996,
                    "z": -0.04450433701276779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063109397888184,
                "transform": {
                    "location": {
                        "x": 669.9967041015625,
                        "y": 4297.00830078125,
                        "z": 369.85955810546875
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": -0.31545910239219666,
                        "yaw": -0.3590697944164276
                    }
                },
                "velocity": {
                    "x": 8.062827110290527,
                    "y": -0.05046992748975754,
                    "z": -0.04491036757826805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6058470606803894,
                "transform": {
                    "location": {
                        "x": 667.7667236328125,
                        "y": 4287.07177734375,
                        "z": 369.8620910644531
                    },
                    "rotation": {
                        "roll": 0.00026822066865861416,
                        "pitch": 0.2930424213409424,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": -0.6058273911476135,
                    "y": 0.003894402412697673,
                    "z": 0.0029463577084243298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1468443870544434,
                "transform": {
                    "location": {
                        "x": 654.2206420898438,
                        "y": 4287.15283203125,
                        "z": 369.943115234375
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.46228083968162537,
                        "yaw": 179.6641082763672
                    }
                },
                "velocity": {
                    "x": -2.146782875061035,
                    "y": 0.012356886640191078,
                    "z": 0.010565776377916336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.223093032836914,
                "transform": {
                    "location": {
                        "x": 598.9669189453125,
                        "y": 4287.4765625,
                        "z": 370.21240234375
                    },
                    "rotation": {
                        "roll": 0.002861768240109086,
                        "pitch": 0.08711222559213638,
                        "yaw": 179.696044921875
                    }
                },
                "velocity": {
                    "x": -7.222907066345215,
                    "y": 0.03926217928528786,
                    "z": 0.03382965922355652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00039291381836,
                "transform": {
                    "location": {
                        "x": 581.6902465820312,
                        "y": 4287.5810546875,
                        "z": 370.3267822265625
                    },
                    "rotation": {
                        "roll": 0.0015344478888437152,
                        "pitch": 0.24237607419490814,
                        "yaw": 179.6741943359375
                    }
                },
                "velocity": {
                    "x": -8.000198364257812,
                    "y": 0.04494652524590492,
                    "z": 0.033161114901304245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.78441047668457,
                "transform": {
                    "location": {
                        "x": 644.076171875,
                        "y": 4290.4638671875,
                        "z": 369.9986267089844
                    },
                    "rotation": {
                        "roll": 0.0011413645697757602,
                        "pitch": 0.19595128297805786,
                        "yaw": 179.6996612548828
                    }
                },
                "velocity": {
                    "x": -8.784173965454102,
                    "y": 0.04626637324690819,
                    "z": 0.04482328146696091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030499458312988,
                "transform": {
                    "location": {
                        "x": 613.6768798828125,
                        "y": 4290.63818359375,
                        "z": 370.1502685546875
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": 0.27299582958221436,
                        "yaw": 179.63540649414062
                    }
                },
                "velocity": {
                    "x": -8.030263900756836,
                    "y": 0.048645034432411194,
                    "z": 0.037616003304719925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043388366699219,
                "transform": {
                    "location": {
                        "x": 593.7178955078125,
                        "y": 4290.75537109375,
                        "z": 370.2742919921875
                    },
                    "rotation": {
                        "roll": -3.051761814276688e-05,
                        "pitch": 0.2615552544593811,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -8.043145179748535,
                    "y": 0.05044572055339813,
                    "z": 0.03696678206324577
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.557607650756836,
                "transform": {
                    "location": {
                        "x": 662.2318725585938,
                        "y": 4290.3525390625,
                        "z": 369.8982238769531
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.6729443669319153,
                        "yaw": 179.73049926757812
                    }
                },
                "velocity": {
                    "x": -7.557378768920898,
                    "y": 0.04135042428970337,
                    "z": 0.04179670289158821
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.618323028087616,
        "expert_target_speed": 10.0,
        "target_point": [
            43.673353400191786,
            -2.5345466655252604
        ],
        "target_point_next": [
            49.64913329129878,
            -3.0729335123189934
        ]
    },
    "365": {
        "acceleration": [
            -2.7274322509765625,
            0.039113759994506836,
            0.008663982152938843
        ],
        "angular_velocity": [
            0.1289350688457489,
            -0.33283117413520813,
            -0.06386248022317886
        ],
        "forward_vector": [
            -0.99654221534729,
            -0.08224330097436905,
            0.01181849092245102
        ],
        "right_vector": [
            0.08223775029182434,
            -0.9966123104095459,
            -0.0009558778256177902
        ],
        "location": [
            620.5103149414062,
            4288.5966796875,
            370.10784912109375
        ],
        "rotation": [
            0.054771602153778076,
            0.6771653890609741,
            -175.2821502685547
        ],
        "velocity": [
            -11.383668899536133,
            -0.921875536441803,
            0.05516396462917328
        ],
        "speed": 11.420935693670463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 23.34968376159668,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                597.1873168945312,
                4287.486328125,
                370.2203369140625
            ],
            "velocity": [
                -7.257667064666748,
                0.04123387113213539,
                0.03348604962229729
            ],
            "speed_kmh": 26.128301205566046,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.658995151519775,
                "transform": {
                    "location": {
                        "x": 578.2152099609375,
                        "y": 4297.49658203125,
                        "z": 370.34112548828125
                    },
                    "rotation": {
                        "roll": 0.0017049324233084917,
                        "pitch": -0.18261875212192535,
                        "yaw": 0.07695826143026352
                    }
                },
                "velocity": {
                    "x": 5.658945083618164,
                    "y": 0.004717202857136726,
                    "z": -0.023343829438090324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5140392780303955,
                "transform": {
                    "location": {
                        "x": 576.0169677734375,
                        "y": 4294.23876953125,
                        "z": 370.3088684082031
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -0.21426302194595337,
                        "yaw": 0.22403627634048462
                    }
                },
                "velocity": {
                    "x": 3.5139055252075195,
                    "y": 0.02729063481092453,
                    "z": -0.0139950942248106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051006317138672,
                "transform": {
                    "location": {
                        "x": 629.7974243164062,
                        "y": 4293.99658203125,
                        "z": 370.06256103515625
                    },
                    "rotation": {
                        "roll": 0.0009722347022034228,
                        "pitch": -0.2906177043914795,
                        "yaw": -0.3467712104320526
                    }
                },
                "velocity": {
                    "x": 8.050756454467773,
                    "y": -0.04870044067502022,
                    "z": -0.04057712107896805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.444368362426758,
                "transform": {
                    "location": {
                        "x": 629.6019897460938,
                        "y": 4297.244140625,
                        "z": 370.0617370605469
                    },
                    "rotation": {
                        "roll": 0.0004987712018191814,
                        "pitch": -0.28671765327453613,
                        "yaw": -0.3844604194164276
                    }
                },
                "velocity": {
                    "x": 8.444108963012695,
                    "y": -0.048881400376558304,
                    "z": -0.044644951820373535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.117420196533203,
                "transform": {
                    "location": {
                        "x": 671.02685546875,
                        "y": 4293.763671875,
                        "z": 369.8537292480469
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.31491267681121826,
                        "yaw": 0.06804380565881729
                    }
                },
                "velocity": {
                    "x": 8.117138862609863,
                    "y": -0.050786733627319336,
                    "z": -0.04454048350453377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09328556060791,
                "transform": {
                    "location": {
                        "x": 672.0164184570312,
                        "y": 4296.99658203125,
                        "z": 369.8484802246094
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.31664755940437317,
                        "yaw": -0.352325439453125
                    }
                },
                "velocity": {
                    "x": 8.093006134033203,
                    "y": -0.04978039488196373,
                    "z": -0.04512335732579231
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3221629858016968,
                "transform": {
                    "location": {
                        "x": 667.5172729492188,
                        "y": 4287.0732421875,
                        "z": 369.8631591796875
                    },
                    "rotation": {
                        "roll": 0.000953985785599798,
                        "pitch": 0.3288189470767975,
                        "yaw": 179.76268005371094
                    }
                },
                "velocity": {
                    "x": -1.3221232891082764,
                    "y": 0.00785065907984972,
                    "z": 0.006571807898581028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2061922550201416,
                "transform": {
                    "location": {
                        "x": 653.8736572265625,
                        "y": 4287.14990234375,
                        "z": 369.9471435546875
                    },
                    "rotation": {
                        "roll": 0.010474944487214088,
                        "pitch": 0.18828780949115753,
                        "yaw": 179.12472534179688
                    }
                },
                "velocity": {
                    "x": -1.20615553855896,
                    "y": 0.007169188000261784,
                    "z": 0.006088476162403822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.257861614227295,
                "transform": {
                    "location": {
                        "x": 597.1873168945312,
                        "y": 4287.486328125,
                        "z": 370.2203369140625
                    },
                    "rotation": {
                        "roll": 0.0021403117571026087,
                        "pitch": 0.15369974076747894,
                        "yaw": 179.68431091308594
                    }
                },
                "velocity": {
                    "x": -7.257667064666748,
                    "y": 0.04123387113213539,
                    "z": 0.03348604962229729
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036006927490234,
                "transform": {
                    "location": {
                        "x": 579.6863403320312,
                        "y": 4287.59326171875,
                        "z": 370.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0007797327125445008,
                        "pitch": 0.2417067140340805,
                        "yaw": 179.6942138671875
                    }
                },
                "velocity": {
                    "x": -8.03581428527832,
                    "y": 0.04473692178726196,
                    "z": 0.0331331230700016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.711470603942871,
                "transform": {
                    "location": {
                        "x": 641.7584838867188,
                        "y": 4290.47607421875,
                        "z": 370.0106506347656
                    },
                    "rotation": {
                        "roll": 0.0013153464533388615,
                        "pitch": 0.2069888710975647,
                        "yaw": 179.69650268554688
                    }
                },
                "velocity": {
                    "x": -9.711198806762695,
                    "y": 0.0534350611269474,
                    "z": 0.049311865121126175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03091812133789,
                "transform": {
                    "location": {
                        "x": 611.6690673828125,
                        "y": 4290.650390625,
                        "z": 370.1598815917969
                    },
                    "rotation": {
                        "roll": -3.0517488994519226e-05,
                        "pitch": 0.27272942662239075,
                        "yaw": 179.6676483154297
                    }
                },
                "velocity": {
                    "x": -8.030680656433105,
                    "y": 0.04934815317392349,
                    "z": 0.037245310842990875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00834846496582,
                "transform": {
                    "location": {
                        "x": 591.7117309570312,
                        "y": 4290.767578125,
                        "z": 370.2833251953125
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.2578396201133728,
                        "yaw": 179.6409149169922
                    }
                },
                "velocity": {
                    "x": -8.008109092712402,
                    "y": 0.05015525594353676,
                    "z": 0.03618606552481651
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.042076110839844,
                "transform": {
                    "location": {
                        "x": 660.128173828125,
                        "y": 4290.3642578125,
                        "z": 369.9095153808594
                    },
                    "rotation": {
                        "roll": 0.001760754850693047,
                        "pitch": 0.6441619396209717,
                        "yaw": 179.67575073242188
                    }
                },
                "velocity": {
                    "x": -9.041792869567871,
                    "y": 0.05220956355333328,
                    "z": 0.0488550178706646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4439176917076111,
        "expert_target_speed": 10.0,
        "target_point": [
            40.90701323952305,
            -2.467654189234291
        ],
        "target_point_next": [
            46.88363064718455,
            -2.996662758348925
        ]
    },
    "370": {
        "acceleration": [
            -1.5741539001464844,
            0.4520571231842041,
            0.01539185643196106
        ],
        "angular_velocity": [
            0.38227546215057373,
            -0.40723833441734314,
            -3.9736671447753906
        ],
        "forward_vector": [
            -0.9973068237304688,
            -0.07261183112859726,
            0.010325485840439796
        ],
        "right_vector": [
            0.07258931547403336,
            -0.9973586797714233,
            -0.0025391324888914824
        ],
        "location": [
            617.5849609375,
            4288.37353515625,
            370.12237548828125
        ],
        "rotation": [
            0.14548948407173157,
            0.5916172862052917,
            -175.8357696533203
        ],
        "velocity": [
            -11.947985649108887,
            -0.8414463400840759,
            0.057197920978069305
        ],
        "speed": 11.977578762611115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.346893310546875,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                595.2554931640625,
                4287.49755859375,
                370.22796630859375
            ],
            "velocity": [
                -8.064815521240234,
                0.04572730138897896,
                0.036728065460920334
            ],
            "speed_kmh": 29.034103631723298,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.933044910430908,
                "transform": {
                    "location": {
                        "x": 579.889892578125,
                        "y": 4297.4990234375,
                        "z": 370.3328857421875
                    },
                    "rotation": {
                        "roll": 0.0006198770715855062,
                        "pitch": -0.03298981115221977,
                        "yaw": 0.05054464191198349
                    }
                },
                "velocity": {
                    "x": 7.932973384857178,
                    "y": 0.004168018698692322,
                    "z": -0.03340070694684982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.350658893585205,
                "transform": {
                    "location": {
                        "x": 577.0,
                        "y": 4294.24365234375,
                        "z": 370.30487060546875
                    },
                    "rotation": {
                        "roll": 0.0003303544071968645,
                        "pitch": -0.21092988550662994,
                        "yaw": 0.24639679491519928
                    }
                },
                "velocity": {
                    "x": 4.35061502456665,
                    "y": 0.008459377102553844,
                    "z": -0.017611170187592506
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08475399017334,
                "transform": {
                    "location": {
                        "x": 631.8145751953125,
                        "y": 4293.98486328125,
                        "z": 370.05230712890625
                    },
                    "rotation": {
                        "roll": 0.001103661605156958,
                        "pitch": -0.29190176725387573,
                        "yaw": -0.3468932807445526
                    }
                },
                "velocity": {
                    "x": 8.084501266479492,
                    "y": -0.04892223700881004,
                    "z": -0.04112892597913742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.084660530090332,
                "transform": {
                    "location": {
                        "x": 631.6605834960938,
                        "y": 4297.23193359375,
                        "z": 370.0513610839844
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.30474936962127686,
                        "yaw": -0.3342590630054474
                    }
                },
                "velocity": {
                    "x": 8.084425926208496,
                    "y": -0.046135373413562775,
                    "z": -0.04080624878406525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030580520629883,
                "transform": {
                    "location": {
                        "x": 673.044921875,
                        "y": 4293.7509765625,
                        "z": 369.8426818847656
                    },
                    "rotation": {
                        "roll": -0.003906249301508069,
                        "pitch": -0.31921571493148804,
                        "yaw": 0.08516868948936462
                    }
                },
                "velocity": {
                    "x": 8.03032112121582,
                    "y": -0.04713251814246178,
                    "z": -0.04411740601062775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063432693481445,
                "transform": {
                    "location": {
                        "x": 674.0355834960938,
                        "y": 4296.98486328125,
                        "z": 369.8373718261719
                    },
                    "rotation": {
                        "roll": 0.000776158703956753,
                        "pitch": -0.31890833377838135,
                        "yaw": -0.35137939453125
                    }
                },
                "velocity": {
                    "x": 8.063156127929688,
                    "y": -0.04945570230484009,
                    "z": -0.044800374656915665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1867215633392334,
                "transform": {
                    "location": {
                        "x": 667.0728149414062,
                        "y": 4287.0751953125,
                        "z": 369.86553955078125
                    },
                    "rotation": {
                        "roll": -0.0008239743765443563,
                        "pitch": 0.33224770426750183,
                        "yaw": 179.74542236328125
                    }
                },
                "velocity": {
                    "x": -2.186659812927246,
                    "y": 0.01204630360007286,
                    "z": 0.011159028857946396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5163989067077637,
                "transform": {
                    "location": {
                        "x": 653.3536376953125,
                        "y": 4287.154296875,
                        "z": 369.947021484375
                    },
                    "rotation": {
                        "roll": -0.005462645553052425,
                        "pitch": 0.5395575761795044,
                        "yaw": 179.25804138183594
                    }
                },
                "velocity": {
                    "x": -2.5162999629974365,
                    "y": 0.017754370346665382,
                    "z": 0.013526429422199726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.06502914428711,
                "transform": {
                    "location": {
                        "x": 595.2554931640625,
                        "y": 4287.49755859375,
                        "z": 370.22796630859375
                    },
                    "rotation": {
                        "roll": 0.0021796857472509146,
                        "pitch": 0.4629092216491699,
                        "yaw": 179.6758270263672
                    }
                },
                "velocity": {
                    "x": -8.064815521240234,
                    "y": 0.04572730138897896,
                    "z": 0.036728065460920334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029324531555176,
                "transform": {
                    "location": {
                        "x": 577.6768188476562,
                        "y": 4287.6044921875,
                        "z": 370.3435363769531
                    },
                    "rotation": {
                        "roll": 0.0007978985086083412,
                        "pitch": 0.23847603797912598,
                        "yaw": 179.66514587402344
                    }
                },
                "velocity": {
                    "x": -8.029122352600098,
                    "y": 0.04638919234275818,
                    "z": 0.03298354148864746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.527430534362793,
                "transform": {
                    "location": {
                        "x": 639.224853515625,
                        "y": 4290.490234375,
                        "z": 370.0238342285156
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.21078646183013916,
                        "yaw": 179.68649291992188
                    }
                },
                "velocity": {
                    "x": -10.527125358581543,
                    "y": 0.059868067502975464,
                    "z": 0.05329827964305878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031027793884277,
                "transform": {
                    "location": {
                        "x": 609.6612548828125,
                        "y": 4290.662109375,
                        "z": 370.1694030761719
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.26959437131881714,
                        "yaw": 179.62901306152344
                    }
                },
                "velocity": {
                    "x": -8.03077507019043,
                    "y": 0.051508963108062744,
                    "z": 0.03748387098312378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044336318969727,
                "transform": {
                    "location": {
                        "x": 589.7052001953125,
                        "y": 4290.779296875,
                        "z": 370.29217529296875
                    },
                    "rotation": {
                        "roll": 0.00040521626942791045,
                        "pitch": 0.25393274426460266,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -8.044097900390625,
                    "y": 0.04982808604836464,
                    "z": 0.0367380790412426
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.99321460723877,
                "transform": {
                    "location": {
                        "x": 657.743408203125,
                        "y": 4290.3779296875,
                        "z": 369.9223327636719
                    },
                    "rotation": {
                        "roll": 0.0009977697627618909,
                        "pitch": 0.5450627207756042,
                        "yaw": 179.6660614013672
                    }
                },
                "velocity": {
                    "x": -9.992898941040039,
                    "y": 0.059326957911252975,
                    "z": 0.052845925092697144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3397935628890991,
        "expert_target_speed": 10.0,
        "target_point": [
            37.995112387934846,
            -2.082405088793057
        ],
        "target_point_next": [
            43.97656232375389,
            -2.553640029188604
        ]
    },
    "375": {
        "acceleration": [
            0.4819488525390625,
            0.6120240688323975,
            -0.009331703186035156
        ],
        "angular_velocity": [
            0.14556469023227692,
            -0.7695243954658508,
            -1.540753960609436
        ],
        "forward_vector": [
            -0.9981526732444763,
            -0.06029345467686653,
            0.007476259488612413
        ],
        "right_vector": [
            0.060269419103860855,
            -0.9981763362884521,
            -0.0033993455581367016
        ],
        "location": [
            614.5798950195312,
            4288.17822265625,
            370.1373291015625
        ],
        "rotation": [
            0.19477397203445435,
            0.4283621311187744,
            -176.54324340820312
        ],
        "velocity": [
            -12.02025032043457,
            -0.7051454186439514,
            0.05636198818683624
        ],
        "speed": 12.040915572635743,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 21.31194496154785,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                593.2786865234375,
                4287.50927734375,
                370.2377014160156
            ],
            "velocity": [
                -7.674198627471924,
                0.044537365436553955,
                0.035687532275915146
            ],
            "speed_kmh": 27.62787902626628,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.289886474609375,
                "transform": {
                    "location": {
                        "x": 581.9653930664062,
                        "y": 4297.5,
                        "z": 370.3251953125
                    },
                    "rotation": {
                        "roll": 0.004366153385490179,
                        "pitch": -0.15771588683128357,
                        "yaw": 0.02273380011320114
                    }
                },
                "velocity": {
                    "x": 8.289800643920898,
                    "y": -0.013000587932765484,
                    "z": -0.03544484078884125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.277631759643555,
                "transform": {
                    "location": {
                        "x": 578.2139892578125,
                        "y": 4294.24609375,
                        "z": 370.3000793457031
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.2062375545501709,
                        "yaw": 0.1497306227684021
                    }
                },
                "velocity": {
                    "x": 5.277590274810791,
                    "y": 0.006037934683263302,
                    "z": -0.020029958337545395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052200317382812,
                "transform": {
                    "location": {
                        "x": 633.831298828125,
                        "y": 4293.97314453125,
                        "z": 370.04205322265625
                    },
                    "rotation": {
                        "roll": 0.000770671758800745,
                        "pitch": -0.29158759117126465,
                        "yaw": -0.34991455078125
                    }
                },
                "velocity": {
                    "x": 8.051947593688965,
                    "y": -0.04920031875371933,
                    "z": -0.04061732813715935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.997128009796143,
                "transform": {
                    "location": {
                        "x": 633.5889892578125,
                        "y": 4297.22119140625,
                        "z": 370.0417785644531
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": -0.32528090476989746,
                        "yaw": -0.3556213080883026
                    }
                },
                "velocity": {
                    "x": 6.996915817260742,
                    "y": -0.0408363938331604,
                    "z": -0.03611607104539871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11843490600586,
                "transform": {
                    "location": {
                        "x": 675.0639038085938,
                        "y": 4293.73974609375,
                        "z": 369.83160400390625
                    },
                    "rotation": {
                        "roll": -0.0017395016038790345,
                        "pitch": -0.31860098242759705,
                        "yaw": 0.07533544301986694
                    }
                },
                "velocity": {
                    "x": 8.118159294128418,
                    "y": -0.049042411148548126,
                    "z": -0.045496128499507904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093320846557617,
                "transform": {
                    "location": {
                        "x": 676.0552978515625,
                        "y": 4296.97314453125,
                        "z": 369.8262023925781
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.3182389736175537,
                        "yaw": -0.3493957221508026
                    }
                },
                "velocity": {
                    "x": 8.093045234680176,
                    "y": -0.049221739172935486,
                    "z": -0.045072250068187714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6921017169952393,
                "transform": {
                    "location": {
                        "x": 666.467041015625,
                        "y": 4287.0791015625,
                        "z": 369.8689270019531
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.32770562171936035,
                        "yaw": 179.72682189941406
                    }
                },
                "velocity": {
                    "x": -2.6920242309570312,
                    "y": 0.01493645366281271,
                    "z": 0.013908262364566326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001952370279468596,
                "transform": {
                    "location": {
                        "x": 653.133056640625,
                        "y": 4287.1572265625,
                        "z": 369.9537353515625
                    },
                    "rotation": {
                        "roll": 0.0010140183148905635,
                        "pitch": -0.14669878780841827,
                        "yaw": 179.38253784179688
                    }
                },
                "velocity": {
                    "x": -0.0019394011469557881,
                    "y": 2.8655065761995502e-05,
                    "z": 0.00022282756981439888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.674410820007324,
                "transform": {
                    "location": {
                        "x": 593.2786865234375,
                        "y": 4287.50927734375,
                        "z": 370.2377014160156
                    },
                    "rotation": {
                        "roll": 0.0019442985067144036,
                        "pitch": 0.2630169093608856,
                        "yaw": 179.66714477539062
                    }
                },
                "velocity": {
                    "x": -7.674198627471924,
                    "y": 0.044537365436553955,
                    "z": 0.035687532275915146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019037246704102,
                "transform": {
                    "location": {
                        "x": 575.672119140625,
                        "y": 4287.61669921875,
                        "z": 370.35174560546875
                    },
                    "rotation": {
                        "roll": -0.00021362309053074569,
                        "pitch": 0.2344462275505066,
                        "yaw": 179.6864013671875
                    }
                },
                "velocity": {
                    "x": -8.018839836120605,
                    "y": 0.045453138649463654,
                    "z": 0.033062685281038284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.38613510131836,
                "transform": {
                    "location": {
                        "x": 636.4801635742188,
                        "y": 4290.505859375,
                        "z": 370.0379943847656
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.20761725306510925,
                        "yaw": 179.6791229248047
                    }
                },
                "velocity": {
                    "x": -11.385812759399414,
                    "y": 0.06368710845708847,
                    "z": 0.05732250213623047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03035831451416,
                "transform": {
                    "location": {
                        "x": 607.6534423828125,
                        "y": 4290.67431640625,
                        "z": 370.1789855957031
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.2689864933490753,
                        "yaw": 179.6658172607422
                    }
                },
                "velocity": {
                    "x": -8.030119895935059,
                    "y": 0.04939691349864006,
                    "z": 0.03716866299510002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006758689880371,
                "transform": {
                    "location": {
                        "x": 587.6990356445312,
                        "y": 4290.791015625,
                        "z": 370.3009948730469
                    },
                    "rotation": {
                        "roll": 0.0009089488303288817,
                        "pitch": 0.2535024583339691,
                        "yaw": 179.64173889160156
                    }
                },
                "velocity": {
                    "x": -8.006522178649902,
                    "y": 0.050085943192243576,
                    "z": 0.035677727311849594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.586498260498047,
                "transform": {
                    "location": {
                        "x": 655.1551513671875,
                        "y": 4290.3935546875,
                        "z": 369.9361572265625
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.46618086099624634,
                        "yaw": 179.65896606445312
                    }
                },
                "velocity": {
                    "x": -10.58615779876709,
                    "y": 0.0628906637430191,
                    "z": 0.05707690119743347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2433849573135376,
        "expert_target_speed": 10.0,
        "target_point": [
            35.00655333048789,
            -1.6268720603025637
        ],
        "target_point_next": [
            40.993365808244924,
            -2.0242158156729673
        ]
    },
    "380": {
        "acceleration": [
            2.1738243103027344,
            0.6578612327575684,
            -0.019438713788986206
        ],
        "angular_velocity": [
            0.06834305077791214,
            -0.7803359031677246,
            -4.075223445892334
        ],
        "forward_vector": [
            -0.9988295435905457,
            -0.04819311946630478,
            0.0041081784293055534
        ],
        "right_vector": [
            0.0481780469417572,
            -0.9988319277763367,
            -0.0036926367320120335
        ],
        "location": [
            611.6171264648438,
            4288.02001953125,
            370.1521911621094
        ],
        "rotation": [
            0.2115747630596161,
            0.23538196086883545,
            -177.23764038085938
        ],
        "velocity": [
            -11.645172119140625,
            -0.5449004769325256,
            0.05607268214225769
        ],
        "speed": 11.657913630413097,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 20.23299789428711,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                591.3905029296875,
                4287.52099609375,
                370.24639892578125
            ],
            "velocity": [
                -7.621989727020264,
                0.04438083991408348,
                0.033502787351608276
            ],
            "speed_kmh": 27.4398932331907,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7838544845581055,
                "transform": {
                    "location": {
                        "x": 583.961669921875,
                        "y": 4297.49658203125,
                        "z": 370.3175964355469
                    },
                    "rotation": {
                        "roll": 0.0018073878018185496,
                        "pitch": -0.26727211475372314,
                        "yaw": -0.1170959323644638
                    }
                },
                "velocity": {
                    "x": 7.783750534057617,
                    "y": -0.022822180762887,
                    "z": -0.033142708241939545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.568527698516846,
                "transform": {
                    "location": {
                        "x": 579.5477905273438,
                        "y": 4294.24853515625,
                        "z": 370.2945861816406
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.22189916670322418,
                        "yaw": 0.13581597805023193
                    }
                },
                "velocity": {
                    "x": 5.5684814453125,
                    "y": 0.005573765374720097,
                    "z": -0.021980227902531624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083786010742188,
                "transform": {
                    "location": {
                        "x": 635.8483276367188,
                        "y": 4293.96142578125,
                        "z": 370.03179931640625
                    },
                    "rotation": {
                        "roll": 0.0004614711506292224,
                        "pitch": -0.29152610898017883,
                        "yaw": -0.3505859375
                    }
                },
                "velocity": {
                    "x": 8.083529472351074,
                    "y": -0.049438413232564926,
                    "z": -0.041357673704624176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.873408317565918,
                "transform": {
                    "location": {
                        "x": 635.29443359375,
                        "y": 4297.2109375,
                        "z": 370.0328369140625
                    },
                    "rotation": {
                        "roll": 0.00010170894529437646,
                        "pitch": -0.3054801821708679,
                        "yaw": -0.35491943359375
                    }
                },
                "velocity": {
                    "x": 6.873208522796631,
                    "y": -0.04010932520031929,
                    "z": -0.03377740830183029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030695915222168,
                "transform": {
                    "location": {
                        "x": 677.08203125,
                        "y": 4293.7275390625,
                        "z": 369.8203430175781
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": -0.3204587996006012,
                        "yaw": 0.08098994940519333
                    }
                },
                "velocity": {
                    "x": 8.030431747436523,
                    "y": -0.047696322202682495,
                    "z": -0.04448028281331062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063399314880371,
                "transform": {
                    "location": {
                        "x": 678.0746459960938,
                        "y": 4296.9609375,
                        "z": 369.81500244140625
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.32150381803512573,
                        "yaw": -0.348358154296875
                    }
                },
                "velocity": {
                    "x": 8.063125610351562,
                    "y": -0.04909302666783333,
                    "z": -0.04480615630745888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.415616035461426,
                "transform": {
                    "location": {
                        "x": 665.6980590820312,
                        "y": 4287.0830078125,
                        "z": 369.8730773925781
                    },
                    "rotation": {
                        "roll": 0.0003238979261368513,
                        "pitch": 0.3292834162712097,
                        "yaw": 179.71104431152344
                    }
                },
                "velocity": {
                    "x": -3.415510892868042,
                    "y": 0.01959417387843132,
                    "z": 0.01830405183136463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0033655324950814247,
                "transform": {
                    "location": {
                        "x": 653.1307983398438,
                        "y": 4287.1572265625,
                        "z": 369.95135498046875
                    },
                    "rotation": {
                        "roll": -0.0018005374586209655,
                        "pitch": 0.15050320327281952,
                        "yaw": 179.3825225830078
                    }
                },
                "velocity": {
                    "x": 0.0033544122707098722,
                    "y": 0.00011397136404411867,
                    "z": 0.0002484725264366716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6221923828125,
                "transform": {
                    "location": {
                        "x": 591.3905029296875,
                        "y": 4287.52099609375,
                        "z": 370.24639892578125
                    },
                    "rotation": {
                        "roll": 0.0006944009801372886,
                        "pitch": 0.21845676004886627,
                        "yaw": 179.66644287109375
                    }
                },
                "velocity": {
                    "x": -7.621989727020264,
                    "y": 0.04438083991408348,
                    "z": 0.033502787351608276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03199577331543,
                "transform": {
                    "location": {
                        "x": 573.6654663085938,
                        "y": 4287.6279296875,
                        "z": 370.35986328125
                    },
                    "rotation": {
                        "roll": 0.000836797000374645,
                        "pitch": 0.23122921586036682,
                        "yaw": 179.65748596191406
                    }
                },
                "velocity": {
                    "x": -8.031794548034668,
                    "y": 0.046072203665971756,
                    "z": 0.033447474241256714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.16440200805664,
                "transform": {
                    "location": {
                        "x": 633.5325317382812,
                        "y": 4290.52197265625,
                        "z": 370.0530090332031
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.20699569582939148,
                        "yaw": 179.67662048339844
                    }
                },
                "velocity": {
                    "x": -12.164042472839355,
                    "y": 0.0708477795124054,
                    "z": 0.060989655554294586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030741691589355,
                "transform": {
                    "location": {
                        "x": 605.6456298828125,
                        "y": 4290.685546875,
                        "z": 370.18841552734375
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 0.2688977122306824,
                        "yaw": 179.62799072265625
                    }
                },
                "velocity": {
                    "x": -8.030492782592773,
                    "y": 0.051172997802495956,
                    "z": 0.0370476134121418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045478820800781,
                "transform": {
                    "location": {
                        "x": 585.6924438476562,
                        "y": 4290.80419921875,
                        "z": 370.30975341796875
                    },
                    "rotation": {
                        "roll": 0.0002694659633561969,
                        "pitch": 0.24902185797691345,
                        "yaw": 179.6374969482422
                    }
                },
                "velocity": {
                    "x": -8.045248031616211,
                    "y": 0.05094273388385773,
                    "z": 0.03344741836190224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.651735305786133,
                "transform": {
                    "location": {
                        "x": 652.4020385742188,
                        "y": 4290.40966796875,
                        "z": 369.9508361816406
                    },
                    "rotation": {
                        "roll": 0.0007846829248592257,
                        "pitch": 0.5260406732559204,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -11.65136432647705,
                    "y": 0.0701834112405777,
                    "z": 0.06107259541749954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.186163991689682,
        "expert_target_speed": 10.0,
        "target_point": [
            32.05674834602124,
            -1.2177403149161545
        ],
        "target_point_next": [
            38.04793657342594,
            -1.5425007305557967
        ]
    },
    "385": {
        "acceleration": [
            1.5471458435058594,
            0.5932998657226562,
            -0.01764260232448578
        ],
        "angular_velocity": [
            -0.0030784807167947292,
            -0.1063838079571724,
            -1.0197945833206177
        ],
        "forward_vector": [
            -0.9993140697479248,
            -0.037006866186857224,
            0.0013908141991123557
        ],
        "right_vector": [
            0.03700152784585953,
            -0.9993084073066711,
            -0.0036816992796957493
        ],
        "location": [
            608.7904663085938,
            4287.90283203125,
            370.16619873046875
        ],
        "rotation": [
            0.21094651520252228,
            0.07968781143426895,
            -177.87918090820312
        ],
        "velocity": [
            -11.04348373413086,
            -0.3850671052932739,
            0.05204417183995247
        ],
        "speed": 11.05019500559116,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 19.35988998413086,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                589.434326171875,
                4287.5322265625,
                370.254638671875
            ],
            "velocity": [
                -7.88411808013916,
                0.04595395550131798,
                0.033635493367910385
            ],
            "speed_kmh": 28.38356550438417,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.14447021484375,
                "transform": {
                    "location": {
                        "x": 585.9453735351562,
                        "y": 4297.4912109375,
                        "z": 370.3087158203125
                    },
                    "rotation": {
                        "roll": 0.0006334531353786588,
                        "pitch": -0.22836053371429443,
                        "yaw": -0.1712646335363388
                    }
                },
                "velocity": {
                    "x": 8.14434814453125,
                    "y": -0.02710309997200966,
                    "z": -0.03536340966820717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.733865261077881,
                "transform": {
                    "location": {
                        "x": 581.0972290039062,
                        "y": 4294.2509765625,
                        "z": 370.2879333496094
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.20737136900424957,
                        "yaw": 0.05317429080605507
                    }
                },
                "velocity": {
                    "x": 6.733806133270264,
                    "y": 0.0043953293934464455,
                    "z": -0.027905773371458054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050493240356445,
                "transform": {
                    "location": {
                        "x": 637.8650512695312,
                        "y": 4293.94970703125,
                        "z": 370.02142333984375
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": -0.29547396302223206,
                        "yaw": -0.3507689833641052
                    }
                },
                "velocity": {
                    "x": 8.050240516662598,
                    "y": -0.049212392419576645,
                    "z": -0.04056672006845474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.713803291320801,
                "transform": {
                    "location": {
                        "x": 637.1107177734375,
                        "y": 4297.20068359375,
                        "z": 370.0233154296875
                    },
                    "rotation": {
                        "roll": 0.0002751309366431087,
                        "pitch": -0.2714863419532776,
                        "yaw": -0.3643799126148224
                    }
                },
                "velocity": {
                    "x": 7.713558673858643,
                    "y": -0.0464925616979599,
                    "z": -0.04006944224238396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11795711517334,
                "transform": {
                    "location": {
                        "x": 679.1010131835938,
                        "y": 4293.7158203125,
                        "z": 369.8091735839844
                    },
                    "rotation": {
                        "roll": -0.004211424849927425,
                        "pitch": -0.3216540813446045,
                        "yaw": 0.07587192952632904
                    }
                },
                "velocity": {
                    "x": 8.117687225341797,
                    "y": -0.04838106408715248,
                    "z": -0.045160651206970215
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 680.1058349609375,
                        "y": 4296.921875,
                        "z": 369.8026123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3202880322933197,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.076906681060791,
                "transform": {
                    "location": {
                        "x": 664.7516479492188,
                        "y": 4287.0888671875,
                        "z": 369.8782043457031
                    },
                    "rotation": {
                        "roll": 0.00017833654419519007,
                        "pitch": 0.3282998502254486,
                        "yaw": 179.6936798095703
                    }
                },
                "velocity": {
                    "x": -4.076781749725342,
                    "y": 0.02344820834696293,
                    "z": 0.02166934870183468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00045746867544949055,
                "transform": {
                    "location": {
                        "x": 653.129150390625,
                        "y": 4287.1572265625,
                        "z": 369.94964599609375
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": 0.3627445101737976,
                        "yaw": 179.38253784179688
                    }
                },
                "velocity": {
                    "x": 0.0003265970153734088,
                    "y": -7.86781674833037e-05,
                    "z": 0.00031051848782226443
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.884324073791504,
                "transform": {
                    "location": {
                        "x": 589.434326171875,
                        "y": 4287.5322265625,
                        "z": 370.254638671875
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.32326599955558777,
                        "yaw": 179.6667022705078
                    }
                },
                "velocity": {
                    "x": -7.88411808013916,
                    "y": 0.04595395550131798,
                    "z": 0.033635493367910385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024911880493164,
                "transform": {
                    "location": {
                        "x": 571.6583862304688,
                        "y": 4287.64013671875,
                        "z": 370.3679504394531
                    },
                    "rotation": {
                        "roll": 0.000559660722501576,
                        "pitch": 0.23047105967998505,
                        "yaw": 179.68667602539062
                    }
                },
                "velocity": {
                    "x": -8.024718284606934,
                    "y": 0.04549133777618408,
                    "z": 0.03223979100584984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.71635627746582,
                "transform": {
                    "location": {
                        "x": 630.3961181640625,
                        "y": 4290.5400390625,
                        "z": 370.06878662109375
                    },
                    "rotation": {
                        "roll": -3.051748535654042e-05,
                        "pitch": 0.2256421148777008,
                        "yaw": 179.66709899902344
                    }
                },
                "velocity": {
                    "x": -12.715978622436523,
                    "y": 0.0738004744052887,
                    "z": 0.06451842933893204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030730247497559,
                "transform": {
                    "location": {
                        "x": 603.6378173828125,
                        "y": 4290.69775390625,
                        "z": 370.1979675292969
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.26989489793777466,
                        "yaw": 179.66697692871094
                    }
                },
                "velocity": {
                    "x": -8.03049373626709,
                    "y": 0.0491938591003418,
                    "z": 0.03713655471801758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006840705871582,
                "transform": {
                    "location": {
                        "x": 583.6859741210938,
                        "y": 4290.81591796875,
                        "z": 370.318359375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.2463102638721466,
                        "yaw": 179.64703369140625
                    }
                },
                "velocity": {
                    "x": -8.00661563873291,
                    "y": 0.04914966970682144,
                    "z": 0.03438987582921982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.205268859863281,
                "transform": {
                    "location": {
                        "x": 649.4052734375,
                        "y": 4290.42724609375,
                        "z": 369.96673583984375
                    },
                    "rotation": {
                        "roll": 0.0003919457085430622,
                        "pitch": 0.4526844322681427,
                        "yaw": 179.6532745361328
                    }
                },
                "velocity": {
                    "x": -12.204878807067871,
                    "y": 0.07380379736423492,
                    "z": 0.06387990713119507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14290182292461395,
        "expert_target_speed": 10.0,
        "target_point": [
            29.239313005706585,
            -0.8712301989812571
        ],
        "target_point_next": [
            35.23376196060533,
            -1.1288877835243256
        ]
    },
    "390": {
        "acceleration": [
            5.479640960693359,
            0.49145519733428955,
            -0.029787272214889526
        ],
        "angular_velocity": [
            -0.17389792203903198,
            -1.114686369895935,
            -3.0618174076080322
        ],
        "forward_vector": [
            -0.9996507167816162,
            -0.02629292756319046,
            -0.002679702127352357
        ],
        "right_vector": [
            0.02630174346268177,
            -0.9996485710144043,
            -0.0033097052946686745
        ],
        "location": [
            606.1616821289062,
            4287.82373046875,
            370.1795654296875
        ],
        "rotation": [
            0.18963317573070526,
            -0.15353581309318542,
            -178.49334716796875
        ],
        "velocity": [
            -9.742169380187988,
            -0.23460900783538818,
            0.04569637030363083
        ],
        "speed": 9.744993874745633,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.664264678955078,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                587.4996948242188,
                4287.54443359375,
                370.263427734375
            ],
            "velocity": [
                -7.626011371612549,
                0.0460880808532238,
                0.03307254612445831
            ],
            "speed_kmh": 27.45440046302783,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041275978088379,
                "transform": {
                    "location": {
                        "x": 587.981689453125,
                        "y": 4297.48291015625,
                        "z": 370.29998779296875
                    },
                    "rotation": {
                        "roll": 0.002494861138984561,
                        "pitch": -0.2523481547832489,
                        "yaw": -0.23010249435901642
                    }
                },
                "velocity": {
                    "x": 8.041112899780273,
                    "y": -0.03646037355065346,
                    "z": -0.03606158122420311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6615424156188965,
                "transform": {
                    "location": {
                        "x": 582.9219970703125,
                        "y": 4294.2509765625,
                        "z": 370.28021240234375
                    },
                    "rotation": {
                        "roll": 0.0015682561788707972,
                        "pitch": -0.20965947210788727,
                        "yaw": -0.061431884765625
                    }
                },
                "velocity": {
                    "x": 7.6614556312561035,
                    "y": -0.01505172811448574,
                    "z": -0.03324679285287857
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08626651763916,
                "transform": {
                    "location": {
                        "x": 639.8822021484375,
                        "y": 4293.93798828125,
                        "z": 370.0109558105469
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.30127280950546265,
                        "yaw": -0.3502502143383026
                    }
                },
                "velocity": {
                    "x": 8.08600902557373,
                    "y": -0.04947579279541969,
                    "z": -0.04145372658967972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.733957290649414,
                "transform": {
                    "location": {
                        "x": 639.1318359375,
                        "y": 4297.1884765625,
                        "z": 370.0127258300781
                    },
                    "rotation": {
                        "roll": 0.0006313992780633271,
                        "pitch": -0.263706773519516,
                        "yaw": -0.3848266303539276
                    }
                },
                "velocity": {
                    "x": 8.733686447143555,
                    "y": -0.05177249386906624,
                    "z": -0.04520534351468086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 681.1805419921875,
                        "y": 4293.59228515625,
                        "z": 369.793701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3202880322933197,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 682.186767578125,
                        "y": 4296.85107421875,
                        "z": 369.78863525390625
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.981233596801758,
                "transform": {
                    "location": {
                        "x": 663.845458984375,
                        "y": 4287.09375,
                        "z": 369.88336181640625
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.2930424213409424,
                        "yaw": 179.6833953857422
                    }
                },
                "velocity": {
                    "x": -2.9811389446258545,
                    "y": 0.01731555350124836,
                    "z": 0.01628037355840206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.1293334960938,
                        "y": 4287.1572265625,
                        "z": 369.9498291015625
                    },
                    "rotation": {
                        "roll": -0.0025634760968387127,
                        "pitch": 0.3388115167617798,
                        "yaw": 179.38255310058594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.626222133636475,
                "transform": {
                    "location": {
                        "x": 587.4996948242188,
                        "y": 4287.54443359375,
                        "z": 370.263427734375
                    },
                    "rotation": {
                        "roll": 0.0014352115103974938,
                        "pitch": 0.2187163084745407,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -7.626011371612549,
                    "y": 0.0460880808532238,
                    "z": 0.03307254612445831
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024991035461426,
                "transform": {
                    "location": {
                        "x": 569.652587890625,
                        "y": 4287.6513671875,
                        "z": 370.3758544921875
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 0.22701498866081238,
                        "yaw": 179.6607208251953
                    }
                },
                "velocity": {
                    "x": -8.024792671203613,
                    "y": 0.04586266353726387,
                    "z": 0.03280925750732422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.31891918182373,
                "transform": {
                    "location": {
                        "x": 627.3795776367188,
                        "y": 4290.5576171875,
                        "z": 370.0826110839844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.38282525539398193,
                        "yaw": 179.66404724121094
                    }
                },
                "velocity": {
                    "x": -11.318574905395508,
                    "y": 0.0682951882481575,
                    "z": 0.0559762567281723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031217575073242,
                "transform": {
                    "location": {
                        "x": 601.6300659179688,
                        "y": 4290.70947265625,
                        "z": 370.20733642578125
                    },
                    "rotation": {
                        "roll": 0.0004275139363016933,
                        "pitch": 0.26652079820632935,
                        "yaw": 179.62789916992188
                    }
                },
                "velocity": {
                    "x": -8.030977249145508,
                    "y": 0.049567561596632004,
                    "z": 0.03736472129821777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04395866394043,
                "transform": {
                    "location": {
                        "x": 581.6796875,
                        "y": 4290.82763671875,
                        "z": 370.3268737792969
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.24629661440849304,
                        "yaw": 179.6514434814453
                    }
                },
                "velocity": {
                    "x": -8.043742179870605,
                    "y": 0.04886966198682785,
                    "z": 0.0330534353852272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.970487594604492,
                "transform": {
                    "location": {
                        "x": 646.3507080078125,
                        "y": 4290.4462890625,
                        "z": 369.9828186035156
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.30628615617752075,
                        "yaw": 179.6533966064453
                    }
                },
                "velocity": {
                    "x": -11.970097541809082,
                    "y": 0.07245152443647385,
                    "z": 0.06395761668682098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32147881388664246,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12951958179473877,
        "expert_target_speed": 9.554822143356871,
        "target_point": [
            26.61701679910945,
            -0.5677164768737726
        ],
        "target_point_next": [
            32.613883221967285,
            -0.7611041966478174
        ]
    },
    "395": {
        "acceleration": [
            1.8315887451171875,
            0.307447612285614,
            -0.002214759588241577
        ],
        "angular_velocity": [
            -0.01854655146598816,
            0.6637902855873108,
            0.7085919380187988
        ],
        "forward_vector": [
            -0.9998196363449097,
            -0.018887940794229507,
            -0.001988170901313424
        ],
        "right_vector": [
            0.01889292523264885,
            -0.9998183250427246,
            -0.002518983790650964
        ],
        "location": [
            603.8289794921875,
            4287.775390625,
            370.1903381347656
        ],
        "rotation": [
            0.1443275660276413,
            -0.1139138862490654,
            -178.91773986816406
        ],
        "velocity": [
            -9.057642936706543,
            -0.1469133496284485,
            0.04373526573181152
        ],
        "speed": 9.058834312491259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.252290725708008,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                585.5781860351562,
                4287.55615234375,
                370.2716369628906
            ],
            "velocity": [
                -7.84189510345459,
                0.04661914333701134,
                0.03363754227757454
            ],
            "speed_kmh": 28.231580940588483,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965385913848877,
                "transform": {
                    "location": {
                        "x": 589.972412109375,
                        "y": 4297.47314453125,
                        "z": 370.2912902832031
                    },
                    "rotation": {
                        "roll": 0.000402295496314764,
                        "pitch": -0.26314669847488403,
                        "yaw": -0.263671875
                    }
                },
                "velocity": {
                    "x": 7.965214729309082,
                    "y": -0.03813119977712631,
                    "z": -0.0356937013566494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.716829299926758,
                "transform": {
                    "location": {
                        "x": 584.9785766601562,
                        "y": 4294.24658203125,
                        "z": 370.2713623046875
                    },
                    "rotation": {
                        "roll": 0.001431628712452948,
                        "pitch": -0.20718695223331451,
                        "yaw": -0.1784972995519638
                    }
                },
                "velocity": {
                    "x": 8.716708183288574,
                    "y": -0.0272324550896883,
                    "z": -0.036972206085920334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05057144165039,
                "transform": {
                    "location": {
                        "x": 641.8990478515625,
                        "y": 4293.92626953125,
                        "z": 370.0004577636719
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.2999545633792877,
                        "yaw": -0.3535156548023224
                    }
                },
                "velocity": {
                    "x": 8.050313949584961,
                    "y": -0.04973901808261871,
                    "z": -0.04094840958714485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.309593200683594,
                "transform": {
                    "location": {
                        "x": 641.2771606445312,
                        "y": 4297.17626953125,
                        "z": 370.00189208984375
                    },
                    "rotation": {
                        "roll": 0.00227336841635406,
                        "pitch": -0.3017235994338989,
                        "yaw": -0.4718017578125
                    }
                },
                "velocity": {
                    "x": 8.309324264526367,
                    "y": -0.05020282045006752,
                    "z": -0.0441528782248497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 683.2634887695312,
                        "y": 4293.580078125,
                        "z": 369.7818908691406
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52715,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 684.2696533203125,
                        "y": 4296.83056640625,
                        "z": 369.77667236328125
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.005597920622676611,
                "transform": {
                    "location": {
                        "x": 663.3737182617188,
                        "y": 4287.0966796875,
                        "z": 369.88629150390625
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.24953411519527435,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": -0.00549318315461278,
                    "y": -8.082091517280787e-05,
                    "z": 0.0010747674386948347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06742553412914276,
                "transform": {
                    "location": {
                        "x": 653.1239013671875,
                        "y": 4287.1572265625,
                        "z": 369.949951171875
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.3242154121398926,
                        "yaw": 179.38290405273438
                    }
                },
                "velocity": {
                    "x": -0.0674201175570488,
                    "y": 0.00013116191257722676,
                    "z": 0.0008443355327472091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.842105865478516,
                "transform": {
                    "location": {
                        "x": 585.5781860351562,
                        "y": 4287.55615234375,
                        "z": 370.2716369628906
                    },
                    "rotation": {
                        "roll": 0.0013924608938395977,
                        "pitch": 0.27453944087028503,
                        "yaw": 179.65911865234375
                    }
                },
                "velocity": {
                    "x": -7.84189510345459,
                    "y": 0.04661914333701134,
                    "z": 0.03363754227757454
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027937889099121,
                "transform": {
                    "location": {
                        "x": 567.645751953125,
                        "y": 4287.66357421875,
                        "z": 370.38372802734375
                    },
                    "rotation": {
                        "roll": 7.042799552436918e-05,
                        "pitch": 0.22405751049518585,
                        "yaw": 179.68312072753906
                    }
                },
                "velocity": {
                    "x": -8.027740478515625,
                    "y": 0.04623044282197952,
                    "z": 0.032139234244823456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.90678882598877,
                "transform": {
                    "location": {
                        "x": 624.6459350585938,
                        "y": 4290.57373046875,
                        "z": 370.0965270996094
                    },
                    "rotation": {
                        "roll": -9.155276347883046e-05,
                        "pitch": 0.3382719159126282,
                        "yaw": 179.6527557373047
                    }
                },
                "velocity": {
                    "x": -10.90645980834961,
                    "y": 0.066124826669693,
                    "z": 0.052891120314598083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03114128112793,
                "transform": {
                    "location": {
                        "x": 599.6222534179688,
                        "y": 4290.7216796875,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2648610472679138,
                        "yaw": 179.67214965820312
                    }
                },
                "velocity": {
                    "x": -8.030912399291992,
                    "y": 0.048445165157318115,
                    "z": 0.036548346281051636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008720397949219,
                "transform": {
                    "location": {
                        "x": 579.6732788085938,
                        "y": 4290.83935546875,
                        "z": 370.3353576660156
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.24009479582309723,
                        "yaw": 179.65528869628906
                    }
                },
                "velocity": {
                    "x": -8.008504867553711,
                    "y": 0.04827567934989929,
                    "z": 0.033503808081150055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.866195678710938,
                "transform": {
                    "location": {
                        "x": 643.5271606445312,
                        "y": 4290.462890625,
                        "z": 369.9976806640625
                    },
                    "rotation": {
                        "roll": 0.0008459907257929444,
                        "pitch": 0.12454849481582642,
                        "yaw": 179.65382385253906
                    }
                },
                "velocity": {
                    "x": -10.865849494934082,
                    "y": 0.06564855575561523,
                    "z": 0.056675154715776443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6810705065727234,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11609060317277908,
        "expert_target_speed": 9.119791771113402,
        "target_point": [
            24.28729221800851,
            -0.37481695543735
        ],
        "target_point_next": [
            30.285426574440642,
            -0.5237798566836058
        ]
    },
    "400": {
        "acceleration": [
            0.3334999084472656,
            0.251537561416626,
            -0.014069750905036926
        ],
        "angular_velocity": [
            -0.12869830429553986,
            0.6832283735275269,
            -4.038382053375244
        ],
        "forward_vector": [
            -0.9999345541000366,
            -0.011389392428100109,
            0.0010842082556337118
        ],
        "right_vector": [
            0.011387168429791927,
            -0.9999330639839172,
            -0.002035126555711031
        ],
        "location": [
            601.5991821289062,
            4287.74560546875,
            370.2002258300781
        ],
        "rotation": [
            0.11660430580377579,
            0.06212056800723076,
            -179.34742736816406
        ],
        "velocity": [
            -8.838465690612793,
            -0.07970620691776276,
            0.04075786471366882
        ],
        "speed": 8.83882508275623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.045486450195312,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                583.5547485351562,
                4287.56787109375,
                370.280029296875
            ],
            "velocity": [
                -8.076385498046875,
                0.04809818044304848,
                0.03349875286221504
            ],
            "speed_kmh": 29.07575348216266,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077064514160156,
                "transform": {
                    "location": {
                        "x": 591.9810791015625,
                        "y": 4297.4638671875,
                        "z": 370.2822265625
                    },
                    "rotation": {
                        "roll": 0.0003770412295125425,
                        "pitch": -0.246856689453125,
                        "yaw": -0.2698974013328552
                    }
                },
                "velocity": {
                    "x": 8.07688045501709,
                    "y": -0.03998694196343422,
                    "z": -0.0370476134121418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.29946517944336,
                "transform": {
                    "location": {
                        "x": 587.102783203125,
                        "y": 4294.23974609375,
                        "z": 370.2625732421875
                    },
                    "rotation": {
                        "roll": 0.0008091455092653632,
                        "pitch": -0.25598180294036865,
                        "yaw": -0.24453729391098022
                    }
                },
                "velocity": {
                    "x": 8.29931354522705,
                    "y": -0.03355281054973602,
                    "z": -0.03723018988966942
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084672927856445,
                "transform": {
                    "location": {
                        "x": 643.9161376953125,
                        "y": 4293.91455078125,
                        "z": 369.9898681640625
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.29974284768104553,
                        "yaw": -0.3540039360523224
                    }
                },
                "velocity": {
                    "x": 8.084413528442383,
                    "y": -0.04993404448032379,
                    "z": -0.04118024557828903
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10169792175293,
                "transform": {
                    "location": {
                        "x": 643.3217163085938,
                        "y": 4297.16455078125,
                        "z": 369.9912109375
                    },
                    "rotation": {
                        "roll": 0.0008307527750730515,
                        "pitch": -0.3101862072944641,
                        "yaw": -0.563751220703125
                    }
                },
                "velocity": {
                    "x": 8.101423263549805,
                    "y": -0.05130402743816376,
                    "z": -0.04269882291555405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014404995599761605,
                "transform": {
                    "location": {
                        "x": 663.3734741210938,
                        "y": 4287.0966796875,
                        "z": 369.88592529296875
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": 0.289285808801651,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": 5.6121087254723534e-05,
                    "y": -0.00010317164560547099,
                    "z": 0.0014357035979628563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.04152593016624451,
                "transform": {
                    "location": {
                        "x": 653.11083984375,
                        "y": 4287.1572265625,
                        "z": 369.9500732421875
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 0.3095373213291168,
                        "yaw": 179.38568115234375
                    }
                },
                "velocity": {
                    "x": -0.04148339107632637,
                    "y": 0.0004640103143174201,
                    "z": 0.0018209075788035989
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.076598167419434,
                "transform": {
                    "location": {
                        "x": 583.5547485351562,
                        "y": 4287.56787109375,
                        "z": 370.280029296875
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.3526153266429901,
                        "yaw": 179.6595001220703
                    }
                },
                "velocity": {
                    "x": -8.076385498046875,
                    "y": 0.04809818044304848,
                    "z": 0.03349875286221504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026376724243164,
                "transform": {
                    "location": {
                        "x": 565.6390380859375,
                        "y": 4287.6748046875,
                        "z": 370.39154052734375
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.22414630651474,
                        "yaw": 179.65626525878906
                    }
                },
                "velocity": {
                    "x": -8.0261812210083,
                    "y": 0.04651942104101181,
                    "z": 0.031140031293034554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.302268981933594,
                "transform": {
                    "location": {
                        "x": 621.8619995117188,
                        "y": 4290.5908203125,
                        "z": 370.11083984375
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.2535844147205353,
                        "yaw": 179.65667724609375
                    }
                },
                "velocity": {
                    "x": -11.301925659179688,
                    "y": 0.06775080412626266,
                    "z": 0.05635267123579979
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0306978225708,
                "transform": {
                    "location": {
                        "x": 597.6144409179688,
                        "y": 4290.73291015625,
                        "z": 370.2260437011719
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.26409608125686646,
                        "yaw": 179.6331787109375
                    }
                },
                "velocity": {
                    "x": -8.030447959899902,
                    "y": 0.05137862265110016,
                    "z": 0.0369534008204937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04319953918457,
                "transform": {
                    "location": {
                        "x": 577.6666870117188,
                        "y": 4290.85107421875,
                        "z": 370.3436584472656
                    },
                    "rotation": {
                        "roll": 0.0005895172944292426,
                        "pitch": 0.23892682790756226,
                        "yaw": 179.65574645996094
                    }
                },
                "velocity": {
                    "x": -8.042989730834961,
                    "y": 0.048334505409002304,
                    "z": 0.032313909381628036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.644874572753906,
                "transform": {
                    "location": {
                        "x": 640.9673461914062,
                        "y": 4290.478515625,
                        "z": 370.01092529296875
                    },
                    "rotation": {
                        "roll": 0.0013241912238299847,
                        "pitch": 0.05902649089694023,
                        "yaw": 179.6542510986328
                    }
                },
                "velocity": {
                    "x": -9.644562721252441,
                    "y": 0.05818784236907959,
                    "z": 0.051282186061143875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09816800057888031,
        "expert_target_speed": 8.976502314908329,
        "target_point": [
            22.059428120093102,
            -0.1970593760988617
        ],
        "target_point_next": [
            28.058510909762486,
            -0.30103719321295164
        ]
    },
    "405": {
        "acceleration": [
            -1.0974311828613281,
            0.12960024178028107,
            -0.002458542585372925
        ],
        "angular_velocity": [
            -0.1580188125371933,
            0.6681565046310425,
            1.2257648706436157
        ],
        "forward_vector": [
            -0.9999759197235107,
            -0.005752639379352331,
            0.0038814444560557604
        ],
        "right_vector": [
            0.005746557377278805,
            -0.9999822378158569,
            -0.0015762965194880962
        ],
        "location": [
            599.3812866210938,
            4287.73046875,
            370.2099609375
        ],
        "rotation": [
            0.09031585603952408,
            0.22239094972610474,
            -179.67039489746094
        ],
        "velocity": [
            -8.9534330368042,
            -0.03414110094308853,
            0.04096119850873947
        ],
        "speed": 8.953498129742949,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.768033981323242,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                581.6140747070312,
                4287.5791015625,
                370.28900146484375
            ],
            "velocity": [
                -7.523868083953857,
                0.04429366812109947,
                0.03271312639117241
            ],
            "speed_kmh": 27.086650482672784,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026039123535156,
                "transform": {
                    "location": {
                        "x": 593.9959106445312,
                        "y": 4297.453125,
                        "z": 370.2732849121094
                    },
                    "rotation": {
                        "roll": 3.1914245482767e-05,
                        "pitch": -0.2651342749595642,
                        "yaw": -0.2971801161766052
                    }
                },
                "velocity": {
                    "x": 8.025845527648926,
                    "y": -0.04177912697196007,
                    "z": -0.0368826761841774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.044093132019043,
                "transform": {
                    "location": {
                        "x": 589.136474609375,
                        "y": 4294.23046875,
                        "z": 370.253662109375
                    },
                    "rotation": {
                        "roll": 3.331643529236317e-05,
                        "pitch": -0.2625114619731903,
                        "yaw": -0.2842406928539276
                    }
                },
                "velocity": {
                    "x": 8.043920516967773,
                    "y": -0.037476446479558945,
                    "z": -0.03693826124072075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051345825195312,
                "transform": {
                    "location": {
                        "x": 645.9330444335938,
                        "y": 4293.90283203125,
                        "z": 369.979248046875
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.301149845123291,
                        "yaw": -0.35736075043678284
                    }
                },
                "velocity": {
                    "x": 8.0510835647583,
                    "y": -0.050250597298145294,
                    "z": -0.041249316185712814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.877222061157227,
                "transform": {
                    "location": {
                        "x": 645.225830078125,
                        "y": 4297.1513671875,
                        "z": 369.9815673828125
                    },
                    "rotation": {
                        "roll": 3.475320409052074e-05,
                        "pitch": -0.3359701633453369,
                        "yaw": -0.4697570204734802
                    }
                },
                "velocity": {
                    "x": 6.876994609832764,
                    "y": -0.04260809347033501,
                    "z": -0.036195121705532074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0355382225243375e-05,
                "transform": {
                    "location": {
                        "x": 663.3734130859375,
                        "y": 4287.0966796875,
                        "z": 369.88580322265625
                    },
                    "rotation": {
                        "roll": -0.00012207038525957614,
                        "pitch": 0.307153582572937,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": 1.3570747796620708e-05,
                    "y": 7.632294000359252e-06,
                    "z": 3.723089685081504e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.38592860102653503,
                "transform": {
                    "location": {
                        "x": 653.08935546875,
                        "y": 4287.1572265625,
                        "z": 369.9502258300781
                    },
                    "rotation": {
                        "roll": -0.002471923828125,
                        "pitch": 0.33073824644088745,
                        "yaw": 179.3756561279297
                    }
                },
                "velocity": {
                    "x": -0.3858979344367981,
                    "y": 0.0038655209355056286,
                    "z": 0.002956237643957138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.524069309234619,
                "transform": {
                    "location": {
                        "x": 581.6140747070312,
                        "y": 4287.5791015625,
                        "z": 370.28900146484375
                    },
                    "rotation": {
                        "roll": 0.0010520823998376727,
                        "pitch": 0.1289198100566864,
                        "yaw": 179.66188049316406
                    }
                },
                "velocity": {
                    "x": -7.523868083953857,
                    "y": 0.04429366812109947,
                    "z": 0.03271312639117241
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026067733764648,
                "transform": {
                    "location": {
                        "x": 563.6322631835938,
                        "y": 4287.68701171875,
                        "z": 370.3992004394531
                    },
                    "rotation": {
                        "roll": 0.00044453435111790895,
                        "pitch": 0.217725932598114,
                        "yaw": 179.685302734375
                    }
                },
                "velocity": {
                    "x": -8.025882720947266,
                    "y": 0.04569223150610924,
                    "z": 0.029640140011906624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.436300277709961,
                "transform": {
                    "location": {
                        "x": 618.9830322265625,
                        "y": 4290.6083984375,
                        "z": 370.1248779296875
                    },
                    "rotation": {
                        "roll": 0.0005731183337047696,
                        "pitch": 0.25781914591789246,
                        "yaw": 179.65956115722656
                    }
                },
                "velocity": {
                    "x": -11.435972213745117,
                    "y": 0.06591589003801346,
                    "z": 0.05615774169564247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030458450317383,
                "transform": {
                    "location": {
                        "x": 595.606689453125,
                        "y": 4290.7451171875,
                        "z": 370.2352294921875
                    },
                    "rotation": {
                        "roll": 0.0006291406461969018,
                        "pitch": 0.2579011023044586,
                        "yaw": 179.66343688964844
                    }
                },
                "velocity": {
                    "x": -8.030220031738281,
                    "y": 0.04972848668694496,
                    "z": 0.036819133907556534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007466316223145,
                "transform": {
                    "location": {
                        "x": 575.6605224609375,
                        "y": 4290.86279296875,
                        "z": 370.3518981933594
                    },
                    "rotation": {
                        "roll": 0.0005201144958846271,
                        "pitch": 0.23445989191532135,
                        "yaw": 179.65045166015625
                    }
                },
                "velocity": {
                    "x": -8.007243156433105,
                    "y": 0.05020025745034218,
                    "z": 0.032507553696632385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.989115715026855,
                "transform": {
                    "location": {
                        "x": 638.5270385742188,
                        "y": 4290.49267578125,
                        "z": 370.02374267578125
                    },
                    "rotation": {
                        "roll": 0.0013764559989795089,
                        "pitch": 0.2985612154006958,
                        "yaw": 179.6580810546875
                    }
                },
                "velocity": {
                    "x": -9.988801956176758,
                    "y": 0.05957641825079918,
                    "z": 0.052081793546676636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.707034707069397,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08580386638641357,
        "expert_target_speed": 9.019066206157596,
        "target_point": [
            19.842242588361074,
            -0.07508210938957559
        ],
        "target_point_next": [
            25.84181619724812,
            -0.14524061069381597
        ]
    },
    "410": {
        "acceleration": [
            -2.2652053833007812,
            0.0052560120820999146,
            0.016020014882087708
        ],
        "angular_velocity": [
            -0.15985660254955292,
            0.5631448030471802,
            -2.20632004737854
        ],
        "forward_vector": [
            -0.9999732971191406,
            -0.0030711484141647816,
            0.006634066812694073
        ],
        "right_vector": [
            0.0030661027412861586,
            -0.9999949932098389,
            -0.0007705819443799555
        ],
        "location": [
            597.0869140625,
            4287.7216796875,
            370.2200012207031
        ],
        "rotation": [
            0.044152066111564636,
            0.3801068365573883,
            -179.82403564453125
        ],
        "velocity": [
            -9.417572021484375,
            -0.029058339074254036,
            0.04158984124660492
        ],
        "speed": 9.417616851779172,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.37535285949707,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                579.7122192382812,
                4287.59130859375,
                370.2966003417969
            ],
            "velocity": [
                -7.884099960327148,
                0.04609065502882004,
                0.03370775282382965
            ],
            "speed_kmh": 28.383504258315867,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99997615814209,
                "transform": {
                    "location": {
                        "x": 595.9949951171875,
                        "y": 4297.44384765625,
                        "z": 370.26416015625
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": -0.2616303861141205,
                        "yaw": -0.30291739106178284
                    }
                },
                "velocity": {
                    "x": 7.999776363372803,
                    "y": -0.04231732711195946,
                    "z": -0.03754498437047005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.758573532104492,
                "transform": {
                    "location": {
                        "x": 590.9738159179688,
                        "y": 4294.2216796875,
                        "z": 370.2457275390625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.29077479243278503,
                        "yaw": -0.2923889458179474
                    }
                },
                "velocity": {
                    "x": 6.7584228515625,
                    "y": -0.03361773118376732,
                    "z": -0.030108919367194176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08420467376709,
                "transform": {
                    "location": {
                        "x": 647.9500732421875,
                        "y": 4293.89013671875,
                        "z": 369.9686584472656
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": -0.3044693171977997,
                        "yaw": -0.3614196479320526
                    }
                },
                "velocity": {
                    "x": 8.083938598632812,
                    "y": -0.050981100648641586,
                    "z": -0.04138335958123207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7981038093566895,
                "transform": {
                    "location": {
                        "x": 646.908203125,
                        "y": 4297.140625,
                        "z": 369.9724426269531
                    },
                    "rotation": {
                        "roll": -0.00021362309053074569,
                        "pitch": -0.3156161904335022,
                        "yaw": -0.36727896332740784
                    }
                },
                "velocity": {
                    "x": 6.797881126403809,
                    "y": -0.040076304227113724,
                    "z": -0.037656355649232864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000209400212042965,
                "transform": {
                    "location": {
                        "x": 663.3734130859375,
                        "y": 4287.0966796875,
                        "z": 369.88580322265625
                    },
                    "rotation": {
                        "roll": -0.00012207038525957614,
                        "pitch": 0.307153582572937,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": 1.5233494195854291e-05,
                    "y": -5.841166512254858e-06,
                    "z": 0.00020876366761513054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.20209099352359772,
                "transform": {
                    "location": {
                        "x": 652.9096069335938,
                        "y": 4287.1591796875,
                        "z": 369.9503173828125
                    },
                    "rotation": {
                        "roll": -0.004730224609375,
                        "pitch": 0.4307253658771515,
                        "yaw": 179.4342498779297
                    }
                },
                "velocity": {
                    "x": -0.20206603407859802,
                    "y": 0.0030782707035541534,
                    "z": 0.000779380789026618
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.884306907653809,
                "transform": {
                    "location": {
                        "x": 579.7122192382812,
                        "y": 4287.59130859375,
                        "z": 370.2966003417969
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.26611781120300293,
                        "yaw": 179.66555786132812
                    }
                },
                "velocity": {
                    "x": -7.884099960327148,
                    "y": 0.04609065502882004,
                    "z": 0.03370775282382965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026861190795898,
                "transform": {
                    "location": {
                        "x": 561.6254272460938,
                        "y": 4287.6982421875,
                        "z": 370.40679931640625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.21588177978992462,
                        "yaw": 179.66259765625
                    }
                },
                "velocity": {
                    "x": -8.026678085327148,
                    "y": 0.045451030135154724,
                    "z": 0.029440687969326973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.03264331817627,
                "transform": {
                    "location": {
                        "x": 616.3018188476562,
                        "y": 4290.6240234375,
                        "z": 370.13677978515625
                    },
                    "rotation": {
                        "roll": -0.00015258793428074569,
                        "pitch": 0.3836926817893982,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -10.032353401184082,
                    "y": 0.05921311676502228,
                    "z": 0.047984637320041656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030659675598145,
                "transform": {
                    "location": {
                        "x": 593.598876953125,
                        "y": 4290.7568359375,
                        "z": 370.2443542480469
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.2579420804977417,
                        "yaw": 179.63165283203125
                    }
                },
                "velocity": {
                    "x": -8.030417442321777,
                    "y": 0.050465065985918045,
                    "z": 0.036734867841005325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044203758239746,
                "transform": {
                    "location": {
                        "x": 573.6538696289062,
                        "y": 4290.87451171875,
                        "z": 370.3599853515625
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.23133166134357452,
                        "yaw": 179.64845275878906
                    }
                },
                "velocity": {
                    "x": -8.043981552124023,
                    "y": 0.049394749104976654,
                    "z": 0.03358238935470581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.959547996520996,
                "transform": {
                    "location": {
                        "x": 635.92919921875,
                        "y": 4290.50830078125,
                        "z": 370.03717041015625
                    },
                    "rotation": {
                        "roll": 3.416605613892898e-05,
                        "pitch": 0.4692681133747101,
                        "yaw": 179.6603240966797
                    }
                },
                "velocity": {
                    "x": -10.95921516418457,
                    "y": 0.0638749822974205,
                    "z": 0.056583210825920105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31389832496643066,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07277274876832962,
        "expert_target_speed": 9.309437084512425,
        "target_point": [
            17.547983847068966,
            -0.023622063998042352
        ],
        "target_point_next": [
            23.547724002741933,
            -0.07769394360764224
        ]
    },
    "415": {
        "acceleration": [
            0.1160430908203125,
            0.0066852569580078125,
            -0.010000094771385193
        ],
        "angular_velocity": [
            -0.014309605583548546,
            -0.5093499422073364,
            2.123744010925293
        ],
        "forward_vector": [
            -0.9999672174453735,
            -0.003188190283253789,
            0.007443120237439871
        ],
        "right_vector": [
            0.003185439854860306,
            -0.9999948740005493,
            -0.00038137187948450446
        ],
        "location": [
            594.6663208007812,
            4287.7138671875,
            370.2308044433594
        ],
        "rotation": [
            0.02185160480439663,
            0.4264633357524872,
            -179.81732177734375
        ],
        "velocity": [
            -9.773870468139648,
            -0.02730674482882023,
            0.04469485953450203
        ],
        "speed": 9.77390861356323,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.00113296508789,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                577.6657104492188,
                4287.60302734375,
                370.30474853515625
            ],
            "velocity": [
                -8.132231712341309,
                0.04737476259469986,
                0.03325200080871582
            ],
            "speed_kmh": 29.276775663009794,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071065902709961,
                "transform": {
                    "location": {
                        "x": 598.0066528320312,
                        "y": 4297.4326171875,
                        "z": 370.25482177734375
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -0.26238852739334106,
                        "yaw": -0.3162230849266052
                    }
                },
                "velocity": {
                    "x": 8.070854187011719,
                    "y": -0.044826917350292206,
                    "z": -0.037610553205013275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.979273796081543,
                "transform": {
                    "location": {
                        "x": 592.6678466796875,
                        "y": 4294.212890625,
                        "z": 370.23785400390625
                    },
                    "rotation": {
                        "roll": 0.00011404311953810975,
                        "pitch": -0.26201969385147095,
                        "yaw": -0.3057250380516052
                    }
                },
                "velocity": {
                    "x": 6.97910213470459,
                    "y": -0.03830960765480995,
                    "z": -0.030459484085440636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051587104797363,
                "transform": {
                    "location": {
                        "x": 649.967041015625,
                        "y": 4293.876953125,
                        "z": 369.9579162597656
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.3036770224571228,
                        "yaw": -0.3586426079273224
                    }
                },
                "velocity": {
                    "x": 8.051328659057617,
                    "y": -0.049390897154808044,
                    "z": -0.0415654219686985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.656418800354004,
                "transform": {
                    "location": {
                        "x": 648.7083740234375,
                        "y": 4297.13037109375,
                        "z": 369.9626159667969
                    },
                    "rotation": {
                        "roll": 0.00023214728571474552,
                        "pitch": -0.2813422977924347,
                        "yaw": -0.3413695991039276
                    }
                },
                "velocity": {
                    "x": 7.656182289123535,
                    "y": -0.04461205005645752,
                    "z": -0.04038798063993454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5042621493339539,
                "transform": {
                    "location": {
                        "x": 663.3231201171875,
                        "y": 4287.0966796875,
                        "z": 369.88604736328125
                    },
                    "rotation": {
                        "roll": 0.0006042590248398483,
                        "pitch": 0.31843024492263794,
                        "yaw": 179.6913604736328
                    }
                },
                "velocity": {
                    "x": -0.5042450428009033,
                    "y": 0.002888273447751999,
                    "z": 0.002981166820973158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4701560139656067,
                "transform": {
                    "location": {
                        "x": 652.8679809570312,
                        "y": 4287.1591796875,
                        "z": 369.9519958496094
                    },
                    "rotation": {
                        "roll": -0.003601073520258069,
                        "pitch": 0.2528877258300781,
                        "yaw": 179.4409942626953
                    }
                },
                "velocity": {
                    "x": -0.47014227509498596,
                    "y": 0.002915950957685709,
                    "z": 0.002100448589771986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.132437705993652,
                "transform": {
                    "location": {
                        "x": 577.6657104492188,
                        "y": 4287.60302734375,
                        "z": 370.30474853515625
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.3558186888694763,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -8.132231712341309,
                    "y": 0.04737476259469986,
                    "z": 0.03325200080871582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025786399841309,
                "transform": {
                    "location": {
                        "x": 559.6187133789062,
                        "y": 4287.71044921875,
                        "z": 370.41424560546875
                    },
                    "rotation": {
                        "roll": 0.0001880143681773916,
                        "pitch": 0.21590226888656616,
                        "yaw": 179.6885528564453
                    }
                },
                "velocity": {
                    "x": -8.025604248046875,
                    "y": 0.04529948532581329,
                    "z": 0.029478225857019424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.019478797912598,
                "transform": {
                    "location": {
                        "x": 613.8278198242188,
                        "y": 4290.63818359375,
                        "z": 370.1493225097656
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.30062392354011536,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -10.019186973571777,
                    "y": 0.059165019541978836,
                    "z": 0.04835573956370354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03091049194336,
                "transform": {
                    "location": {
                        "x": 591.591064453125,
                        "y": 4290.7685546875,
                        "z": 370.2533264160156
                    },
                    "rotation": {
                        "roll": 0.0011368760606274009,
                        "pitch": 0.25464311242103577,
                        "yaw": 179.6688232421875
                    }
                },
                "velocity": {
                    "x": -8.030685424804688,
                    "y": 0.04743700474500656,
                    "z": 0.03693627193570137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007734298706055,
                "transform": {
                    "location": {
                        "x": 571.647705078125,
                        "y": 4290.88623046875,
                        "z": 370.3680419921875
                    },
                    "rotation": {
                        "roll": -0.0004272462101653218,
                        "pitch": 0.2311335951089859,
                        "yaw": 179.64845275878906
                    }
                },
                "velocity": {
                    "x": -8.007516860961914,
                    "y": 0.04915692284703255,
                    "z": 0.03261307626962662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.102879524230957,
                "transform": {
                    "location": {
                        "x": 633.2874145507812,
                        "y": 4290.52392578125,
                        "z": 370.050537109375
                    },
                    "rotation": {
                        "roll": 0.00023526092991232872,
                        "pitch": 0.20985755324363708,
                        "yaw": 179.6623992919922
                    }
                },
                "velocity": {
                    "x": -10.102572441101074,
                    "y": 0.059550173580646515,
                    "z": 0.051437489688396454
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3221374452114105,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05078263580799103,
        "expert_target_speed": 9.51591159453869,
        "target_point": [
            15.127375100380696,
            -0.025767379532149505
        ],
        "target_point_next": [
            21.12710889815819,
            -0.08054017903738381
        ]
    },
    "420": {
        "acceleration": [
            -3.118572235107422,
            -0.0073659420013427734,
            0.007370784878730774
        ],
        "angular_velocity": [
            0.019063077867031097,
            0.1548943817615509,
            -1.0557860136032104
        ],
        "forward_vector": [
            -0.9999330043792725,
            -0.0028052034322172403,
            0.011230708099901676
        ],
        "right_vector": [
            0.002803305396810174,
            -0.9999960660934448,
            -0.00018473947420716286
        ],
        "location": [
            592.0347290039062,
            4287.7060546875,
            370.241943359375
        ],
        "rotation": [
            0.010585459880530834,
            0.6434857249259949,
            -179.83926391601562
        ],
        "velocity": [
            -11.019136428833008,
            -0.030487921088933945,
            0.049083031713962555
        ],
        "speed": 11.019178605983614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 16.309738159179688,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                575.7254028320312,
                4287.61474609375,
                370.3135986328125
            ],
            "velocity": [
                -7.492944717407227,
                0.043658334761857986,
                0.03081478923559189
            ],
            "speed_kmh": 26.975286963600162,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995069980621338,
                "transform": {
                    "location": {
                        "x": 600.0140991210938,
                        "y": 4297.42041015625,
                        "z": 370.24560546875
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.27163660526275635,
                        "yaw": -0.3217773139476776
                    }
                },
                "velocity": {
                    "x": 7.994853973388672,
                    "y": -0.04493790492415428,
                    "z": -0.037905048578977585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.713960647583008,
                "transform": {
                    "location": {
                        "x": 594.51953125,
                        "y": 4294.203125,
                        "z": 370.2292785644531
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3215942084789276
                    }
                },
                "velocity": {
                    "x": 7.71376371383667,
                    "y": -0.04308152571320534,
                    "z": -0.03440123796463013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085068702697754,
                "transform": {
                    "location": {
                        "x": 651.9840698242188,
                        "y": 4293.865234375,
                        "z": 369.947265625
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": -0.30437371134757996,
                        "yaw": -0.35552978515625
                    }
                },
                "velocity": {
                    "x": 8.084803581237793,
                    "y": -0.05018714442849159,
                    "z": -0.0419757179915905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.700610160827637,
                "transform": {
                    "location": {
                        "x": 650.7164916992188,
                        "y": 4297.11865234375,
                        "z": 369.9517822265625
                    },
                    "rotation": {
                        "roll": -0.0010681154672056437,
                        "pitch": -0.2668486535549164,
                        "yaw": -0.356964111328125
                    }
                },
                "velocity": {
                    "x": 8.70035171508789,
                    "y": -0.04859752207994461,
                    "z": -0.0461842380464077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.009032204747200012,
                "transform": {
                    "location": {
                        "x": 662.3740234375,
                        "y": 4287.142578125,
                        "z": 369.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.29553544521331787,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": -0.0002491751220077276,
                    "y": 0.00032653307425789535,
                    "z": -0.00902285985648632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08575033396482468,
                "transform": {
                    "location": {
                        "x": 652.8346557617188,
                        "y": 4287.1591796875,
                        "z": 369.95220947265625
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": 0.2478129118680954,
                        "yaw": 179.4331512451172
                    }
                },
                "velocity": {
                    "x": -0.08574693650007248,
                    "y": 0.00041072769090533257,
                    "z": -0.0006435394170694053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.493135452270508,
                "transform": {
                    "location": {
                        "x": 575.7254028320312,
                        "y": 4287.61474609375,
                        "z": 370.3135986328125
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 0.10226842015981674,
                        "yaw": 179.66604614257812
                    }
                },
                "velocity": {
                    "x": -7.492944717407227,
                    "y": 0.043658334761857986,
                    "z": 0.03081478923559189
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026398658752441,
                "transform": {
                    "location": {
                        "x": 557.6119995117188,
                        "y": 4287.7216796875,
                        "z": 370.4217224121094
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.21207736432552338,
                        "yaw": 179.6586151123047
                    }
                },
                "velocity": {
                    "x": -8.026213645935059,
                    "y": 0.04617343470454216,
                    "z": 0.028970403596758842
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.818626403808594,
                "transform": {
                    "location": {
                        "x": 611.301513671875,
                        "y": 4290.65380859375,
                        "z": 370.1615295410156
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.286075621843338,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -9.818341255187988,
                    "y": 0.058004822582006454,
                    "z": 0.04717445373535156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031441688537598,
                "transform": {
                    "location": {
                        "x": 589.583251953125,
                        "y": 4290.78076171875,
                        "z": 370.26226806640625
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": 0.249786838889122,
                        "yaw": 179.62791442871094
                    }
                },
                "velocity": {
                    "x": -8.031194686889648,
                    "y": 0.05128861963748932,
                    "z": 0.03642922267317772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045401573181152,
                "transform": {
                    "location": {
                        "x": 569.6409912109375,
                        "y": 4290.89794921875,
                        "z": 370.3759765625
                    },
                    "rotation": {
                        "roll": 0.0002386527048656717,
                        "pitch": 0.22737015783786774,
                        "yaw": 179.6483917236328
                    }
                },
                "velocity": {
                    "x": -8.045183181762695,
                    "y": 0.049346406012773514,
                    "z": 0.03283977508544922
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.951895713806152,
                "transform": {
                    "location": {
                        "x": 630.9157104492188,
                        "y": 4290.5380859375,
                        "z": 370.0626525878906
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.0827750563621521,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -8.951621055603027,
                    "y": 0.05333225429058075,
                    "z": 0.045575741678476334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 52577,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03139949217438698,
        "expert_target_speed": 10.0,
        "target_point": [
            12.495780499478409,
            -0.020405321663424483
        ],
        "target_point_next": [
            18.495534829955098,
            -0.07288081771027498
        ]
    },
    "425": {
        "acceleration": [
            -1.8073844909667969,
            0.009992830455303192,
            0.0010097026824951172
        ],
        "angular_velocity": [
            -0.004899566527456045,
            -0.4050920009613037,
            1.1675657033920288
        ],
        "forward_vector": [
            -0.9999471306800842,
            -0.0027072574011981487,
            0.009919957257807255
        ],
        "right_vector": [
            0.0027061663568019867,
            -0.9999963641166687,
            -0.00012339328532107174
        ],
        "location": [
            589.2054443359375,
            4287.6982421875,
            370.25482177734375
        ],
        "rotation": [
            0.007070261985063553,
            0.5683810114860535,
            -179.84487915039062
        ],
        "velocity": [
            -11.55508804321289,
            -0.02911543846130371,
            0.049464404582977295
        ],
        "speed": 11.555124724344532,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.392766952514648,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                573.81298828125,
                4287.6259765625,
                370.3207702636719
            ],
            "velocity": [
                -7.976872444152832,
                0.04647669196128845,
                0.03106258250772953
            ],
            "speed_kmh": 28.717445946418596,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05265998840332,
                "transform": {
                    "location": {
                        "x": 602.01953125,
                        "y": 4297.4091796875,
                        "z": 370.2361755371094
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.26757264137268066,
                        "yaw": -0.3220824599266052
                    }
                },
                "velocity": {
                    "x": 8.052448272705078,
                    "y": -0.045257117599248886,
                    "z": -0.036801889538764954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.728846549987793,
                "transform": {
                    "location": {
                        "x": 596.5908203125,
                        "y": 4294.19091796875,
                        "z": 370.21978759765625
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.2254030555486679,
                        "yaw": -0.327880859375
                    }
                },
                "velocity": {
                    "x": 8.728610038757324,
                    "y": -0.04941678047180176,
                    "z": -0.04095275327563286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050796508789062,
                "transform": {
                    "location": {
                        "x": 654.0008544921875,
                        "y": 4293.853515625,
                        "z": 369.9365234375
                    },
                    "rotation": {
                        "roll": 0.00023419881472364068,
                        "pitch": -0.3066413402557373,
                        "yaw": -0.3551940619945526
                    }
                },
                "velocity": {
                    "x": 8.050536155700684,
                    "y": -0.04990079626441002,
                    "z": -0.04125529155135155
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.357491493225098,
                "transform": {
                    "location": {
                        "x": 652.8624877929688,
                        "y": 4297.10693359375,
                        "z": 369.9407653808594
                    },
                    "rotation": {
                        "roll": 0.0007031022687442601,
                        "pitch": -0.3040185272693634,
                        "yaw": -0.3843994140625
                    }
                },
                "velocity": {
                    "x": 8.357230186462402,
                    "y": -0.048571959137916565,
                    "z": -0.04476737231016159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3740234375,
                        "y": 4287.142578125,
                        "z": 369.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.29553544521331787,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.13292986154556274,
                "transform": {
                    "location": {
                        "x": 652.8139038085938,
                        "y": 4287.1591796875,
                        "z": 369.95166015625
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": 0.31511759757995605,
                        "yaw": 179.44947814941406
                    }
                },
                "velocity": {
                    "x": -0.13292492926120758,
                    "y": 0.0010498983319848776,
                    "z": 0.00045645711361430585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9770684242248535,
                "transform": {
                    "location": {
                        "x": 573.81298828125,
                        "y": 4287.6259765625,
                        "z": 370.3207702636719
                    },
                    "rotation": {
                        "roll": 0.0003270732704550028,
                        "pitch": 0.2755776345729828,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -7.976872444152832,
                    "y": 0.04647669196128845,
                    "z": 0.03106258250772953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026116371154785,
                "transform": {
                    "location": {
                        "x": 555.6051635742188,
                        "y": 4287.73388671875,
                        "z": 370.42913818359375
                    },
                    "rotation": {
                        "roll": 0.00023288348165806383,
                        "pitch": 0.21263743937015533,
                        "yaw": 179.67922973632812
                    }
                },
                "velocity": {
                    "x": -8.025925636291504,
                    "y": 0.04649656265974045,
                    "z": 0.02999752014875412
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.58095645904541,
                "transform": {
                    "location": {
                        "x": 608.9125366210938,
                        "y": 4290.66748046875,
                        "z": 370.17279052734375
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.29756399989128113,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -9.580683708190918,
                    "y": 0.05660509318113327,
                    "z": 0.04502981901168823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030529975891113,
                "transform": {
                    "location": {
                        "x": 587.575439453125,
                        "y": 4290.79248046875,
                        "z": 370.2710876464844
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.2507225573062897,
                        "yaw": 179.66494750976562
                    }
                },
                "velocity": {
                    "x": -8.030305862426758,
                    "y": 0.04788568988442421,
                    "z": 0.036078717559576035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007329940795898,
                "transform": {
                    "location": {
                        "x": 567.6347045898438,
                        "y": 4290.90966796875,
                        "z": 370.38385009765625
                    },
                    "rotation": {
                        "roll": 0.0005412501050159335,
                        "pitch": 0.22321739792823792,
                        "yaw": 179.6433868408203
                    }
                },
                "velocity": {
                    "x": -8.00711727142334,
                    "y": 0.0485161691904068,
                    "z": 0.03232814744114876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.213696479797363,
                "transform": {
                    "location": {
                        "x": 628.6575927734375,
                        "y": 4290.5517578125,
                        "z": 370.0740661621094
                    },
                    "rotation": {
                        "roll": 0.0003328951133880764,
                        "pitch": 0.27686169743537903,
                        "yaw": 179.6627960205078
                    }
                },
                "velocity": {
                    "x": -9.213423728942871,
                    "y": 0.054248206317424774,
                    "z": 0.045515984296798706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.016568996012210846,
        "expert_target_speed": 10.0,
        "target_point": [
            9.666486984253876,
            -0.019336050228885533
        ],
        "target_point_next": [
            15.66624641563021,
            -0.07122506033596185
        ]
    },
    "430": {
        "acceleration": [
            -1.1441802978515625,
            0.008737295866012573,
            0.024625957012176514
        ],
        "angular_velocity": [
            0.05413142219185829,
            -0.36540865898132324,
            -1.221604824066162
        ],
        "forward_vector": [
            -0.9999616146087646,
            -0.0021882762666791677,
            0.008485572412610054
        ],
        "right_vector": [
            0.0021872310899198055,
            -0.999997615814209,
            -0.0001324532349826768
        ],
        "location": [
            586.2628784179688,
            4287.6904296875,
            370.2677917480469
        ],
        "rotation": [
            0.007589285261929035,
            0.48619332909584045,
            -179.87461853027344
        ],
        "velocity": [
            -11.946234703063965,
            -0.026698211207985878,
            0.052091024816036224
        ],
        "speed": 11.946264536463751,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 14.502419471740723,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                571.7606811523438,
                4287.63818359375,
                370.32867431640625
            ],
            "velocity": [
                -8.086736679077148,
                0.04610084369778633,
                0.03256294131278992
            ],
            "speed_kmh": 29.112961115553006,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01547622680664,
                "transform": {
                    "location": {
                        "x": 604.0289306640625,
                        "y": 4297.3974609375,
                        "z": 370.22674560546875
                    },
                    "rotation": {
                        "roll": 0.0006982467020861804,
                        "pitch": -0.27109017968177795,
                        "yaw": -0.3253478407859802
                    }
                },
                "velocity": {
                    "x": 8.01526165008545,
                    "y": -0.045493610203266144,
                    "z": -0.03697557374835014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.285919189453125,
                "transform": {
                    "location": {
                        "x": 598.7122192382812,
                        "y": 4294.1796875,
                        "z": 370.21038818359375
                    },
                    "rotation": {
                        "roll": 0.00023184838937595487,
                        "pitch": -0.27367883920669556,
                        "yaw": -0.331695556640625
                    }
                },
                "velocity": {
                    "x": 8.285690307617188,
                    "y": -0.04769609868526459,
                    "z": -0.03908483311533928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085180282592773,
                "transform": {
                    "location": {
                        "x": 656.0180053710938,
                        "y": 4293.841796875,
                        "z": 369.92578125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.30618369579315186,
                        "yaw": -0.3580932319164276
                    }
                },
                "velocity": {
                    "x": 8.084912300109863,
                    "y": -0.050658080726861954,
                    "z": -0.042100418359041214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.061385154724121,
                "transform": {
                    "location": {
                        "x": 654.9089965820312,
                        "y": 4297.0947265625,
                        "z": 369.92999267578125
                    },
                    "rotation": {
                        "roll": 5.888855866942322e-06,
                        "pitch": -0.3168046474456787,
                        "yaw": -0.3378906548023224
                    }
                },
                "velocity": {
                    "x": 8.061132431030273,
                    "y": -0.046468157321214676,
                    "z": -0.0437701977789402
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3740234375,
                        "y": 4287.142578125,
                        "z": 369.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.29553544521331787,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9846422672271729,
                "transform": {
                    "location": {
                        "x": 652.6403198242188,
                        "y": 4287.16064453125,
                        "z": 369.9512023925781
                    },
                    "rotation": {
                        "roll": -0.004547118209302425,
                        "pitch": 0.48919862508773804,
                        "yaw": 179.4942169189453
                    }
                },
                "velocity": {
                    "x": -0.9846072793006897,
                    "y": 0.005809601861983538,
                    "z": 0.005928382743149996
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.086934089660645,
                "transform": {
                    "location": {
                        "x": 571.7606811523438,
                        "y": 4287.63818359375,
                        "z": 370.32867431640625
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": 0.3291877806186676,
                        "yaw": 179.6727752685547
                    }
                },
                "velocity": {
                    "x": -8.086736679077148,
                    "y": 0.04610084369778633,
                    "z": 0.03256294131278992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025415420532227,
                "transform": {
                    "location": {
                        "x": 553.5986328125,
                        "y": 4287.7451171875,
                        "z": 370.4365234375
                    },
                    "rotation": {
                        "roll": -0.0009460445144213736,
                        "pitch": 0.2124461978673935,
                        "yaw": 179.64791870117188
                    }
                },
                "velocity": {
                    "x": -8.025219917297363,
                    "y": 0.04751865193247795,
                    "z": 0.02956932969391346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.186416625976562,
                "transform": {
                    "location": {
                        "x": 606.4420166015625,
                        "y": 4290.681640625,
                        "z": 370.18505859375
                    },
                    "rotation": {
                        "roll": 0.0002129075292032212,
                        "pitch": 0.21761664748191833,
                        "yaw": 179.65769958496094
                    }
                },
                "velocity": {
                    "x": -10.186123847961426,
                    "y": 0.06100555881857872,
                    "z": 0.047257184982299805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031115531921387,
                "transform": {
                    "location": {
                        "x": 585.5676879882812,
                        "y": 4290.80419921875,
                        "z": 370.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0006010798388160765,
                        "pitch": 0.24544283747673035,
                        "yaw": 179.6302490234375
                    }
                },
                "velocity": {
                    "x": -8.03089427947998,
                    "y": 0.049254730343818665,
                    "z": 0.033437278121709824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044346809387207,
                "transform": {
                    "location": {
                        "x": 565.628173828125,
                        "y": 4290.92236328125,
                        "z": 370.39166259765625
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": 0.2237364947795868,
                        "yaw": 179.641357421875
                    }
                },
                "velocity": {
                    "x": -8.044127464294434,
                    "y": 0.050527118146419525,
                    "z": 0.031279657036066055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.741482734680176,
                "transform": {
                    "location": {
                        "x": 626.3018798828125,
                        "y": 4290.5654296875,
                        "z": 370.0857238769531
                    },
                    "rotation": {
                        "roll": 0.0006101087783463299,
                        "pitch": 0.369369775056839,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -9.741192817687988,
                    "y": 0.05721571668982506,
                    "z": 0.04871232807636261
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0033526872284710407,
        "expert_target_speed": 10.0,
        "target_point": [
            12.723705320420034,
            -0.06446346234315561
        ],
        "target_point_next": [
            12.723705320420034,
            -0.06446346234315561
        ]
    },
    "435": {
        "acceleration": [
            1.4437675476074219,
            0.018061548471450806,
            -0.013495013117790222
        ],
        "angular_velocity": [
            0.042801376432180405,
            -0.8570231199264526,
            1.2931910753250122
        ],
        "forward_vector": [
            -0.999982476234436,
            -0.00208675698377192,
            0.005539865233004093
        ],
        "right_vector": [
            0.0020859434735029936,
            -0.9999977946281433,
            -0.00015259913925547153
        ],
        "location": [
            583.2816162109375,
            4287.68505859375,
            370.2812805175781
        ],
        "rotation": [
            0.00874342117458582,
            0.31741252541542053,
            -179.88043212890625
        ],
        "velocity": [
            -11.817788124084473,
            -0.022671762853860855,
            0.05180788040161133
        ],
        "speed": 11.817809871316381,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 13.484047889709473,
        "front_vehicle_info": {
            "id": 52587,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                569.7977294921875,
                4287.64990234375,
                370.3370666503906
            ],
            "velocity": [
                -7.8207526206970215,
                0.0450298935174942,
                0.03182494267821312
            ],
            "speed_kmh": 28.155409222006362,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 52738,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041901588439941,
                "transform": {
                    "location": {
                        "x": 606.0355834960938,
                        "y": 4297.3857421875,
                        "z": 370.2172546386719
                    },
                    "rotation": {
                        "roll": 0.001193915493786335,
                        "pitch": -0.272305965423584,
                        "yaw": -0.3275146484375
                    }
                },
                "velocity": {
                    "x": 8.04167366027832,
                    "y": -0.04744434729218483,
                    "z": -0.03754092752933502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52737,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.041614532470703,
                "transform": {
                    "location": {
                        "x": 600.74365234375,
                        "y": 4294.16796875,
                        "z": 370.200927734375
                    },
                    "rotation": {
                        "roll": 0.0004146361316088587,
                        "pitch": -0.27661582827568054,
                        "yaw": -0.3332214057445526
                    }
                },
                "velocity": {
                    "x": 8.041387557983398,
                    "y": -0.04727774113416672,
                    "z": -0.03755190223455429
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 658.1005249023438,
                        "y": 4293.79443359375,
                        "z": 369.9164123535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52732,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 656.9733276367188,
                        "y": 4296.99267578125,
                        "z": 369.9255676269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 52589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3740234375,
                        "y": 4287.142578125,
                        "z": 369.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.29553544521331787,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 52588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.880117416381836,
                "transform": {
                    "location": {
                        "x": 652.2952880859375,
                        "y": 4287.1630859375,
                        "z": 369.9529724121094
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.5093954801559448,
                        "yaw": 179.5147247314453
                    }
                },
                "velocity": {
                    "x": -1.8800557851791382,
                    "y": 0.011423184536397457,
                    "z": 0.010069332085549831
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 52587,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.820947170257568,
                "transform": {
                    "location": {
                        "x": 569.7977294921875,
                        "y": 4287.64990234375,
                        "z": 370.3370666503906
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.16447778046131134,
                        "yaw": 179.67015075683594
                    }
                },
                "velocity": {
                    "x": -7.8207526206970215,
                    "y": 0.0450298935174942,
                    "z": 0.03182494267821312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 52586,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028153419494629,
                "transform": {
                    "location": {
                        "x": 551.5919189453125,
                        "y": 4287.75732421875,
                        "z": 370.44390869140625
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": 0.21297894418239594,
                        "yaw": 179.67047119140625
                    }
                },
                "velocity": {
                    "x": -8.027955055236816,
                    "y": 0.047944579273462296,
                    "z": 0.029900282621383667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52585,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.3683500289917,
                "transform": {
                    "location": {
                        "x": 603.970703125,
                        "y": 4290.69677734375,
                        "z": 370.19586181640625
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": 0.3265649974346161,
                        "yaw": 179.65684509277344
                    }
                },
                "velocity": {
                    "x": -9.368075370788574,
                    "y": 0.05609447509050369,
                    "z": 0.04481632262468338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52584,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0311279296875,
                "transform": {
                    "location": {
                        "x": 583.5598754882812,
                        "y": 4290.81591796875,
                        "z": 370.2884826660156
                    },
                    "rotation": {
                        "roll": 0.00016268050239887089,
                        "pitch": 0.24250584840774536,
                        "yaw": 179.6686553955078
                    }
                },
                "velocity": {
                    "x": -8.030905723571777,
                    "y": 0.04939568415284157,
                    "z": 0.03350093588232994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 52583,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008708000183105,
                "transform": {
                    "location": {
                        "x": 563.6217651367188,
                        "y": 4290.93408203125,
                        "z": 370.3993225097656
                    },
                    "rotation": {
                        "roll": -0.0007934571476653218,
                        "pitch": 0.21739807724952698,
                        "yaw": 179.6439208984375
                    }
                },
                "velocity": {
                    "x": -8.008499145507812,
                    "y": 0.0495733767747879,
                    "z": 0.029887408018112183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 52692,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.303875923156738,
                "transform": {
                    "location": {
                        "x": 623.806396484375,
                        "y": 4290.580078125,
                        "z": 370.09814453125
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.4214089810848236,
                        "yaw": 179.6647491455078
                    }
                },
                "velocity": {
                    "x": -10.303585052490234,
                    "y": 0.059263281524181366,
                    "z": 0.049975574016571045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.009650136344134808,
        "expert_target_speed": 10.0,
        "target_point": [
            9.742444877861288,
            -0.062321393978477704
        ],
        "target_point_next": [
            9.742444877861288,
            -0.062321393978477704
        ]
    }
}