{
    "0": {
        "acceleration": [
            -0.002490752376616001,
            6.565107469214126e-05,
            -0.639820396900177
        ],
        "angular_velocity": [
            -0.030199892818927765,
            -0.025803063064813614,
            -2.2501077182823792e-05
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0006368159083649516
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017856307094916701,
            0.00011185274343006313
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.5811767578125
        ],
        "rotation": [
            -0.00640869140625,
            0.03648686781525612,
            90.10230255126953
        ],
        "velocity": [
            -0.00023115308431442827,
            9.58353302848991e-06,
            0.17402879893779755
        ],
        "speed": 0.00023135166412494495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.28441619873047,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.62530517578125
            ],
            "velocity": [
                3.1397481507156044e-05,
                4.325539066485362e-06,
                0.00010103795648319647
            ],
            "speed_kmh": 0.0003812123069291786,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010589230805635452,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.62530517578125
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 3.1397481507156044e-05,
                    "y": 4.325539066485362e-06,
                    "z": 0.00010103795648319647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0028312024660408497,
        "expert_target_speed": 1.37148652103043,
        "target_point": [
            50.9995931284083,
            -0.00037728198577807737
        ],
        "target_point_next": [
            101.99967453728068,
            -0.0007554400390697713
        ]
    },
    "5": {
        "acceleration": [
            0.002010805532336235,
            -0.00017202328308485448,
            -0.33626988530158997
        ],
        "angular_velocity": [
            -0.013850145041942596,
            0.007414414081722498,
            7.377675046882359e-06
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0005556344985961914
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.001785581698641181,
            3.994739381596446e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6073303222656
        ],
        "rotation": [
            -0.0022888174280524254,
            0.031835511326789856,
            90.10230255126953
        ],
        "velocity": [
            -8.783577504800633e-05,
            1.6149300790857524e-05,
            0.055464476346969604
        ],
        "speed": 8.930802480358393e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000024795532227,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.61175537109375
            ],
            "velocity": [
                0.00011192086822120473,
                0.0001404377253493294,
                -0.5146153569221497
            ],
            "speed_kmh": 1.8526153977190583,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8856201171875,
                        "y": 5217.841796875,
                        "z": 371.7033996582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35627612471580505,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.59857177734375
                    },
                    "rotation": {
                        "roll": -0.0006408674526028335,
                        "pitch": 0.055775322020053864,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -0.00019116190378554165,
                    "y": 0.0003022731689270586,
                    "z": -0.3562759459018707
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45612290501594543,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.6078186035156
                    },
                    "rotation": {
                        "roll": 0.00011595150135690346,
                        "pitch": 0.04387030377984047,
                        "yaw": 90.10222625732422
                    }
                },
                "velocity": {
                    "x": -2.085356754832901e-05,
                    "y": 0.0003751147596631199,
                    "z": -0.4561227560043335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5146154165267944,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.61175537109375
                    },
                    "rotation": {
                        "roll": -0.00021362434199545532,
                        "pitch": 0.023816868662834167,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00011192086822120473,
                    "y": 0.0001404377253493294,
                    "z": -0.5146153569221497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5041831135749817,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.6170959472656
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": 0.012478754855692387,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 1.3149071492080111e-05,
                    "y": 0.00011310655099805444,
                    "z": -0.5041831135749817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 3.639009082689881e-05,
        "expert_target_speed": 1.0342814151813293,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "10": {
        "acceleration": [
            -0.001274639624170959,
            0.00016930568381212652,
            -0.08907316625118256
        ],
        "angular_velocity": [
            -0.007113773375749588,
            -0.01518566906452179,
            1.1522241720740567e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005283355130814016
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.001785574946552515,
            2.929477886937093e-05
        ],
        "location": [
            984.0257568359375,
            5139.44775390625,
            371.6148376464844
        ],
        "rotation": [
            -0.0016784673789516091,
            0.030271396040916443,
            90.10230255126953
        ],
        "velocity": [
            -0.00014334147272165865,
            1.4899912457622122e-05,
            0.014337996952235699
        ],
        "speed": 0.000144113792515702,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000028610229492,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.60308837890625
            ],
            "velocity": [
                -1.976502790057566e-05,
                -1.3768602912023198e-05,
                0.10468389093875885
            ],
            "speed_kmh": 0.3768620173563806,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8893432617188,
                        "y": 5215.7587890625,
                        "z": 371.6668701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04311898723244667,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.5911560058594
                    },
                    "rotation": {
                        "roll": 7.471856224583462e-05,
                        "pitch": 0.05617830157279968,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -0.00013910695270169526,
                    "y": -5.439360029413365e-05,
                    "z": 0.04311873018741608
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09440944343805313,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.6007080078125
                    },
                    "rotation": {
                        "roll": 0.0001952724123839289,
                        "pitch": 0.04393177479505539,
                        "yaw": 90.10222625732422
                    }
                },
                "velocity": {
                    "x": 2.4134917111950926e-05,
                    "y": -7.623724377481267e-05,
                    "z": 0.09440941363573074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10468389838933945,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.60308837890625
                    },
                    "rotation": {
                        "roll": 0.00021828924946021289,
                        "pitch": 0.017198415473103523,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -1.976502790057566e-05,
                    "y": -1.3768602912023198e-05,
                    "z": 0.10468389093875885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1029183566570282,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.60870361328125
                    },
                    "rotation": {
                        "roll": -0.0003356926899868995,
                        "pitch": 0.012219207361340523,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 3.735176505870186e-05,
                    "y": -2.2878932213643566e-05,
                    "z": 0.1029183492064476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007904474623501301,
        "expert_target_speed": 0.9931304750151111,
        "target_point": [
            50.999593005120154,
            0.0012639780264647044
        ],
        "target_point_next": [
            101.99967439820455,
            0.002588131345166972
        ]
    },
    "15": {
        "acceleration": [
            -0.00029562506824731827,
            5.0351256504654884e-05,
            -0.023187026381492615
        ],
        "angular_velocity": [
            -0.0007957021007314324,
            -0.030695324763655663,
            -6.416796168196015e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005178451538085938
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855679616332054,
            1.651159254834056e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.61663818359375
        ],
        "rotation": [
            -0.0009460446308366954,
            0.029670340940356255,
            90.10230255126953
        ],
        "velocity": [
            -0.00010087128612212837,
            -2.0950567147792754e-07,
            0.00357608450576663
        ],
        "speed": 0.00010087150368939024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00002384185791,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.61865234375
            ],
            "velocity": [
                7.702641596551985e-05,
                -4.35651736552245e-06,
                0.023291992023587227
            ],
            "speed_kmh": 0.08385163125660747,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8931884765625,
                        "y": 5213.67529296875,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2833504676818848,
                "transform": {
                    "location": {
                        "x": 984.0783081054688,
                        "y": 5109.5634765625,
                        "z": 371.5978698730469
                    },
                    "rotation": {
                        "roll": -0.0059204064309597015,
                        "pitch": 0.2578054666519165,
                        "yaw": 90.11712646484375
                    }
                },
                "velocity": {
                    "x": -0.01149835716933012,
                    "y": 1.2832319736480713,
                    "z": 0.013117608614265919
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02037031389772892,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.6146545410156
                    },
                    "rotation": {
                        "roll": -0.0002136202238034457,
                        "pitch": 0.04393177479505539,
                        "yaw": 90.10222625732422
                    }
                },
                "velocity": {
                    "x": 0.00017416318587493151,
                    "y": -2.8699570975732058e-05,
                    "z": 0.020369548350572586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023292118683457375,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.61865234375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.014609773643314838,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 7.702641596551985e-05,
                    "y": -4.35651736552245e-06,
                    "z": 0.023291992023587227
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.022968249395489693,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.6240234375
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": 0.012034792453050613,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -3.380851694601006e-06,
                    "y": -5.4207116590987425e-06,
                    "z": 0.022968249395489693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006331500480882823,
        "expert_target_speed": 0.9824577461872008,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "20": {
        "acceleration": [
            8.205788617487997e-06,
            -7.368278602370992e-05,
            0.0031010014936327934
        ],
        "angular_velocity": [
            0.0029492764733731747,
            0.007370254956185818,
            1.1081088814535178e-05
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005050897016189992
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855602782219648,
            1.5979165937096695e-06
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.616943359375
        ],
        "rotation": [
            -9.155389125226066e-05,
            0.028939509764313698,
            90.10230255126953
        ],
        "velocity": [
            2.2831232854514383e-05,
            -1.1662034921755549e-05,
            0.0021211677230894566
        ],
        "speed": 2.5637243458946652e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.12014389038086,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.997802734375,
                5154.56787109375,
                371.6199951171875
            ],
            "velocity": [
                -0.01344247441738844,
                1.0905112028121948,
                -0.0006741905235685408
            ],
            "speed_kmh": 3.926139332971832,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8967895507812,
                        "y": 5211.59228515625,
                        "z": 371.6297302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.694765329360962,
                "transform": {
                    "location": {
                        "x": 984.072998046875,
                        "y": 5110.0654296875,
                        "z": 371.5997314453125
                    },
                    "rotation": {
                        "roll": -0.00860590860247612,
                        "pitch": 0.33950820565223694,
                        "yaw": 90.31105041503906
                    }
                },
                "velocity": {
                    "x": -0.029164332896471024,
                    "y": 2.69460129737854,
                    "z": 0.0057978820987045765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.131133794784546,
                "transform": {
                    "location": {
                        "x": 984.0510864257812,
                        "y": 5124.67822265625,
                        "z": 371.6176452636719
                    },
                    "rotation": {
                        "roll": 0.0048952591605484486,
                        "pitch": -0.14297634363174438,
                        "yaw": 90.25053405761719
                    }
                },
                "velocity": {
                    "x": -0.02782512828707695,
                    "y": 2.130951404571533,
                    "z": 0.0015514659462496638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0905942916870117,
                "transform": {
                    "location": {
                        "x": 983.997802734375,
                        "y": 5154.56787109375,
                        "z": 371.6199951171875
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.044976793229579926,
                        "yaw": 90.12591552734375
                    }
                },
                "velocity": {
                    "x": -0.01344247441738844,
                    "y": 1.0905112028121948,
                    "z": -0.0006741905235685408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9811468124389648,
                "transform": {
                    "location": {
                        "x": 983.9703979492188,
                        "y": 5169.65869140625,
                        "z": 371.6252136230469
                    },
                    "rotation": {
                        "roll": -0.0017700218595564365,
                        "pitch": 0.0523192472755909,
                        "yaw": 90.17312622070312
                    }
                },
                "velocity": {
                    "x": -0.024127723649144173,
                    "y": 1.9809998273849487,
                    "z": -8.430481102550402e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00015037646517157555,
        "expert_target_speed": 0.9894626420112578,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "25": {
        "acceleration": [
            0.0009389035985805094,
            -0.00012006880569970235,
            -0.027602585032582283
        ],
        "angular_velocity": [
            0.0009907955536618829,
            0.0008738907636143267,
            7.362691576418001e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.00050520891090855
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.001785560860298574,
            2.6631751097738743e-06
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6170654296875
        ],
        "rotation": [
            -0.0001525887055322528,
            0.028946340084075928,
            90.10230255126953
        ],
        "velocity": [
            2.6698357942223083e-06,
            -4.3067288970632944e-06,
            0.00017856148770079017
        ],
        "speed": 5.067142879464786e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.481966018676758,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9942016601562,
                5154.9296875,
                371.619873046875
            ],
            "velocity": [
                -0.02094845660030842,
                1.710207223892212,
                -0.001520080491900444
            ],
            "speed_kmh": 6.157210299058121,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9005126953125,
                        "y": 5209.5087890625,
                        "z": 371.6286926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.234436988830566,
                "transform": {
                    "location": {
                        "x": 984.063232421875,
                        "y": 5110.94189453125,
                        "z": 371.60076904296875
                    },
                    "rotation": {
                        "roll": -0.006500234827399254,
                        "pitch": 0.3711797893047333,
                        "yaw": 90.4739761352539
                    }
                },
                "velocity": {
                    "x": -0.0488845631480217,
                    "y": 4.234151840209961,
                    "z": 0.005204715766012669
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3589303493499756,
                "transform": {
                    "location": {
                        "x": 984.04296875,
                        "y": 5125.3818359375,
                        "z": 371.6176452636719
                    },
                    "rotation": {
                        "roll": 0.0032577586825937033,
                        "pitch": -0.10531467944383621,
                        "yaw": 90.3995590209961
                    }
                },
                "velocity": {
                    "x": -0.044787969440221786,
                    "y": 3.358631134033203,
                    "z": 0.00191637990064919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7103362083435059,
                "transform": {
                    "location": {
                        "x": 983.9942016601562,
                        "y": 5154.9296875,
                        "z": 371.619873046875
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.03829686716198921,
                        "yaw": 90.21177673339844
                    }
                },
                "velocity": {
                    "x": -0.02094845660030842,
                    "y": 1.710207223892212,
                    "z": -0.001520080491900444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.97182559967041,
                "transform": {
                    "location": {
                        "x": 983.9639892578125,
                        "y": 5170.29345703125,
                        "z": 371.6252136230469
                    },
                    "rotation": {
                        "roll": -0.0013427712256088853,
                        "pitch": 0.04291407763957977,
                        "yaw": 90.34114837646484
                    }
                },
                "velocity": {
                    "x": -0.03708173334598541,
                    "y": 2.9715938568115234,
                    "z": -0.0014366721734404564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006810443592257798,
        "expert_target_speed": 1.003918720891625,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "30": {
        "acceleration": [
            5.3206872507871594e-06,
            0.000873089418746531,
            0.01064244844019413
        ],
        "angular_velocity": [
            -0.0067945122718811035,
            -0.00012471829541027546,
            7.290274879778735e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005053281201981008
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855613259598613,
            3.7284330574038904e-06
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6170654296875
        ],
        "rotation": [
            -0.0002136235125362873,
            0.028953170403838158,
            90.10230255126953
        ],
        "velocity": [
            1.4939345192033215e-06,
            2.020397732849233e-05,
            0.0018434583907946944
        ],
        "speed": 2.0259134735666753e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.983929634094238,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9891357421875,
                5155.431640625,
                371.6199645996094
            ],
            "velocity": [
                -0.028696179389953613,
                2.279967784881592,
                -0.0004774093395099044
            ],
            "speed_kmh": 8.208534297396188,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.18851375579834,
                "transform": {
                    "location": {
                        "x": 986.9108276367188,
                        "y": 5207.4716796875,
                        "z": 371.6238098144531
                    },
                    "rotation": {
                        "roll": -0.005584716331213713,
                        "pitch": 0.01289539597928524,
                        "yaw": -89.63872528076172
                    }
                },
                "velocity": {
                    "x": 0.07590218633413315,
                    "y": -8.18813705444336,
                    "z": -0.020157361403107643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.383934020996094,
                "transform": {
                    "location": {
                        "x": 984.04833984375,
                        "y": 5112.17724609375,
                        "z": 371.6023254394531
                    },
                    "rotation": {
                        "roll": -0.005096430890262127,
                        "pitch": 0.327070415019989,
                        "yaw": 90.5888900756836
                    }
                },
                "velocity": {
                    "x": -0.06731153279542923,
                    "y": 5.383509635925293,
                    "z": 0.006261024158447981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4889068603515625,
                "transform": {
                    "location": {
                        "x": 984.031005859375,
                        "y": 5126.3681640625,
                        "z": 371.61810302734375
                    },
                    "rotation": {
                        "roll": 0.0026290682144463062,
                        "pitch": -0.0788886770606041,
                        "yaw": 90.54004669189453
                    }
                },
                "velocity": {
                    "x": -0.06009969115257263,
                    "y": 4.488503932952881,
                    "z": 0.0018457984551787376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2801482677459717,
                "transform": {
                    "location": {
                        "x": 983.9891357421875,
                        "y": 5155.431640625,
                        "z": 371.6199645996094
                    },
                    "rotation": {
                        "roll": -0.0010986333945766091,
                        "pitch": 0.031992603093385696,
                        "yaw": 90.3412094116211
                    }
                },
                "velocity": {
                    "x": -0.028696179389953613,
                    "y": 2.279967784881592,
                    "z": -0.0004774093395099044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7588438987731934,
                "transform": {
                    "location": {
                        "x": 983.9544067382812,
                        "y": 5171.14013671875,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": 0.03279173746705055,
                        "yaw": 90.49547576904297
                    }
                },
                "velocity": {
                    "x": -0.04874798655509949,
                    "y": 3.7585277557373047,
                    "z": 0.00033354759216308594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005640405579470098,
        "expert_target_speed": 1.0247588057558794,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "35": {
        "acceleration": [
            -0.003595645073801279,
            0.00044198971590958536,
            0.0006136728916317225
        ],
        "angular_velocity": [
            -0.006613404024392366,
            -0.024489833042025566,
            -1.8360680087425862e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005078315152786672
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855643527582288,
            9.58735472522676e-06
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6170959472656
        ],
        "rotation": [
            -0.0005493150092661381,
            0.029096603393554688,
            90.10230255126953
        ],
        "velocity": [
            -7.619154348503798e-05,
            2.03862273338018e-05,
            0.00027205279911868274
        ],
        "speed": 7.887172854412334e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.626522064208984,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9821166992188,
                5156.07421875,
                371.62005615234375
            ],
            "velocity": [
                -0.03646177798509598,
                2.839467763900757,
                0.0020044802222400904
            ],
            "speed_kmh": 10.222929236382576,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.97650146484375,
                "transform": {
                    "location": {
                        "x": 986.9290161132812,
                        "y": 5205.4521484375,
                        "z": 371.6219177246094
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": 0.017212076112627983,
                        "yaw": -89.33507537841797
                    }
                },
                "velocity": {
                    "x": 0.09090360254049301,
                    "y": -7.975983619689941,
                    "z": 0.0004730987420771271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.507940292358398,
                "transform": {
                    "location": {
                        "x": 984.031005859375,
                        "y": 5113.53466796875,
                        "z": 371.60345458984375
                    },
                    "rotation": {
                        "roll": -0.0034484893549233675,
                        "pitch": 0.14553765952587128,
                        "yaw": 90.72041320800781
                    }
                },
                "velocity": {
                    "x": -0.07251310348510742,
                    "y": 5.507460117340088,
                    "z": 0.005452289246022701
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.067324638366699,
                "transform": {
                    "location": {
                        "x": 984.015380859375,
                        "y": 5127.611328125,
                        "z": 371.6188049316406
                    },
                    "rotation": {
                        "roll": 0.001546858111396432,
                        "pitch": -0.037381622940301895,
                        "yaw": 90.6589584350586
                    }
                },
                "velocity": {
                    "x": -0.06791532784700394,
                    "y": 5.066867351531982,
                    "z": 0.004505786579102278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.839702606201172,
                "transform": {
                    "location": {
                        "x": 983.9821166992188,
                        "y": 5156.07421875,
                        "z": 371.62005615234375
                    },
                    "rotation": {
                        "roll": 0.00011379037459846586,
                        "pitch": 0.0314461886882782,
                        "yaw": 90.45642852783203
                    }
                },
                "velocity": {
                    "x": -0.03646177798509598,
                    "y": 2.839467763900757,
                    "z": 0.0020044802222400904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.497550010681152,
                "transform": {
                    "location": {
                        "x": 983.9418334960938,
                        "y": 5172.17529296875,
                        "z": 371.6256103515625
                    },
                    "rotation": {
                        "roll": -0.0006713879993185401,
                        "pitch": 0.0305924154818058,
                        "yaw": 90.61565399169922
                    }
                },
                "velocity": {
                    "x": -0.059715840965509415,
                    "y": 4.497152805328369,
                    "z": 0.002033557742834091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0016819576267153025,
        "expert_target_speed": 1.0437564016066454,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "40": {
        "acceleration": [
            0.0022320663556456566,
            -3.2522530091227964e-05,
            0.009525743313133717
        ],
        "angular_velocity": [
            0.0022855603601783514,
            0.021215613931417465,
            2.0439218133105896e-05
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005086659803055227
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855637706816196,
            8.522095413354691e-06
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6170959472656
        ],
        "rotation": [
            -0.0004882801731582731,
            0.029144415631890297,
            90.10230255126953
        ],
        "velocity": [
            6.472440145444125e-05,
            -9.153815881290939e-06,
            0.0014081167755648494
        ],
        "speed": 6.536849767911338e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.415119171142578,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9728393554688,
                5156.86279296875,
                371.6202697753906
            ],
            "velocity": [
                -0.04571046307682991,
                3.4676828384399414,
                0.0017439746297895908
            ],
            "speed_kmh": 12.48474433684465,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.153875350952148,
                "transform": {
                    "location": {
                        "x": 986.9523315429688,
                        "y": 5203.43505859375,
                        "z": 371.6225280761719
                    },
                    "rotation": {
                        "roll": -0.0017700204625725746,
                        "pitch": 0.019329434260725975,
                        "yaw": -89.2049331665039
                    }
                },
                "velocity": {
                    "x": 0.10421665757894516,
                    "y": -8.15320873260498,
                    "z": 0.0019532775040715933
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.127212047576904,
                "transform": {
                    "location": {
                        "x": 984.0150756835938,
                        "y": 5115.17626953125,
                        "z": 371.60504150390625
                    },
                    "rotation": {
                        "roll": 0.012500368990004063,
                        "pitch": 0.32640787959098816,
                        "yaw": 90.61373138427734
                    }
                },
                "velocity": {
                    "x": -0.06306546181440353,
                    "y": 7.126930236816406,
                    "z": 0.006211814936250448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5445337295532227,
                "transform": {
                    "location": {
                        "x": 984.0070190429688,
                        "y": 5128.59033203125,
                        "z": 371.6170349121094
                    },
                    "rotation": {
                        "roll": 0.007118503097444773,
                        "pitch": 0.23358562588691711,
                        "yaw": 92.1930160522461
                    }
                },
                "velocity": {
                    "x": -0.06679578125476837,
                    "y": 2.5436553955078125,
                    "z": 0.0025853347033262253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.467984437942505,
                "transform": {
                    "location": {
                        "x": 983.9728393554688,
                        "y": 5156.86279296875,
                        "z": 371.6202697753906
                    },
                    "rotation": {
                        "roll": -0.0006713863112963736,
                        "pitch": 0.03310592472553253,
                        "yaw": 90.56864929199219
                    }
                },
                "velocity": {
                    "x": -0.04571046307682991,
                    "y": 3.4676828384399414,
                    "z": 0.0017439746297895908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.254457950592041,
                "transform": {
                    "location": {
                        "x": 983.9261474609375,
                        "y": 5173.40087890625,
                        "z": 371.62615966796875
                    },
                    "rotation": {
                        "roll": -0.00012206962855998427,
                        "pitch": 0.03095441497862339,
                        "yaw": 90.70211029052734
                    }
                },
                "velocity": {
                    "x": -0.07148464769124985,
                    "y": 5.253970623016357,
                    "z": 0.003503084182739258
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.442449774913257e-05,
        "expert_target_speed": 1.0655623928791331,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "45": {
        "acceleration": [
            -0.022247910499572754,
            1.1378610134124756,
            -0.006093406118452549
        ],
        "angular_velocity": [
            -0.02112494595348835,
            0.05112824589014053,
            0.7267628312110901
        ],
        "forward_vector": [
            -0.00202037300914526,
            0.9999839663505554,
            0.005292033310979605
        ],
        "right_vector": [
            -0.9999979734420776,
            -0.002020192565396428,
            -3.946665674448013e-05
        ],
        "location": [
            984.0260620117188,
            5139.62255859375,
            371.6162414550781
        ],
        "rotation": [
            0.0022613045293837786,
            0.30321258306503296,
            90.11576080322266
        ],
        "velocity": [
            0.0010300284484401345,
            1.0512291193008423,
            0.0011491489131003618
        ],
        "speed": 1.0512296239283923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.210079193115234,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9607543945312,
                5157.83251953125,
                371.62042236328125
            ],
            "velocity": [
                -0.05772478133440018,
                4.291810035705566,
                0.0018137168372049928
            ],
            "speed_kmh": 15.45191496028933,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941636562347412,
                "transform": {
                    "location": {
                        "x": 986.9744873046875,
                        "y": 5201.42431640625,
                        "z": 371.6231994628906
                    },
                    "rotation": {
                        "roll": 0.0011958959512412548,
                        "pitch": 0.01821611262857914,
                        "yaw": -89.3336410522461
                    }
                },
                "velocity": {
                    "x": 0.0725727453827858,
                    "y": -7.941304683685303,
                    "z": 0.002173938788473606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.719572067260742,
                "transform": {
                    "location": {
                        "x": 984.0033569335938,
                        "y": 5116.5478515625,
                        "z": 371.6057434082031
                    },
                    "rotation": {
                        "roll": 0.003364811185747385,
                        "pitch": -0.5751633644104004,
                        "yaw": 90.5086441040039
                    }
                },
                "velocity": {
                    "x": -0.022696692496538162,
                    "y": 2.719477415084839,
                    "z": 0.0006997680757194757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2635064125061035,
                "transform": {
                    "location": {
                        "x": 984.0054321289062,
                        "y": 5128.9462890625,
                        "z": 371.6175231933594
                    },
                    "rotation": {
                        "roll": -0.009185791015625,
                        "pitch": 0.20789729058742523,
                        "yaw": 92.96348571777344
                    }
                },
                "velocity": {
                    "x": -0.010528050363063812,
                    "y": 1.2634608745574951,
                    "z": 0.0020438097417354584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.292198657989502,
                "transform": {
                    "location": {
                        "x": 983.9607543945312,
                        "y": 5157.83251953125,
                        "z": 371.62042236328125
                    },
                    "rotation": {
                        "roll": 0.00024018056865315884,
                        "pitch": 0.03913015127182007,
                        "yaw": 90.6553726196289
                    }
                },
                "velocity": {
                    "x": -0.05772478133440018,
                    "y": 4.291810035705566,
                    "z": 0.0018137168372049928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.798444747924805,
                "transform": {
                    "location": {
                        "x": 983.9108276367188,
                        "y": 5174.759765625,
                        "z": 371.6264343261719
                    },
                    "rotation": {
                        "roll": 0.0013378493022173643,
                        "pitch": 0.02824966050684452,
                        "yaw": 90.62261962890625
                    }
                },
                "velocity": {
                    "x": -0.05058673396706581,
                    "y": 5.798223972320557,
                    "z": 0.0017579268896952271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0019294512458145618,
        "expert_target_speed": 2.1204402777851845,
        "target_point": [
            50.82478763375454,
            -0.012458139156550682
        ],
        "target_point_next": [
            101.8248673717427,
            -0.02551851678958586
        ]
    },
    "50": {
        "acceleration": [
            0.012736476957798004,
            1.6431784629821777,
            0.017359543591737747
        ],
        "angular_velocity": [
            -0.22575852274894714,
            0.011375225149095058,
            -0.19422219693660736
        ],
        "forward_vector": [
            -0.0016608487349003553,
            0.999987781047821,
            0.004661185666918755
        ],
        "right_vector": [
            -0.9999986290931702,
            -0.0016608000732958317,
            -1.4303018360806163e-05
        ],
        "location": [
            984.0262451171875,
            5139.94775390625,
            371.6166076660156
        ],
        "rotation": [
            0.000819511478766799,
            0.26706722378730774,
            90.09516143798828
        ],
        "velocity": [
            0.0017499717650935054,
            1.5051780939102173,
            0.0021262550726532936
        ],
        "speed": 1.5051791111985222,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.083663940429688,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9462280273438,
                5159.03125,
                371.6208801269531
            ],
            "velocity": [
                -0.049900077283382416,
                5.275720596313477,
                0.003780317259952426
            ],
            "speed_kmh": 18.993448561560772,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.120391845703125,
                "transform": {
                    "location": {
                        "x": 986.992919921875,
                        "y": 5199.416015625,
                        "z": 371.6238708496094
                    },
                    "rotation": {
                        "roll": 0.0009709349251352251,
                        "pitch": 0.018933283165097237,
                        "yaw": -89.53977966308594
                    }
                },
                "velocity": {
                    "x": 0.06061442196369171,
                    "y": -8.12016487121582,
                    "z": 0.002500667469576001
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9105830788612366,
                "transform": {
                    "location": {
                        "x": 984.0018310546875,
                        "y": 5116.72998046875,
                        "z": 371.60589599609375
                    },
                    "rotation": {
                        "roll": 0.0011938613606616855,
                        "pitch": -0.42220813035964966,
                        "yaw": 90.47455596923828
                    }
                },
                "velocity": {
                    "x": -0.006073591765016317,
                    "y": 0.9105597734451294,
                    "z": 0.002351684495806694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1872873306274414,
                "transform": {
                    "location": {
                        "x": 983.9981079101562,
                        "y": 5129.390625,
                        "z": 371.61968994140625
                    },
                    "rotation": {
                        "roll": -0.007904053665697575,
                        "pitch": -0.017000339925289154,
                        "yaw": 92.48281860351562
                    }
                },
                "velocity": {
                    "x": -0.01468290202319622,
                    "y": 2.1872363090515137,
                    "z": 0.0026578425895422697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2759575843811035,
                "transform": {
                    "location": {
                        "x": 983.9462280273438,
                        "y": 5159.03125,
                        "z": 371.6208801269531
                    },
                    "rotation": {
                        "roll": 0.002419960219413042,
                        "pitch": 0.045038264244794846,
                        "yaw": 90.67961883544922
                    }
                },
                "velocity": {
                    "x": -0.049900077283382416,
                    "y": 5.275720596313477,
                    "z": 0.003780317259952426
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.533496379852295,
                "transform": {
                    "location": {
                        "x": 983.8973999023438,
                        "y": 5176.31591796875,
                        "z": 371.6268005371094
                    },
                    "rotation": {
                        "roll": 0.0014527610037475824,
                        "pitch": 0.02855701930820942,
                        "yaw": 90.50078582763672
                    }
                },
                "velocity": {
                    "x": -0.04893120005726814,
                    "y": 6.533312797546387,
                    "z": 0.0023590754717588425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0015015755780041218,
        "expert_target_speed": 2.587181460050609,
        "target_point": [
            50.49959433726773,
            0.0061242744340160304
        ],
        "target_point_next": [
            101.49967551689457,
            0.010974644159286645
        ]
    },
    "55": {
        "acceleration": [
            0.00491089653223753,
            2.1702003479003906,
            -0.009992597624659538
        ],
        "angular_velocity": [
            0.08166836947202682,
            -0.02954973839223385,
            -0.204188734292984
        ],
        "forward_vector": [
            -0.0008744355291128159,
            0.9999902844429016,
            0.004330621566623449
        ],
        "right_vector": [
            -0.9999996423721313,
            -0.0008741869241930544,
            -5.9295209211995825e-05
        ],
        "location": [
            984.0267944335938,
            5140.3828125,
            371.6168212890625
        ],
        "rotation": [
            0.003397397231310606,
            0.24812710285186768,
            90.05010223388672
        ],
        "velocity": [
            0.0036301370710134506,
            1.9864529371261597,
            0.0015677832998335361
        ],
        "speed": 1.9864562540645845,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.983129501342773,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9334716796875,
                5160.36572265625,
                371.6213073730469
            ],
            "velocity": [
                -0.0452883243560791,
                5.517234802246094,
                0.0014696597354486585
            ],
            "speed_kmh": 19.862715131551962,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.906864643096924,
                "transform": {
                    "location": {
                        "x": 987.007568359375,
                        "y": 5197.4130859375,
                        "z": 371.62451171875
                    },
                    "rotation": {
                        "roll": 0.0016474513104185462,
                        "pitch": 0.01781313307583332,
                        "yaw": -89.6782455444336
                    }
                },
                "velocity": {
                    "x": 0.04326307773590088,
                    "y": -7.906745910644531,
                    "z": 0.0023314666468650103
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.34621524810791,
                "transform": {
                    "location": {
                        "x": 983.9986572265625,
                        "y": 5117.17236328125,
                        "z": 371.6065673828125
                    },
                    "rotation": {
                        "roll": 0.0004479934577830136,
                        "pitch": 0.1887727528810501,
                        "yaw": 90.4607925415039
                    }
                },
                "velocity": {
                    "x": -0.017335891723632812,
                    "y": 2.3461503982543945,
                    "z": 0.00197601318359375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7413311004638672,
                "transform": {
                    "location": {
                        "x": 983.9910888671875,
                        "y": 5129.8916015625,
                        "z": 371.61944580078125
                    },
                    "rotation": {
                        "roll": 0.0017061474500223994,
                        "pitch": 0.058275170624256134,
                        "yaw": 92.0281982421875
                    }
                },
                "velocity": {
                    "x": -0.011999323032796383,
                    "y": 1.741288661956787,
                    "z": 0.0019594859331846237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.517420768737793,
                "transform": {
                    "location": {
                        "x": 983.9334716796875,
                        "y": 5160.36572265625,
                        "z": 371.6213073730469
                    },
                    "rotation": {
                        "roll": 0.0014214832335710526,
                        "pitch": 0.027252452448010445,
                        "yaw": 90.55923461914062
                    }
                },
                "velocity": {
                    "x": -0.0452883243560791,
                    "y": 5.517234802246094,
                    "z": 0.0014696597354486585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.811910629272461,
                "transform": {
                    "location": {
                        "x": 983.8853759765625,
                        "y": 5177.88134765625,
                        "z": 371.6272888183594
                    },
                    "rotation": {
                        "roll": 0.0008207578212022781,
                        "pitch": 0.0031282263807952404,
                        "yaw": 90.43433380126953
                    }
                },
                "velocity": {
                    "x": -0.041611794382333755,
                    "y": 5.811761379241943,
                    "z": 0.0019501971546560526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002642843872308731,
        "expert_target_speed": 3.0748347156783185,
        "target_point": [
            50.064516380880896,
            0.04635775650677282
        ],
        "target_point_next": [
            101.06457835394363,
            0.09088413492065674
        ]
    },
    "60": {
        "acceleration": [
            0.01954680308699608,
            2.187333106994629,
            0.0006820680573582649
        ],
        "angular_velocity": [
            0.03635893017053604,
            -0.014943079091608524,
            -0.267702579498291
        ],
        "forward_vector": [
            0.0001556418719701469,
            0.9999887347221375,
            0.00474165054038167
        ],
        "right_vector": [
            -1.0,
            0.00015601782070007175,
            -7.891654240665957e-05
        ],
        "location": [
            984.0279541015625,
            5140.95556640625,
            371.6170654296875
        ],
        "rotation": [
            0.004521635826677084,
            0.27167758345603943,
            89.99108123779297
        ],
        "velocity": [
            0.00735238054767251,
            2.557635545730591,
            0.0019016361329704523
        ],
        "speed": 2.557646113574811,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.932891845703125,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9207763671875,
                5161.88818359375,
                371.6214294433594
            ],
            "velocity": [
                -0.05029834806919098,
                6.633349895477295,
                0.0019122314406558871
            ],
            "speed_kmh": 23.880747116347507,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.85844612121582,
                "transform": {
                    "location": {
                        "x": 987.0170288085938,
                        "y": 5195.548828125,
                        "z": 371.62542724609375
                    },
                    "rotation": {
                        "roll": 0.001385263167321682,
                        "pitch": -0.014896641485393047,
                        "yaw": -89.78324890136719
                    }
                },
                "velocity": {
                    "x": 0.026671133935451508,
                    "y": -6.858394145965576,
                    "z": 0.0017403220990672708
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0029288693331182003,
                "transform": {
                    "location": {
                        "x": 983.995849609375,
                        "y": 5117.5361328125,
                        "z": 371.6067199707031
                    },
                    "rotation": {
                        "roll": 0.0013216224033385515,
                        "pitch": -0.32186582684516907,
                        "yaw": 90.39614868164062
                    }
                },
                "velocity": {
                    "x": -0.0001539703516755253,
                    "y": 0.0024205276276916265,
                    "z": 0.0016418325249105692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1987781524658203,
                "transform": {
                    "location": {
                        "x": 983.985107421875,
                        "y": 5130.3701171875,
                        "z": 371.6201171875
                    },
                    "rotation": {
                        "roll": -0.0005493161734193563,
                        "pitch": 0.012328490614891052,
                        "yaw": 91.68728637695312
                    }
                },
                "velocity": {
                    "x": -0.013715463690459728,
                    "y": 2.1987345218658447,
                    "z": 0.001794786425307393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.633540630340576,
                "transform": {
                    "location": {
                        "x": 983.9207763671875,
                        "y": 5161.88818359375,
                        "z": 371.6214294433594
                    },
                    "rotation": {
                        "roll": 0.0011257308069616556,
                        "pitch": 0.04575543478131294,
                        "yaw": 90.47689819335938
                    }
                },
                "velocity": {
                    "x": -0.05029834806919098,
                    "y": 6.633349895477295,
                    "z": 0.0019122314406558871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.3235859870910645,
                "transform": {
                    "location": {
                        "x": 983.8759155273438,
                        "y": 5179.25048828125,
                        "z": 371.6276550292969
                    },
                    "rotation": {
                        "roll": 0.001073485822416842,
                        "pitch": -0.0006147170206531882,
                        "yaw": 90.39102935791016
                    }
                },
                "velocity": {
                    "x": -0.028936857357621193,
                    "y": 5.323506832122803,
                    "z": 0.001836919691413641
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.005864919163286686,
        "expert_target_speed": 3.6510930838700806,
        "target_point": [
            49.49169922690301,
            0.0932573920480638
        ],
        "target_point_next": [
            100.49169923486926,
            0.18437842176753014
        ]
    },
    "65": {
        "acceleration": [
            0.01130053773522377,
            0.09989261627197266,
            0.01077289693057537
        ],
        "angular_velocity": [
            -0.5283926129341125,
            0.009476366452872753,
            -0.28634554147720337
        ],
        "forward_vector": [
            0.0013741914881393313,
            0.9999924302101135,
            0.0036325373221188784
        ],
        "right_vector": [
            -0.9999990463256836,
            0.0013745308388024569,
            -9.091220999835059e-05
        ],
        "location": [
            984.030029296875,
            5141.638671875,
            371.6176452636719
        ],
        "rotation": [
            0.0052089206874370575,
            0.20812951028347015,
            89.9212646484375
        ],
        "velocity": [
            0.011384130455553532,
            2.810436248779297,
            0.002327489899471402
        ],
        "speed": 2.8104593053233975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.041358947753906,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.9071044921875,
                5163.6796875,
                371.621826171875
            ],
            "velocity": [
                -0.05413702502846718,
                7.5200724601745605,
                0.0021601105108857155
            ],
            "speed_kmh": 27.072963483080784,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.901709079742432,
                "transform": {
                    "location": {
                        "x": 987.0233154296875,
                        "y": 5193.8544921875,
                        "z": 371.6256408691406
                    },
                    "rotation": {
                        "roll": 0.0011216921266168356,
                        "pitch": 0.009514452889561653,
                        "yaw": -89.83281707763672
                    }
                },
                "velocity": {
                    "x": 0.021365871652960777,
                    "y": -6.901675701141357,
                    "z": 0.002355375327169895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.516066074371338,
                "transform": {
                    "location": {
                        "x": 983.9943237304688,
                        "y": 5117.7529296875,
                        "z": 371.6070556640625
                    },
                    "rotation": {
                        "roll": 0.000906656903680414,
                        "pitch": 0.14114585518836975,
                        "yaw": 90.38296508789062
                    }
                },
                "velocity": {
                    "x": -0.010261191055178642,
                    "y": 1.5160305500030518,
                    "z": 0.0014659404987469316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7412927150726318,
                "transform": {
                    "location": {
                        "x": 983.9796752929688,
                        "y": 5130.87158203125,
                        "z": 371.6200256347656
                    },
                    "rotation": {
                        "roll": 0.0021061375737190247,
                        "pitch": 0.06584984809160233,
                        "yaw": 91.40083312988281
                    }
                },
                "velocity": {
                    "x": -0.011248491704463959,
                    "y": 1.7412551641464233,
                    "z": 0.0020637798588722944
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.520267486572266,
                "transform": {
                    "location": {
                        "x": 983.9071044921875,
                        "y": 5163.6796875,
                        "z": 371.621826171875
                    },
                    "rotation": {
                        "roll": -3.051574640267063e-05,
                        "pitch": 0.047497134655714035,
                        "yaw": 90.4243392944336
                    }
                },
                "velocity": {
                    "x": -0.05413702502846718,
                    "y": 7.5200724601745605,
                    "z": 0.0021601105108857155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.512046813964844,
                "transform": {
                    "location": {
                        "x": 983.8688354492188,
                        "y": 5180.59765625,
                        "z": 371.6278076171875
                    },
                    "rotation": {
                        "roll": 0.0013949382118880749,
                        "pitch": 0.015238150954246521,
                        "yaw": 90.31070709228516
                    }
                },
                "velocity": {
                    "x": -0.023968951776623726,
                    "y": 5.511994361877441,
                    "z": 0.0021777914371341467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014445999637246132,
        "expert_target_speed": 3.9133306204324065,
        "target_point": [
            48.808408584621304,
            0.1648163110472064
        ],
        "target_point_next": [
            99.80822719393589,
            0.32854068804695524
        ]
    },
    "70": {
        "acceleration": [
            0.017699897289276123,
            -0.2814626693725586,
            0.008604046888649464
        ],
        "angular_velocity": [
            -0.39359039068222046,
            0.01085648126900196,
            -0.2834049463272095
        ],
        "forward_vector": [
            0.0026188595220446587,
            0.9999955296516418,
            0.001410841359756887
        ],
        "right_vector": [
            -0.999996542930603,
            0.002618995262309909,
            -9.433738159714267e-05
        ],
        "location": [
            984.0330810546875,
            5142.33447265625,
            371.61846923828125
        ],
        "rotation": [
            0.005405139178037643,
            0.08083528280258179,
            89.8499526977539
        ],
        "velocity": [
            0.014778180047869682,
            2.7531237602233887,
            0.002070741495117545
        ],
        "speed": 2.7531634229940107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.281660079956055,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8949584960938,
                5165.61572265625,
                371.6224670410156
            ],
            "velocity": [
                -0.03889007121324539,
                7.824534893035889,
                0.0016458129975944757
            ],
            "speed_kmh": 28.16867416555552,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.746854305267334,
                "transform": {
                    "location": {
                        "x": 987.02880859375,
                        "y": 5192.01513671875,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": 0.0007406970835290849,
                        "pitch": 0.03614535927772522,
                        "yaw": -89.85389709472656
                    }
                },
                "velocity": {
                    "x": 0.019634144380688667,
                    "y": -7.746829032897949,
                    "z": 0.001690502162091434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.922297716140747,
                "transform": {
                    "location": {
                        "x": 983.9904174804688,
                        "y": 5118.3046875,
                        "z": 371.60760498046875
                    },
                    "rotation": {
                        "roll": -0.0012817590031772852,
                        "pitch": 0.3037521541118622,
                        "yaw": 90.41143798828125
                    }
                },
                "velocity": {
                    "x": -0.021025916561484337,
                    "y": 2.9222209453582764,
                    "z": 0.002594966907054186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.195214033126831,
                "transform": {
                    "location": {
                        "x": 983.9747924804688,
                        "y": 5131.349609375,
                        "z": 371.6208190917969
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.013455471955239773,
                        "yaw": 91.18441772460938
                    }
                },
                "velocity": {
                    "x": -0.013271395117044449,
                    "y": 2.1951727867126465,
                    "z": 0.002146882936358452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.824631690979004,
                "transform": {
                    "location": {
                        "x": 983.8949584960938,
                        "y": 5165.61572265625,
                        "z": 371.6224670410156
                    },
                    "rotation": {
                        "roll": 0.0019622461404651403,
                        "pitch": 0.02874826453626156,
                        "yaw": 90.32337951660156
                    }
                },
                "velocity": {
                    "x": -0.03889007121324539,
                    "y": 7.824534893035889,
                    "z": 0.0016458129975944757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.60230827331543,
                "transform": {
                    "location": {
                        "x": 983.862548828125,
                        "y": 5182.001953125,
                        "z": 371.6280822753906
                    },
                    "rotation": {
                        "roll": 0.0005934276850894094,
                        "pitch": 0.013079811818897724,
                        "yaw": 90.25938415527344
                    }
                },
                "velocity": {
                    "x": -0.022565940394997597,
                    "y": 5.602262496948242,
                    "z": 0.002005786867812276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01810670830309391,
        "expert_target_speed": 3.869241893296986,
        "target_point": [
            48.112367939203416,
            0.2248974594438516
        ],
        "target_point_next": [
            99.11195202673963,
            0.45012346357443156
        ]
    },
    "75": {
        "acceleration": [
            0.012713000178337097,
            0.7594013214111328,
            0.008037183433771133
        ],
        "angular_velocity": [
            0.15201297402381897,
            -0.06687289476394653,
            -0.28539636731147766
        ],
        "forward_vector": [
            0.003849094035103917,
            0.9999922513961792,
            0.000856280152220279
        ],
        "right_vector": [
            -0.9999926090240479,
            0.003849186236038804,
            -0.00010610536992317066
        ],
        "location": [
            984.0369262695312,
            5143.02099609375,
            371.6188659667969
        ],
        "rotation": [
            0.006079392042011023,
            0.04906124621629715,
            89.77946472167969
        ],
        "velocity": [
            0.018154053017497063,
            2.8036248683929443,
            0.0022991751320660114
        ],
        "speed": 2.8036836434077785,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.44089698791504,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8858642578125,
                5167.46142578125,
                371.6231994628906
            ],
            "velocity": [
                -0.028506314381957054,
                6.9019775390625,
                0.0017406272236257792
            ],
            "speed_kmh": 24.84733185433558,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.816300392150879,
                "transform": {
                    "location": {
                        "x": 987.0338745117188,
                        "y": 5189.96240234375,
                        "z": 371.62615966796875
                    },
                    "rotation": {
                        "roll": 0.0005111537757329643,
                        "pitch": 0.049969661980867386,
                        "yaw": -89.86236572265625
                    }
                },
                "velocity": {
                    "x": 0.020879140123724937,
                    "y": -8.816275596618652,
                    "z": 0.0025561428628861904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.459926605224609,
                "transform": {
                    "location": {
                        "x": 983.9852905273438,
                        "y": 5119.2412109375,
                        "z": 371.60845947265625
                    },
                    "rotation": {
                        "roll": 0.0034960447810590267,
                        "pitch": 0.3593362271785736,
                        "yaw": 90.35903930664062
                    }
                },
                "velocity": {
                    "x": -0.0223031435161829,
                    "y": 4.459869861602783,
                    "z": 0.002696885960176587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7384651899337769,
                "transform": {
                    "location": {
                        "x": 983.9703979492188,
                        "y": 5131.8505859375,
                        "z": 371.6206970214844
                    },
                    "rotation": {
                        "roll": 0.0015986954094842076,
                        "pitch": 0.06562445312738419,
                        "yaw": 91.00434875488281
                    }
                },
                "velocity": {
                    "x": -0.010729962028563023,
                    "y": 1.738431453704834,
                    "z": 0.0015726470155641437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.902036666870117,
                "transform": {
                    "location": {
                        "x": 983.8858642578125,
                        "y": 5167.46142578125,
                        "z": 371.6231994628906
                    },
                    "rotation": {
                        "roll": 0.00025303964503109455,
                        "pitch": -0.009678377769887447,
                        "yaw": 90.2356948852539
                    }
                },
                "velocity": {
                    "x": -0.028506314381957054,
                    "y": 6.9019775390625,
                    "z": 0.0017406272236257792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.278587818145752,
                "transform": {
                    "location": {
                        "x": 983.8583374023438,
                        "y": 5183.02490234375,
                        "z": 371.62841796875
                    },
                    "rotation": {
                        "roll": -3.051907697226852e-05,
                        "pitch": -0.039642415940761566,
                        "yaw": 90.24230194091797
                    }
                },
                "velocity": {
                    "x": -0.01295861229300499,
                    "y": 3.278562307357788,
                    "z": -0.00034805297036655247
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.026685083284974098,
        "expert_target_speed": 3.9232873215829747,
        "target_point": [
            47.42552155147802,
            0.2853050799752017
        ],
        "target_point_next": [
            98.4247898260763,
            0.5732969377911006
        ]
    },
    "80": {
        "acceleration": [
            0.033443383872509,
            1.876664161682129,
            -0.008066751062870026
        ],
        "angular_velocity": [
            0.36232757568359375,
            -0.02867121808230877,
            -0.32396161556243896
        ],
        "forward_vector": [
            0.005179920699447393,
            0.9999840259552002,
            0.0022702196147292852
        ],
        "right_vector": [
            -0.9999865889549255,
            0.005180175416171551,
            -0.00010627274605212733
        ],
        "location": [
            984.0419921875,
            5143.767578125,
            371.618896484375
        ],
        "rotation": [
            0.00608899537473917,
            0.13007411360740662,
            89.70320892333984
        ],
        "velocity": [
            0.02492937259376049,
            3.1823031902313232,
            0.0010158251971006393
        ],
        "speed": 3.1824008339890777,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.205602645874023,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8795166015625,
                5168.97265625,
                371.6238098144531
            ],
            "velocity": [
                -0.016110870987176895,
                4.137299060821533,
                -0.002163104945793748
            ],
            "speed_kmh": 14.89439158011793,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.305647850036621,
                "transform": {
                    "location": {
                        "x": 987.0389404296875,
                        "y": 5187.822265625,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 0.0006061077583581209,
                        "pitch": -0.0029028302524238825,
                        "yaw": -89.89031982421875
                    }
                },
                "velocity": {
                    "x": 0.01717495173215866,
                    "y": -8.30562973022461,
                    "z": 0.0013161372626200318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9056239128112793,
                "transform": {
                    "location": {
                        "x": 983.9789428710938,
                        "y": 5120.4462890625,
                        "z": 371.60943603515625
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": 0.07152573764324188,
                        "yaw": 90.09246826171875
                    }
                },
                "velocity": {
                    "x": -0.0385059118270874,
                    "y": 3.9054341316223145,
                    "z": 0.0003598499170038849
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1953790187835693,
                "transform": {
                    "location": {
                        "x": 983.96630859375,
                        "y": 5132.328125,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -0.0006713861948810518,
                        "pitch": 0.013598905876278877,
                        "yaw": 90.86847686767578
                    }
                },
                "velocity": {
                    "x": -0.013015318661928177,
                    "y": 2.1953399181365967,
                    "z": 0.0015781116671860218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.137331008911133,
                "transform": {
                    "location": {
                        "x": 983.8795166015625,
                        "y": 5168.97265625,
                        "z": 371.6238098144531
                    },
                    "rotation": {
                        "roll": 8.724170038476586e-05,
                        "pitch": -0.060754530131816864,
                        "yaw": 90.2011489868164
                    }
                },
                "velocity": {
                    "x": -0.016110870987176895,
                    "y": 4.137299060821533,
                    "z": -0.002163104945793748
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9117894172668457,
                "transform": {
                    "location": {
                        "x": 983.85498046875,
                        "y": 5183.92138671875,
                        "z": 371.6282043457031
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": 0.008640188723802567,
                        "yaw": 90.22628784179688
                    }
                },
                "velocity": {
                    "x": -0.011429590173065662,
                    "y": 3.9117724895477295,
                    "z": 0.0012431431096047163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03647514432668686,
        "expert_target_speed": 4.285318296432662,
        "target_point": [
            46.67850574824426,
            0.34905509145341107
        ],
        "target_point_next": [
            97.67734982273656,
            0.7043112247381631
        ]
    },
    "85": {
        "acceleration": [
            0.037972405552864075,
            1.783447265625,
            -0.007605361752212048
        ],
        "angular_velocity": [
            0.14163388311862946,
            0.0057098460383713245,
            -0.3649660646915436
        ],
        "forward_vector": [
            0.006690131034702063,
            0.9999718070030212,
            0.0034254719503223896
        ],
        "right_vector": [
            -0.9999776482582092,
            0.00669066421687603,
            -0.00014421157538890839
        ],
        "location": [
            984.0490112304688,
            5144.625,
            371.6189270019531
        ],
        "rotation": [
            0.008262762799859047,
            0.19626547396183014,
            89.6166763305664
        ],
        "velocity": [
            0.03375554084777832,
            3.6498212814331055,
            0.0017111492343246937
        ],
        "speed": 3.649977372935334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.651470184326172,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8782348632812,
                5169.27587890625,
                371.62445068359375
            ],
            "velocity": [
                -0.0004447498358786106,
                0.2083478718996048,
                0.0003333091735839844
            ],
            "speed_kmh": 0.7500550075213186,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.053865432739258,
                "transform": {
                    "location": {
                        "x": 987.04296875,
                        "y": 5185.78662109375,
                        "z": 371.6268615722656
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.017307698726654053,
                        "yaw": -89.87316131591797
                    }
                },
                "velocity": {
                    "x": 0.016197357326745987,
                    "y": -8.053849220275879,
                    "z": -0.00012284278636798263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5523104071617126,
                "transform": {
                    "location": {
                        "x": 983.9686279296875,
                        "y": 5120.80126953125,
                        "z": 371.6094970703125
                    },
                    "rotation": {
                        "roll": 0.040900569409132004,
                        "pitch": -0.5372899770736694,
                        "yaw": 89.17493438720703
                    }
                },
                "velocity": {
                    "x": -1.692198566161096e-05,
                    "y": 0.5523086190223694,
                    "z": 0.0014107798924669623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7373793125152588,
                "transform": {
                    "location": {
                        "x": 983.96240234375,
                        "y": 5132.82861328125,
                        "z": 371.6213684082031
                    },
                    "rotation": {
                        "roll": 0.0009925557533279061,
                        "pitch": 0.06550151109695435,
                        "yaw": 90.75470733642578
                    }
                },
                "velocity": {
                    "x": -0.01055663451552391,
                    "y": 1.7373461723327637,
                    "z": 0.0019167423015460372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2083486169576645,
                "transform": {
                    "location": {
                        "x": 983.8782348632812,
                        "y": 5169.27587890625,
                        "z": 371.62445068359375
                    },
                    "rotation": {
                        "roll": -0.0009460502187721431,
                        "pitch": -0.12872856855392456,
                        "yaw": 90.19976043701172
                    }
                },
                "velocity": {
                    "x": -0.0004447498358786106,
                    "y": 0.2083478718996048,
                    "z": 0.0003333091735839844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.644423961639404,
                "transform": {
                    "location": {
                        "x": 983.8516845703125,
                        "y": 5184.9931640625,
                        "z": 371.6282043457031
                    },
                    "rotation": {
                        "roll": 0.00019693489593919367,
                        "pitch": 0.021460453048348427,
                        "yaw": 90.19515991210938
                    }
                },
                "velocity": {
                    "x": -0.012754296883940697,
                    "y": 4.644406318664551,
                    "z": 0.0016791247762739658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.054985515773296356,
        "expert_target_speed": 4.708872951686612,
        "target_point": [
            45.820473346877364,
            0.42109152815929934
        ],
        "target_point_next": [
            96.81872030734493,
            0.853654603070045
        ]
    },
    "90": {
        "acceleration": [
            -0.025420039892196655,
            1.928701400756836,
            0.002069855108857155
        ],
        "angular_velocity": [
            0.05694732069969177,
            0.022914083674550056,
            0.31712958216667175
        ],
        "forward_vector": [
            0.006338106468319893,
            0.9999726414680481,
            0.003816952696070075
        ],
        "right_vector": [
            -0.9999799132347107,
            0.006337341386824846,
            0.00021251896396279335
        ],
        "location": [
            984.0552978515625,
            5145.59912109375,
            371.61920166015625
        ],
        "rotation": [
            -0.012176528573036194,
            0.21869581937789917,
            89.63684844970703
        ],
        "velocity": [
            0.01865246705710888,
            4.1223955154418945,
            0.0017935180803760886
        ],
        "speed": 4.122437713327245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.831710815429688,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8786010742188,
                5169.43017578125,
                371.62322998046875
            ],
            "velocity": [
                -0.0023639851715415716,
                0.9312373995780945,
                0.0017043589614331722
            ],
            "speed_kmh": 3.3524710551759855,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.874267578125,
                        "y": 5224.224609375,
                        "z": 371.7716979980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02093452773988247,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.814464092254639,
                "transform": {
                    "location": {
                        "x": 987.0469970703125,
                        "y": 5183.93408203125,
                        "z": 371.62689208984375
                    },
                    "rotation": {
                        "roll": 7.47385565773584e-05,
                        "pitch": -0.04314630106091499,
                        "yaw": -89.93278503417969
                    }
                },
                "velocity": {
                    "x": 0.011877929791808128,
                    "y": -6.814453601837158,
                    "z": -0.0018236350733786821
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2528743743896484,
                "transform": {
                    "location": {
                        "x": 983.9691162109375,
                        "y": 5121.19775390625,
                        "z": 371.610107421875
                    },
                    "rotation": {
                        "roll": 0.0005077308160252869,
                        "pitch": 0.17409467697143555,
                        "yaw": 89.3436279296875
                    }
                },
                "velocity": {
                    "x": 0.003693140111863613,
                    "y": 2.2528700828552246,
                    "z": 0.0022489833645522594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2369771003723145,
                "transform": {
                    "location": {
                        "x": 983.9588012695312,
                        "y": 5133.30712890625,
                        "z": 371.6221008300781
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.009610075503587723,
                        "yaw": 90.6656265258789
                    }
                },
                "velocity": {
                    "x": -0.013133612461388111,
                    "y": 2.2369377613067627,
                    "z": 0.0019476509187370539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9312419891357422,
                "transform": {
                    "location": {
                        "x": 983.8786010742188,
                        "y": 5169.43017578125,
                        "z": 371.62322998046875
                    },
                    "rotation": {
                        "roll": 0.0004921925719827414,
                        "pitch": 0.01151569839566946,
                        "yaw": 90.26941680908203
                    }
                },
                "velocity": {
                    "x": -0.0023639851715415716,
                    "y": 0.9312373995780945,
                    "z": 0.0017043589614331722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.215794563293457,
                "transform": {
                    "location": {
                        "x": 983.8480224609375,
                        "y": 5186.24951171875,
                        "z": 371.6286315917969
                    },
                    "rotation": {
                        "roll": 0.0005459107342176139,
                        "pitch": 0.02040860429406166,
                        "yaw": 90.17585754394531
                    }
                },
                "velocity": {
                    "x": -0.014978479593992233,
                    "y": 5.21577262878418,
                    "z": 0.0013149738078936934
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05557848885655403,
        "expert_target_speed": 5.147524499712852,
        "target_point": [
            44.84647925195344,
            0.40486081446742184
        ],
        "target_point_next": [
            95.84487725259525,
            0.8192341036020946
        ]
    },
    "95": {
        "acceleration": [
            -0.04022188484668732,
            0.797119140625,
            -0.0024780258536338806
        ],
        "angular_velocity": [
            -0.28141018748283386,
            0.00814652256667614,
            0.4812306761741638
        ],
        "forward_vector": [
            0.004503404255956411,
            0.9999842643737793,
            0.003343694843351841
        ],
        "right_vector": [
            -0.9999898076057434,
            0.004502451047301292,
            0.0002924135187640786
        ],
        "location": [
            984.0588989257812,
            5146.67724609375,
            371.61968994140625
        ],
        "rotation": [
            -0.0167541541159153,
            0.19157996773719788,
            89.74197387695312
        ],
        "velocity": [
            0.007933269254863262,
            4.4383416175842285,
            0.0017751598497852683
        ],
        "speed": 4.438348707699887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.048564910888672,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8776245117188,
                5169.72509765625,
                371.6231689453125
            ],
            "velocity": [
                -0.00389665924012661,
                1.3989053964614868,
                0.0018678855849429965
            ],
            "speed_kmh": 5.036083454067977,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8778686523438,
                        "y": 5222.1494140625,
                        "z": 371.6759338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.985118389129639,
                "transform": {
                    "location": {
                        "x": 987.0498046875,
                        "y": 5182.232421875,
                        "z": 371.62628173828125
                    },
                    "rotation": {
                        "roll": -0.000427245773607865,
                        "pitch": -0.014070188626646996,
                        "yaw": -89.9325180053711
                    }
                },
                "velocity": {
                    "x": 0.011696991510689259,
                    "y": -6.985108375549316,
                    "z": -0.0017918109660968184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0028567337431013584,
                "transform": {
                    "location": {
                        "x": 983.9696655273438,
                        "y": 5121.55126953125,
                        "z": 371.6102294921875
                    },
                    "rotation": {
                        "roll": 0.008500130847096443,
                        "pitch": -0.30563730001449585,
                        "yaw": 89.54594421386719
                    }
                },
                "velocity": {
                    "x": 0.00014914355415385216,
                    "y": 0.0025537442415952682,
                    "z": 0.001271642278879881
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.122742176055908,
                "transform": {
                    "location": {
                        "x": 983.9548950195312,
                        "y": 5133.9765625,
                        "z": 371.6229553222656
                    },
                    "rotation": {
                        "roll": -0.0022583019454032183,
                        "pitch": -0.048064038157463074,
                        "yaw": 90.55004119873047
                    }
                },
                "velocity": {
                    "x": -0.011553497985005379,
                    "y": 3.122720241546631,
                    "z": 0.001703939400613308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3989120721817017,
                "transform": {
                    "location": {
                        "x": 983.8776245117188,
                        "y": 5169.72509765625,
                        "z": 371.6231689453125
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": 0.031972113996744156,
                        "yaw": 90.25971221923828
                    }
                },
                "velocity": {
                    "x": -0.00389665924012661,
                    "y": 1.3989053964614868,
                    "z": 0.0018678855849429965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.088063716888428,
                "transform": {
                    "location": {
                        "x": 983.8438720703125,
                        "y": 5187.64404296875,
                        "z": 371.6285705566406
                    },
                    "rotation": {
                        "roll": -6.103565101511776e-05,
                        "pitch": 0.017068641260266304,
                        "yaw": 90.1614761352539
                    }
                },
                "velocity": {
                    "x": -0.017864257097244263,
                    "y": 6.088037014007568,
                    "z": -0.0016534137539565563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05951607972383499,
        "expert_target_speed": 5.4329034811486,
        "target_point": [
            43.769021161790526,
            0.32066114522185973
        ],
        "target_point_next": [
            94.76809844631482,
            0.6406923651569464
        ]
    },
    "100": {
        "acceleration": [
            -0.039971861988306046,
            0.7791805267333984,
            -0.004272270016372204
        ],
        "angular_velocity": [
            -0.1364719271659851,
            0.008497138507664204,
            0.501690149307251
        ],
        "forward_vector": [
            0.0023551653139293194,
            0.9999943375587463,
            0.002398607786744833
        ],
        "right_vector": [
            -0.9999971389770508,
            0.002354503609240055,
            0.0002785657998174429
        ],
        "location": [
            984.0601196289062,
            5147.8115234375,
            371.6202392578125
        ],
        "rotation": [
            -0.0159606896340847,
            0.13743023574352264,
            89.86505889892578
        ],
        "velocity": [
            -0.0016216672956943512,
            4.633174419403076,
            0.0017360305646434426
        ],
        "speed": 4.633174703204689,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.333274841308594,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.87646484375,
                5170.14404296875,
                371.62322998046875
            ],
            "velocity": [
                -0.005079365335404873,
                1.9494410753250122,
                0.0013073825975880027
            ],
            "speed_kmh": 7.018013271513588,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8817138671875,
                        "y": 5220.06591796875,
                        "z": 371.6471252441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.741826057434082,
                "transform": {
                    "location": {
                        "x": 987.0529174804688,
                        "y": 5180.3759765625,
                        "z": 371.6256103515625
                    },
                    "rotation": {
                        "roll": -9.155221050605178e-05,
                        "pitch": 0.011023924686014652,
                        "yaw": -89.94225311279297
                    }
                },
                "velocity": {
                    "x": 0.012493642047047615,
                    "y": -7.741815567016602,
                    "z": -0.002055578166618943
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4895401000976562,
                "transform": {
                    "location": {
                        "x": 983.9696655273438,
                        "y": 5121.7587890625,
                        "z": 371.6105651855469
                    },
                    "rotation": {
                        "roll": -0.004699698183685541,
                        "pitch": 0.14234113693237305,
                        "yaw": 89.58956146240234
                    }
                },
                "velocity": {
                    "x": 0.000830469187349081,
                    "y": 1.4895392656326294,
                    "z": 0.0013498973567038774
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.242262363433838,
                "transform": {
                    "location": {
                        "x": 983.950439453125,
                        "y": 5134.9013671875,
                        "z": 371.6236877441406
                    },
                    "rotation": {
                        "roll": -0.001525881583802402,
                        "pitch": -0.07653909921646118,
                        "yaw": 90.42704010009766
                    }
                },
                "velocity": {
                    "x": -0.0156793724745512,
                    "y": 4.242232799530029,
                    "z": 0.0021094989497214556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9494481086730957,
                "transform": {
                    "location": {
                        "x": 983.87646484375,
                        "y": 5170.14404296875,
                        "z": 371.62322998046875
                    },
                    "rotation": {
                        "roll": 0.0002708363754209131,
                        "pitch": 0.03149399906396866,
                        "yaw": 90.24790954589844
                    }
                },
                "velocity": {
                    "x": -0.005079365335404873,
                    "y": 1.9494410753250122,
                    "z": 0.0013073825975880027
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.185256481170654,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5189.22216796875,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.00015981573960743845,
                        "pitch": -0.002684264210984111,
                        "yaw": 90.17367553710938
                    }
                },
                "velocity": {
                    "x": -0.015652790665626526,
                    "y": 6.18523645401001,
                    "z": -0.0015749167650938034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.054925352334976196,
        "expert_target_speed": 5.604966461840779,
        "target_point": [
            42.63532587947882,
            0.22634271287771618
        ],
        "target_point_next": [
            93.63496733150298,
            0.4381813769437819
        ]
    },
    "105": {
        "acceleration": [
            -0.03785645589232445,
            -1.0373306274414062,
            0.008019257336854935
        ],
        "angular_velocity": [
            -0.5318460464477539,
            -0.001225208630785346,
            0.4970562160015106
        ],
        "forward_vector": [
            0.00015576272562611848,
            0.9999993443489075,
            0.0011447664583101869
        ],
        "right_vector": [
            -0.9999999403953552,
            0.0001554548944113776,
            0.0002689790562726557
        ],
        "location": [
            984.0588989257812,
            5148.9765625,
            371.6208801269531
        ],
        "rotation": [
            -0.015411374159157276,
            0.06559029966592789,
            89.99107360839844
        ],
        "velocity": [
            -0.011710550636053085,
            4.597977638244629,
            0.0019664764404296875
        ],
        "speed": 4.597992550971984,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.72490119934082,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.874755859375,
                5170.70068359375,
                371.62335205078125
            ],
            "velocity": [
                -0.006489385850727558,
                2.488583564758301,
                0.0016265010926872492
            ],
            "speed_kmh": 8.95893320640347,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03634262084961,
                "transform": {
                    "location": {
                        "x": 986.8865356445312,
                        "y": 5217.99365234375,
                        "z": 371.6258544921875
                    },
                    "rotation": {
                        "roll": -0.01849365234375,
                        "pitch": -0.019739245995879173,
                        "yaw": -89.85284423828125
                    }
                },
                "velocity": {
                    "x": 0.045888226479291916,
                    "y": -8.036023139953613,
                    "z": -0.05509583652019501
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.750056266784668,
                "transform": {
                    "location": {
                        "x": 987.056396484375,
                        "y": 5178.30322265625,
                        "z": 371.62506103515625
                    },
                    "rotation": {
                        "roll": 0.00023321945627685636,
                        "pitch": 0.023721246048808098,
                        "yaw": -89.95449829101562
                    }
                },
                "velocity": {
                    "x": 0.013791765086352825,
                    "y": -8.750045776367188,
                    "z": -0.0018221663776785135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.24214506149292,
                "transform": {
                    "location": {
                        "x": 983.9694213867188,
                        "y": 5122.27294921875,
                        "z": 371.6110534667969
                    },
                    "rotation": {
                        "roll": -0.003936767578125,
                        "pitch": 0.20052067935466766,
                        "yaw": 89.71688842773438
                    }
                },
                "velocity": {
                    "x": -0.002949589164927602,
                    "y": 2.2421419620513916,
                    "z": 0.0024153708945959806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.220617771148682,
                "transform": {
                    "location": {
                        "x": 983.9451904296875,
                        "y": 5136.10205078125,
                        "z": 371.62457275390625
                    },
                    "rotation": {
                        "roll": -0.0006103519699536264,
                        "pitch": -0.07891599833965302,
                        "yaw": 90.33028411865234
                    }
                },
                "velocity": {
                    "x": -0.01949087344110012,
                    "y": 5.220579624176025,
                    "z": 0.004409732762724161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4885926246643066,
                "transform": {
                    "location": {
                        "x": 983.874755859375,
                        "y": 5170.70068359375,
                        "z": 371.62335205078125
                    },
                    "rotation": {
                        "roll": -3.051907697226852e-05,
                        "pitch": 0.0315144918859005,
                        "yaw": 90.22215270996094
                    }
                },
                "velocity": {
                    "x": -0.006489385850727558,
                    "y": 2.488583564758301,
                    "z": 0.0016265010926872492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.709583759307861,
                "transform": {
                    "location": {
                        "x": 983.8359985351562,
                        "y": 5190.701171875,
                        "z": 371.62835693359375
                    },
                    "rotation": {
                        "roll": 0.0005531336064450443,
                        "pitch": -0.021084792912006378,
                        "yaw": 90.14840698242188
                    }
                },
                "velocity": {
                    "x": -0.01330644078552723,
                    "y": 5.709568500518799,
                    "z": -0.0013098239433020353
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05679028108716011,
        "expert_target_speed": 5.56748110957817,
        "target_point": [
            41.470657752927885,
            0.13852973226996984
        ],
        "target_point_next": [
            92.47062323806068,
            0.24726965078117086
        ]
    },
    "110": {
        "acceleration": [
            -0.03245905041694641,
            -1.2102794647216797,
            0.01442871056497097
        ],
        "angular_velocity": [
            -0.30498450994491577,
            -0.02964613400399685,
            0.4671560525894165
        ],
        "forward_vector": [
            -0.001945060328580439,
            0.999997615814209,
            -0.0009603498037904501
        ],
        "right_vector": [
            -0.9999980926513672,
            -0.0019448311068117619,
            0.00023968434834387153
        ],
        "location": [
            984.0552368164062,
            5150.0830078125,
            371.6216735839844
        ],
        "rotation": [
            -0.01373290829360485,
            -0.055024001747369766,
            90.11144256591797
        ],
        "velocity": [
            -0.020166844129562378,
            4.2760748863220215,
            0.002054195385426283
        ],
        "speed": 4.276122441539301,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.31474494934082,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8727416992188,
                5171.39697265625,
                371.6235046386719
            ],
            "velocity": [
                -0.007750748656690121,
                3.0623605251312256,
                0.0016812419053167105
            ],
            "speed_kmh": 11.024534862289276,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.212135314941406,
                "transform": {
                    "location": {
                        "x": 986.9044189453125,
                        "y": 5215.9609375,
                        "z": 371.6252136230469
                    },
                    "rotation": {
                        "roll": -0.02700805477797985,
                        "pitch": 0.00785471685230732,
                        "yaw": -89.47854614257812
                    }
                },
                "velocity": {
                    "x": 0.08794856071472168,
                    "y": -8.211660385131836,
                    "z": 0.007740153931081295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.265719413757324,
                "transform": {
                    "location": {
                        "x": 987.0597534179688,
                        "y": 5176.18212890625,
                        "z": 371.62493896484375
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.019561661407351494,
                        "yaw": -89.95794677734375
                    }
                },
                "velocity": {
                    "x": 0.012787288054823875,
                    "y": -8.265708923339844,
                    "z": -0.0020706653594970703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.998640775680542,
                "transform": {
                    "location": {
                        "x": 983.9683227539062,
                        "y": 5122.9013671875,
                        "z": 371.6115417480469
                    },
                    "rotation": {
                        "roll": -0.00585936987772584,
                        "pitch": 0.19748808443546295,
                        "yaw": 89.85546112060547
                    }
                },
                "velocity": {
                    "x": -0.005906829610466957,
                    "y": 2.9986343383789062,
                    "z": 0.001618242240510881
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.544612884521484,
                "transform": {
                    "location": {
                        "x": 983.939453125,
                        "y": 5137.44091796875,
                        "z": 371.624755859375
                    },
                    "rotation": {
                        "roll": -0.000823973270598799,
                        "pitch": -0.02066132053732872,
                        "yaw": 90.22847747802734
                    }
                },
                "velocity": {
                    "x": -0.019672608003020287,
                    "y": 5.544577598571777,
                    "z": 0.0018766879802569747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.062370777130127,
                "transform": {
                    "location": {
                        "x": 983.8727416992188,
                        "y": 5171.39697265625,
                        "z": 371.6235046386719
                    },
                    "rotation": {
                        "roll": -0.000244140945142135,
                        "pitch": 0.03158962354063988,
                        "yaw": 90.1956787109375
                    }
                },
                "velocity": {
                    "x": -0.007750748656690121,
                    "y": 3.0623605251312256,
                    "z": 0.0016812419053167105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.361231803894043,
                "transform": {
                    "location": {
                        "x": 983.832763671875,
                        "y": 5192.08154296875,
                        "z": 371.6280822753906
                    },
                    "rotation": {
                        "roll": -0.0003662105300463736,
                        "pitch": -0.018830830231308937,
                        "yaw": 90.13458251953125
                    }
                },
                "velocity": {
                    "x": -0.01229007262736559,
                    "y": 5.361217498779297,
                    "z": -0.0020386409014463425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0491340272128582,
        "expert_target_speed": 5.269738734625117,
        "target_point": [
            40.36441496390794,
            0.04294573182059677
        ],
        "target_point_next": [
            91.36449590472246,
            0.036025834372715254
        ]
    },
    "115": {
        "acceleration": [
            -0.02636592835187912,
            -0.9021186828613281,
            0.009121703915297985
        ],
        "angular_velocity": [
            0.008272291161119938,
            -0.005733033642172813,
            0.44153687357902527
        ],
        "forward_vector": [
            -0.003923564683645964,
            0.9999912977218628,
            -0.00141894759144634
        ],
        "right_vector": [
            -0.999992311000824,
            -0.003923274111002684,
            0.00020772636344190687
        ],
        "location": [
            984.0497436523438,
            5151.1201171875,
            371.6220703125
        ],
        "rotation": [
            -0.01190185546875,
            -0.08129973709583282,
            90.22480773925781
        ],
        "velocity": [
            -0.027136456221342087,
            4.041026592254639,
            0.0017204189207404852
        ],
        "speed": 4.0411177051114695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.127714157104492,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.870361328125,
                5172.2470703125,
                371.6236572265625
            ],
            "velocity": [
                -0.00912164431065321,
                3.749600648880005,
                0.0019002532353624701
            ],
            "speed_kmh": 13.49860401171339,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013376235961914,
                "transform": {
                    "location": {
                        "x": 986.9283447265625,
                        "y": 5213.93408203125,
                        "z": 371.6265869140625
                    },
                    "rotation": {
                        "roll": -0.01519775576889515,
                        "pitch": 0.010853170417249203,
                        "yaw": -89.3096923828125
                    }
                },
                "velocity": {
                    "x": 0.10107186436653137,
                    "y": -8.012737274169922,
                    "z": 0.005081710871309042
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.04788875579834,
                "transform": {
                    "location": {
                        "x": 987.0625610351562,
                        "y": 5174.15234375,
                        "z": 371.62457275390625
                    },
                    "rotation": {
                        "roll": 6.751815817551687e-05,
                        "pitch": -0.021965887397527695,
                        "yaw": -89.89898681640625
                    }
                },
                "velocity": {
                    "x": 0.014010169543325901,
                    "y": -8.047876358032227,
                    "z": -0.0017444801051169634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.52256965637207,
                "transform": {
                    "location": {
                        "x": 983.9661254882812,
                        "y": 5123.85498046875,
                        "z": 371.6123352050781
                    },
                    "rotation": {
                        "roll": -0.0032348791137337685,
                        "pitch": 0.321824848651886,
                        "yaw": 89.9970703125
                    }
                },
                "velocity": {
                    "x": -0.008889048360288143,
                    "y": 4.5225605964660645,
                    "z": 0.0018093395046889782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4703152179718018,
                "transform": {
                    "location": {
                        "x": 983.9351196289062,
                        "y": 5138.54931640625,
                        "z": 371.6226806640625
                    },
                    "rotation": {
                        "roll": -0.0003357101231813431,
                        "pitch": 0.2684127688407898,
                        "yaw": 90.19952392578125
                    }
                },
                "velocity": {
                    "x": -0.008888037875294685,
                    "y": 2.470299243927002,
                    "z": -0.00040026663918979466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.749612331390381,
                "transform": {
                    "location": {
                        "x": 983.870361328125,
                        "y": 5172.2470703125,
                        "z": 371.6236572265625
                    },
                    "rotation": {
                        "roll": 0.00035237675183452666,
                        "pitch": 0.035271093249320984,
                        "yaw": 90.17317962646484
                    }
                },
                "velocity": {
                    "x": -0.00912164431065321,
                    "y": 3.749600648880005,
                    "z": 0.0019002532353624701
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0679779052734375,
                "transform": {
                    "location": {
                        "x": 983.829833984375,
                        "y": 5193.38623046875,
                        "z": 371.6277160644531
                    },
                    "rotation": {
                        "roll": 0.0005255052237771451,
                        "pitch": -0.022525962442159653,
                        "yaw": 90.1296615600586
                    }
                },
                "velocity": {
                    "x": -0.011261198669672012,
                    "y": 5.067965030670166,
                    "z": -0.0017912863986566663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03668539971113205,
        "expert_target_speed": 5.053998484491697,
        "target_point": [
            39.32729721688101,
            -0.03917441618219905
        ],
        "target_point_next": [
            90.32726241145764,
            -0.14805052277590205
        ]
    },
    "120": {
        "acceleration": [
            -0.026715323328971863,
            -0.7861804962158203,
            -0.012224577367305756
        ],
        "angular_velocity": [
            0.025978993624448776,
            0.0024764803238213062,
            0.4241148829460144
        ],
        "forward_vector": [
            -0.005809909198433161,
            0.9999822378158569,
            -0.0013194079510867596
        ],
        "right_vector": [
            -0.9999831318855286,
            -0.005809649359434843,
            0.00020080211106687784
        ],
        "location": [
            984.0425415039062,
            5152.10400390625,
            371.6223449707031
        ],
        "rotation": [
            -0.011505123227834702,
            -0.07559652626514435,
            90.3328857421875
        ],
        "velocity": [
            -0.03326856717467308,
            3.84097957611084,
            0.0017546843737363815
        ],
        "speed": 3.8411236509207125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.194568634033203,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8676147460938,
                5173.2978515625,
                371.6238098144531
            ],
            "velocity": [
                -0.012524525634944439,
                4.648975849151611,
                0.0016156958881765604
            ],
            "speed_kmh": 16.736374802385626,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.183452606201172,
                "transform": {
                    "location": {
                        "x": 986.951171875,
                        "y": 5211.90869140625,
                        "z": 371.62750244140625
                    },
                    "rotation": {
                        "roll": 0.01216050237417221,
                        "pitch": 0.019903169944882393,
                        "yaw": -89.38268280029297
                    }
                },
                "velocity": {
                    "x": 0.07621201872825623,
                    "y": -8.183097839355469,
                    "z": 0.002844219096004963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.82679557800293,
                "transform": {
                    "location": {
                        "x": 987.0659790039062,
                        "y": 5172.32177734375,
                        "z": 371.6244201660156
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": -0.048098187893629074,
                        "yaw": -89.95726776123047
                    }
                },
                "velocity": {
                    "x": 0.00981538649648428,
                    "y": -6.826787948608398,
                    "z": -0.0025891016703099012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.377965450286865,
                "transform": {
                    "location": {
                        "x": 983.9633178710938,
                        "y": 5125.14013671875,
                        "z": 371.61358642578125
                    },
                    "rotation": {
                        "roll": -0.0015258807688951492,
                        "pitch": 0.24557261168956757,
                        "yaw": 90.06947326660156
                    }
                },
                "velocity": {
                    "x": -0.012213666923344135,
                    "y": 5.377949237823486,
                    "z": 0.005141124594956636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7821824550628662,
                "transform": {
                    "location": {
                        "x": 983.934326171875,
                        "y": 5138.74609375,
                        "z": 371.6229248046875
                    },
                    "rotation": {
                        "roll": 0.0016005077632144094,
                        "pitch": 0.25382348895072937,
                        "yaw": 90.1712417602539
                    }
                },
                "velocity": {
                    "x": -0.001827844651415944,
                    "y": 0.7821784615516663,
                    "z": 0.0016868305392563343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.648993015289307,
                "transform": {
                    "location": {
                        "x": 983.8676147460938,
                        "y": 5173.2978515625,
                        "z": 371.6238098144531
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": 0.0418144166469574,
                        "yaw": 90.15746307373047
                    }
                },
                "velocity": {
                    "x": -0.012524525634944439,
                    "y": 4.648975849151611,
                    "z": 0.0016156958881765604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7700514793396,
                "transform": {
                    "location": {
                        "x": 983.8272705078125,
                        "y": 5194.6162109375,
                        "z": 371.62713623046875
                    },
                    "rotation": {
                        "roll": 0.00036504078889265656,
                        "pitch": -0.02568834088742733,
                        "yaw": 90.13064575195312
                    }
                },
                "velocity": {
                    "x": -0.009814762510359287,
                    "y": 4.770040988922119,
                    "z": -0.0016582392854616046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02892104536294937,
        "expert_target_speed": 4.874494159817176,
        "target_point": [
            38.3432413400906,
            -0.11486601345454375
        ],
        "target_point_next": [
            89.34291031792216,
            -0.3199708798531623
        ]
    },
    "125": {
        "acceleration": [
            0.007423833012580872,
            -2.755146026611328,
            -0.0025836960412561893
        ],
        "angular_velocity": [
            -0.49350205063819885,
            -0.053089261054992676,
            0.36529630422592163
        ],
        "forward_vector": [
            -0.007548636756837368,
            0.9999681711196899,
            -0.0025912493001669645
        ],
        "right_vector": [
            -0.9999715089797974,
            -0.007548242341727018,
            0.00016191975737456232
        ],
        "location": [
            984.0343627929688,
            5153.00537109375,
            371.6228942871094
        ],
        "rotation": [
            -0.009277349337935448,
            -0.1484678089618683,
            90.43251037597656
        ],
        "velocity": [
            -0.03464989736676216,
            3.318296432495117,
            0.0015263938112184405
        ],
        "speed": 3.318477335962587,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.565122604370117,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8645629882812,
                5174.56982421875,
                371.6244812011719
            ],
            "velocity": [
                -0.011117246001958847,
                5.298237323760986,
                0.0013657856034114957
            ],
            "speed_kmh": 19.073696988224427,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.984173774719238,
                "transform": {
                    "location": {
                        "x": 986.9679565429688,
                        "y": 5209.88916015625,
                        "z": 371.6282043457031
                    },
                    "rotation": {
                        "roll": 0.011158326640725136,
                        "pitch": 0.013837962411344051,
                        "yaw": -89.53277587890625
                    }
                },
                "velocity": {
                    "x": 0.06080704927444458,
                    "y": -7.983942031860352,
                    "z": 0.00208079325966537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.127821922302246,
                "transform": {
                    "location": {
                        "x": 987.0687255859375,
                        "y": 5170.59814453125,
                        "z": 371.6236572265625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.01159766037017107,
                        "yaw": -89.9505844116211
                    }
                },
                "velocity": {
                    "x": 0.012347698211669922,
                    "y": -7.127810955047607,
                    "z": -0.0017577647231519222
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.581874370574951,
                "transform": {
                    "location": {
                        "x": 983.9596557617188,
                        "y": 5126.505859375,
                        "z": 371.6145324707031
                    },
                    "rotation": {
                        "roll": -0.0024414092767983675,
                        "pitch": 0.10061550885438919,
                        "yaw": 90.09846496582031
                    }
                },
                "velocity": {
                    "x": -0.017315754666924477,
                    "y": 5.581846237182617,
                    "z": 0.003957080654799938
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7971121072769165,
                "transform": {
                    "location": {
                        "x": 983.9334716796875,
                        "y": 5139.07666015625,
                        "z": 371.62548828125
                    },
                    "rotation": {
                        "roll": 0.00035678737913258374,
                        "pitch": -0.03329716995358467,
                        "yaw": 90.17516326904297
                    }
                },
                "velocity": {
                    "x": -0.004221030510962009,
                    "y": 1.7971066236495972,
                    "z": 0.00136394496075809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.298249244689941,
                "transform": {
                    "location": {
                        "x": 983.8645629882812,
                        "y": 5174.56982421875,
                        "z": 371.6244812011719
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": 0.037463586777448654,
                        "yaw": 90.14352416992188
                    }
                },
                "velocity": {
                    "x": -0.011117246001958847,
                    "y": 5.298237323760986,
                    "z": 0.0013657856034114957
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.312106132507324,
                "transform": {
                    "location": {
                        "x": 983.824951171875,
                        "y": 5195.7529296875,
                        "z": 371.62689208984375
                    },
                    "rotation": {
                        "roll": 0.000570120697375387,
                        "pitch": -0.03058558516204357,
                        "yaw": 90.11893463134766
                    }
                },
                "velocity": {
                    "x": -0.007774549536406994,
                    "y": 4.312098979949951,
                    "z": -0.0014886092394590378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.018651481717824936,
        "expert_target_speed": 4.387233982793681,
        "target_point": [
            37.44158154036239,
            -0.1826801475359816
        ],
        "target_point_next": [
            88.4408186092519,
            -0.4761460668843881
        ]
    },
    "130": {
        "acceleration": [
            0.00999942421913147,
            -2.339611053466797,
            -0.004041099455207586
        ],
        "angular_velocity": [
            -0.131612166762352,
            -0.034724220633506775,
            0.30144497752189636
        ],
        "forward_vector": [
            -0.009000507183372974,
            0.9999512434005737,
            -0.004062999039888382
        ],
        "right_vector": [
            -0.9999594688415527,
            -0.009000143967568874,
            0.00010759127326309681
        ],
        "location": [
            984.0263061523438,
            5153.74853515625,
            371.6233825683594
        ],
        "rotation": [
            -0.006164576858282089,
            -0.23279333114624023,
            90.51570129394531
        ],
        "velocity": [
            -0.032150786370038986,
            2.6728579998016357,
            0.0013669395120814443
        ],
        "speed": 2.6730513575627035,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.208133697509766,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8611450195312,
                5175.9560546875,
                371.6246643066406
            ],
            "velocity": [
                -0.01210746169090271,
                5.967018127441406,
                0.0018477916019037366
            ],
            "speed_kmh": 21.481310508969667,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.154061317443848,
                "transform": {
                    "location": {
                        "x": 986.982177734375,
                        "y": 5207.87060546875,
                        "z": 371.6288146972656
                    },
                    "rotation": {
                        "roll": 0.011528857983648777,
                        "pitch": 0.019616302102804184,
                        "yaw": -89.60626220703125
                    }
                },
                "velocity": {
                    "x": 0.04767767712473869,
                    "y": -8.153922080993652,
                    "z": 0.0016690253978595138
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.7494940757751465,
                "transform": {
                    "location": {
                        "x": 987.072021484375,
                        "y": 5168.7109375,
                        "z": 371.623046875
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.008469434455037117,
                        "yaw": -89.94441986083984
                    }
                },
                "velocity": {
                    "x": 0.013896893709897995,
                    "y": -7.749481201171875,
                    "z": -0.002033672295510769
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1543604135513306,
                "transform": {
                    "location": {
                        "x": 983.95458984375,
                        "y": 5127.5087890625,
                        "z": 371.6146545410156
                    },
                    "rotation": {
                        "roll": 0.022841686382889748,
                        "pitch": -0.6470032930374146,
                        "yaw": 89.05471801757812
                    }
                },
                "velocity": {
                    "x": -0.024657627567648888,
                    "y": 1.154097080230713,
                    "z": -0.0001755714329192415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.644679307937622,
                "transform": {
                    "location": {
                        "x": 983.9319458007812,
                        "y": 5139.63330078125,
                        "z": 371.6259765625
                    },
                    "rotation": {
                        "roll": 5.255046198726632e-05,
                        "pitch": -0.060788679867982864,
                        "yaw": 90.16888427734375
                    }
                },
                "velocity": {
                    "x": -0.006820459850132465,
                    "y": 2.644669771194458,
                    "z": 0.0019292449578642845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.9670305252075195,
                "transform": {
                    "location": {
                        "x": 983.8611450195312,
                        "y": 5175.9560546875,
                        "z": 371.6246643066406
                    },
                    "rotation": {
                        "roll": 0.0005032512708567083,
                        "pitch": 0.03564675524830818,
                        "yaw": 90.10147094726562
                    }
                },
                "velocity": {
                    "x": -0.01210746169090271,
                    "y": 5.967018127441406,
                    "z": 0.0018477916019037366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6510448455810547,
                "transform": {
                    "location": {
                        "x": 983.8231201171875,
                        "y": 5196.76904296875,
                        "z": 371.6266174316406
                    },
                    "rotation": {
                        "roll": 0.0006294446648098528,
                        "pitch": -0.03424656763672829,
                        "yaw": 90.11183166503906
                    }
                },
                "velocity": {
                    "x": -0.00694006122648716,
                    "y": 3.6510374546051025,
                    "z": -0.002358608180657029
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009565666317939758,
        "expert_target_speed": 3.774285168832454,
        "target_point": [
            36.69806939670167,
            -0.23856583073882986
        ],
        "target_point_next": [
            87.69682511362741,
            -0.6062874373227127
        ]
    },
    "135": {
        "acceleration": [
            0.026796311140060425,
            -2.4688339233398438,
            -0.002387808635830879
        ],
        "angular_velocity": [
            -0.041856538504362106,
            0.028768088668584824,
            0.2316872626543045
        ],
        "forward_vector": [
            -0.010164867155253887,
            0.9999387860298157,
            -0.004361615050584078
        ],
        "right_vector": [
            -0.9999483227729797,
            -0.010164713487029076,
            5.7523833675077185e-05
        ],
        "location": [
            984.0191040039062,
            5154.3369140625,
            371.6236267089844
        ],
        "rotation": [
            -0.003295904491096735,
            -0.24990294873714447,
            90.5824203491211
        ],
        "velocity": [
            -0.027277985587716103,
            2.0658750534057617,
            0.0013257121900096536
        ],
        "speed": 2.0660551359491794,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.247140884399414,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8577880859375,
                5177.58349609375,
                371.62493896484375
            ],
            "velocity": [
                -0.012793298810720444,
                7.087448596954346,
                0.001984386472031474
            ],
            "speed_kmh": 25.514857515984193,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.174117088317871,
                "transform": {
                    "location": {
                        "x": 986.9906616210938,
                        "y": 5206.181640625,
                        "z": 371.6293029785156
                    },
                    "rotation": {
                        "roll": 0.007865523919463158,
                        "pitch": -0.23889268934726715,
                        "yaw": -89.6915512084961
                    }
                },
                "velocity": {
                    "x": 0.028184225782752037,
                    "y": -6.174052715301514,
                    "z": 0.0017422866076231003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.656895637512207,
                "transform": {
                    "location": {
                        "x": 987.0758666992188,
                        "y": 5166.6015625,
                        "z": 371.6225280761719
                    },
                    "rotation": {
                        "roll": -0.00021362266852520406,
                        "pitch": 0.016522226855158806,
                        "yaw": -89.94127655029297
                    }
                },
                "velocity": {
                    "x": 0.015736084431409836,
                    "y": -8.656881332397461,
                    "z": -0.0023947427980601788
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8844290971755981,
                "transform": {
                    "location": {
                        "x": 983.9542846679688,
                        "y": 5127.58642578125,
                        "z": 371.61480712890625
                    },
                    "rotation": {
                        "roll": 0.01917397230863571,
                        "pitch": -0.22321057319641113,
                        "yaw": 89.07129669189453
                    }
                },
                "velocity": {
                    "x": 0.004401767160743475,
                    "y": 0.8844166994094849,
                    "z": 0.0016098880441859365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.671931266784668,
                "transform": {
                    "location": {
                        "x": 983.9296875,
                        "y": 5140.42333984375,
                        "z": 371.62646484375
                    },
                    "rotation": {
                        "roll": 0.0002897429803851992,
                        "pitch": -0.07095199823379517,
                        "yaw": 90.16724395751953
                    }
                },
                "velocity": {
                    "x": -0.010948834009468555,
                    "y": 3.6719143390655518,
                    "z": 0.0018731593154370785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.087460517883301,
                "transform": {
                    "location": {
                        "x": 983.8577880859375,
                        "y": 5177.58349609375,
                        "z": 371.62493896484375
                    },
                    "rotation": {
                        "roll": -0.00045776620390824974,
                        "pitch": 0.04833041504025459,
                        "yaw": 90.06084442138672
                    }
                },
                "velocity": {
                    "x": -0.012793298810720444,
                    "y": 7.087448596954346,
                    "z": 0.001984386472031474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.88323974609375,
                "transform": {
                    "location": {
                        "x": 983.8214721679688,
                        "y": 5197.60595703125,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": 0.0007242953288368881,
                        "pitch": -0.037716303020715714,
                        "yaw": 90.10990142822266
                    }
                },
                "velocity": {
                    "x": -0.005512500647455454,
                    "y": 2.8832337856292725,
                    "z": -0.0018966102506965399
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002130563138052821,
        "expert_target_speed": 3.192743676809018,
        "target_point": [
            36.10934190869622,
            -0.28291732007191606
        ],
        "target_point_next": [
            87.10763017515967,
            -0.7105827796444331
        ]
    },
    "140": {
        "acceleration": [
            0.017096921801567078,
            -1.7244577407836914,
            0.011369897052645683
        ],
        "angular_velocity": [
            0.16270002722740173,
            0.014467303641140461,
            0.21190804243087769
        ],
        "forward_vector": [
            -0.011141972616314888,
            0.9999294877052307,
            -0.00411986093968153
        ],
        "right_vector": [
            -0.9999379515647888,
            -0.011141937226057053,
            3.1425151973962784e-05
        ],
        "location": [
            984.01318359375,
            5154.7841796875,
            371.6236572265625
        ],
        "rotation": [
            -0.0018005437450483441,
            -0.23605132102966309,
            90.6384048461914
        ],
        "velocity": [
            -0.022032588720321655,
            1.5477910041809082,
            0.0015077781863510609
        ],
        "speed": 1.5479478116490437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.684101104736328,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8547973632812,
                5179.4677734375,
                371.62542724609375
            ],
            "velocity": [
                -0.012719245627522469,
                7.6285319328308105,
                0.001975088147446513
            ],
            "speed_kmh": 27.462754051442268,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.209836006164551,
                "transform": {
                    "location": {
                        "x": 986.997314453125,
                        "y": 5204.6416015625,
                        "z": 371.6298828125
                    },
                    "rotation": {
                        "roll": 0.0036196140572428703,
                        "pitch": -0.034547094255685806,
                        "yaw": -89.74253845214844
                    }
                },
                "velocity": {
                    "x": 0.025249261409044266,
                    "y": -6.209784507751465,
                    "z": 0.0015250110300257802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.207381248474121,
                "transform": {
                    "location": {
                        "x": 987.07958984375,
                        "y": 5164.501953125,
                        "z": 371.6224060058594
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.021515095606446266,
                        "yaw": -89.93721771240234
                    }
                },
                "velocity": {
                    "x": 0.014868034981191158,
                    "y": -8.207366943359375,
                    "z": -0.0022988892160356045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3342599868774414,
                "transform": {
                    "location": {
                        "x": 983.9551391601562,
                        "y": 5128.00390625,
                        "z": 371.6153564453125
                    },
                    "rotation": {
                        "roll": -0.0048828027211129665,
                        "pitch": 0.22543038427829742,
                        "yaw": 89.27637481689453
                    }
                },
                "velocity": {
                    "x": 0.004774543922394514,
                    "y": 2.3342537879943848,
                    "z": 0.0023953819181770086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.7855119705200195,
                "transform": {
                    "location": {
                        "x": 983.9267578125,
                        "y": 5141.4873046875,
                        "z": 371.62713623046875
                    },
                    "rotation": {
                        "roll": 0.0004943787935189903,
                        "pitch": -0.08248818665742874,
                        "yaw": 90.16156768798828
                    }
                },
                "velocity": {
                    "x": -0.011813503690063953,
                    "y": 4.785497188568115,
                    "z": 0.0021118735894560814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.628542900085449,
                "transform": {
                    "location": {
                        "x": 983.8547973632812,
                        "y": 5179.4677734375,
                        "z": 371.62542724609375
                    },
                    "rotation": {
                        "roll": 4.865510345553048e-05,
                        "pitch": 0.03803732246160507,
                        "yaw": 90.08074951171875
                    }
                },
                "velocity": {
                    "x": -0.012719245627522469,
                    "y": 7.6285319328308105,
                    "z": 0.001975088147446513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0194144248962402,
                "transform": {
                    "location": {
                        "x": 983.8203735351562,
                        "y": 5198.19140625,
                        "z": 371.6261901855469
                    },
                    "rotation": {
                        "roll": 0.00034204311668872833,
                        "pitch": -0.040134187787771225,
                        "yaw": 90.109130859375
                    }
                },
                "velocity": {
                    "x": -0.0037709963507950306,
                    "y": 2.0194106101989746,
                    "z": -0.0012814807705581188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005956102162599564,
        "expert_target_speed": 2.691177114420957,
        "target_point": [
            35.66174571204623,
            -0.31898624587499247
        ],
        "target_point_next": [
            86.65959372588223,
            -0.7962721269761277
        ]
    },
    "145": {
        "acceleration": [
            0.02612270414829254,
            -1.6276240348815918,
            -0.01104431040585041
        ],
        "angular_velocity": [
            0.14018836617469788,
            -0.011287277564406395,
            0.12898625433444977
        ],
        "forward_vector": [
            -0.011907030828297138,
            0.9999231696128845,
            -0.003451936412602663
        ],
        "right_vector": [
            -0.9999291300773621,
            -0.011907115578651428,
            -3.972439571953146e-06
        ],
        "location": [
            984.0084838867188,
            5155.11474609375,
            371.6236267089844
        ],
        "rotation": [
            0.00022760538558941334,
            -0.1977817714214325,
            90.68224334716797
        ],
        "velocity": [
            -0.01697825826704502,
            1.1301628351211548,
            0.0016175174387171865
        ],
        "speed": 1.1302903587763937,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.476051330566406,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8516845703125,
                5181.59033203125,
                371.6258850097656
            ],
            "velocity": [
                -0.013565069064497948,
                8.501120567321777,
                0.00157896988093853
            ],
            "speed_kmh": 30.604073532143428,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.218924522399902,
                "transform": {
                    "location": {
                        "x": 987.0042724609375,
                        "y": 5202.85400390625,
                        "z": 371.6305847167969
                    },
                    "rotation": {
                        "roll": 0.003912041429430246,
                        "pitch": 0.32838866114616394,
                        "yaw": -89.77349090576172
                    }
                },
                "velocity": {
                    "x": 0.02800200693309307,
                    "y": -8.218875885009766,
                    "z": 0.002116050571203232
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974419116973877,
                "transform": {
                    "location": {
                        "x": 987.082763671875,
                        "y": 5162.48486328125,
                        "z": 371.6219482421875
                    },
                    "rotation": {
                        "roll": 0.00023742495977785438,
                        "pitch": -0.022191284224390984,
                        "yaw": -89.88839721679688
                    }
                },
                "velocity": {
                    "x": 0.013911132700741291,
                    "y": -7.974406719207764,
                    "z": -0.0013653563801199198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8939552307128906,
                "transform": {
                    "location": {
                        "x": 983.955810546875,
                        "y": 5128.79052734375,
                        "z": 371.615966796875
                    },
                    "rotation": {
                        "roll": -0.010650634765625,
                        "pitch": 0.3354715406894684,
                        "yaw": 89.5638656616211
                    }
                },
                "velocity": {
                    "x": 0.0028508808463811874,
                    "y": 3.893953561782837,
                    "z": 0.0021650027483701706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.219886302947998,
                "transform": {
                    "location": {
                        "x": 983.9231567382812,
                        "y": 5142.77734375,
                        "z": 371.6275634765625
                    },
                    "rotation": {
                        "roll": -0.00036621055915020406,
                        "pitch": -0.030121132731437683,
                        "yaw": 90.15897369384766
                    }
                },
                "velocity": {
                    "x": -0.01266434881836176,
                    "y": 5.2198710441589355,
                    "z": 0.001572246546857059
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.501131057739258,
                "transform": {
                    "location": {
                        "x": 983.8516845703125,
                        "y": 5181.59033203125,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": 0.0012195106828585267,
                        "pitch": 0.03548965975642204,
                        "yaw": 90.09058380126953
                    }
                },
                "velocity": {
                    "x": -0.013565069064497948,
                    "y": 8.501120567321777,
                    "z": 0.00157896988093853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8110884428024292,
                "transform": {
                    "location": {
                        "x": 983.8194580078125,
                        "y": 5198.70458984375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": 0.0004447385435923934,
                        "pitch": -0.024691132828593254,
                        "yaw": 90.10785675048828
                    }
                },
                "velocity": {
                    "x": -0.0033180592581629753,
                    "y": 1.8110848665237427,
                    "z": -0.0014330100966617465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012834848836064339,
        "expert_target_speed": 2.2860613098745377,
        "target_point": [
            35.33089220626345,
            -0.34704109497880814
        ],
        "target_point_next": [
            86.3283600067318,
            -0.8633566911106806
        ]
    },
    "150": {
        "acceleration": [
            0.0051390379667282104,
            -0.85868239402771,
            -0.010362433269619942
        ],
        "angular_velocity": [
            0.21840903162956238,
            -0.02307121641933918,
            0.09336064010858536
        ],
        "forward_vector": [
            -0.012396375648677349,
            0.9999196529388428,
            -0.0026434629689902067
        ],
        "right_vector": [
            -0.9999231696128845,
            -0.012396433390676975,
            -5.294801667332649e-06
        ],
        "location": [
            984.0048828125,
            5155.3583984375,
            371.6235046386719
        ],
        "rotation": [
            0.00030337084899656475,
            -0.1514594405889511,
            90.71028137207031
        ],
        "velocity": [
            -0.01338100153952837,
            0.8427544832229614,
            0.0014006900601089
        ],
        "speed": 0.8428607062822431,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.24359703063965,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.848388671875,
                5183.6015625,
                371.6266174316406
            ],
            "velocity": [
                -0.013632802292704582,
                7.5801310539245605,
                0.0018858432304114103
            ],
            "speed_kmh": 27.288516771871162,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.192062377929688,
                "transform": {
                    "location": {
                        "x": 987.0107421875,
                        "y": 5200.75146484375,
                        "z": 371.6312561035156
                    },
                    "rotation": {
                        "roll": 0.003730011871084571,
                        "pitch": 0.09437955170869827,
                        "yaw": -89.8253402709961
                    }
                },
                "velocity": {
                    "x": 0.02342100813984871,
                    "y": -8.192028999328613,
                    "z": 0.0013579749502241611
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.95778226852417,
                "transform": {
                    "location": {
                        "x": 987.0864868164062,
                        "y": 5160.4970703125,
                        "z": 371.6214294433594
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.014678075909614563,
                        "yaw": -89.90166473388672
                    }
                },
                "velocity": {
                    "x": 0.014545042999088764,
                    "y": -7.95776891708374,
                    "z": -0.0021346472203731537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.314739227294922,
                "transform": {
                    "location": {
                        "x": 983.9555053710938,
                        "y": 5129.95068359375,
                        "z": 371.616943359375
                    },
                    "rotation": {
                        "roll": -0.011016848497092724,
                        "pitch": 0.34039610624313354,
                        "yaw": 89.83434295654297
                    }
                },
                "velocity": {
                    "x": -0.00493523757904768,
                    "y": 5.314732551574707,
                    "z": 0.006809215527027845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5724689960479736,
                "transform": {
                    "location": {
                        "x": 983.9202880859375,
                        "y": 5143.87939453125,
                        "z": 371.62548828125
                    },
                    "rotation": {
                        "roll": -0.0007019145414233208,
                        "pitch": 0.23547758162021637,
                        "yaw": 90.15199279785156
                    }
                },
                "velocity": {
                    "x": -0.006442985497415066,
                    "y": 2.572460651397705,
                    "z": -0.0008969974587671459
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.580143451690674,
                "transform": {
                    "location": {
                        "x": 983.848388671875,
                        "y": 5183.6015625,
                        "z": 371.6266174316406
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": -0.01776532083749771,
                        "yaw": 90.10391235351562
                    }
                },
                "velocity": {
                    "x": -0.013632802292704582,
                    "y": 7.5801310539245605,
                    "z": 0.0018858432304114103
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.34449756145477295,
                "transform": {
                    "location": {
                        "x": 983.8192749023438,
                        "y": 5198.79248046875,
                        "z": 371.62603759765625
                    },
                    "rotation": {
                        "roll": 3.704411210492253e-05,
                        "pitch": -0.04358343407511711,
                        "yaw": 90.11392211914062
                    }
                },
                "velocity": {
                    "x": -0.0004496216424740851,
                    "y": 0.3444904386997223,
                    "z": -0.0021681117359548807
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.017126061022281647,
        "expert_target_speed": 2.00501801732129,
        "target_point": [
            35.08704132098385,
            -0.36477189859758297
        ],
        "target_point_next": [
            86.08425248309027,
            -0.9058426353255413
        ]
    },
    "155": {
        "acceleration": [
            0.02217130735516548,
            -0.8850288391113281,
            0.0002601626329123974
        ],
        "angular_velocity": [
            0.1322922259569168,
            -0.021688643842935562,
            0.10464305430650711
        ],
        "forward_vector": [
            -0.012659948319196701,
            0.9999180436134338,
            -0.0018935190746560693
        ],
        "right_vector": [
            -0.9999198317527771,
            -0.012659995816648006,
            -1.3163486983103212e-05
        ],
        "location": [
            984.0020141601562,
            5155.5390625,
            371.6233825683594
        ],
        "rotation": [
            0.000754213600885123,
            -0.1084907203912735,
            90.72537994384766
        ],
        "velocity": [
            -0.009873105213046074,
            0.6257802248001099,
            0.001243219361640513
        ],
        "speed": 0.6258581052901879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.78361701965332,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8449096679688,
                5185.322265625,
                371.62701416015625
            ],
            "velocity": [
                -0.011317653581500053,
                5.973989009857178,
                0.001724567380733788
            ],
            "speed_kmh": 21.50639992567078,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.797850608825684,
                "transform": {
                    "location": {
                        "x": 987.0162963867188,
                        "y": 5198.77685546875,
                        "z": 371.6318664550781
                    },
                    "rotation": {
                        "roll": 0.0016350233927369118,
                        "pitch": -0.027887661010026932,
                        "yaw": -89.841552734375
                    }
                },
                "velocity": {
                    "x": 0.021489892154932022,
                    "y": -7.797821044921875,
                    "z": 0.00229474063962698
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018668174743652,
                "transform": {
                    "location": {
                        "x": 987.0899658203125,
                        "y": 5158.4990234375,
                        "z": 371.6209716796875
                    },
                    "rotation": {
                        "roll": -3.0517821869580075e-05,
                        "pitch": -0.010655094869434834,
                        "yaw": -89.87828826904297
                    }
                },
                "velocity": {
                    "x": 0.01599307172000408,
                    "y": -8.018651962280273,
                    "z": -0.0017501353286206722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.629965305328369,
                "transform": {
                    "location": {
                        "x": 983.9534301757812,
                        "y": 5131.3115234375,
                        "z": 371.6178894042969
                    },
                    "rotation": {
                        "roll": -0.007904059253633022,
                        "pitch": 0.1733638495206833,
                        "yaw": 90.00823211669922
                    }
                },
                "velocity": {
                    "x": -0.011832430958747864,
                    "y": 5.629952430725098,
                    "z": 0.002296400023624301
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8246620893478394,
                "transform": {
                    "location": {
                        "x": 983.9196166992188,
                        "y": 5144.09375,
                        "z": 371.62542724609375
                    },
                    "rotation": {
                        "roll": 7.69737562222872e-06,
                        "pitch": 0.24959558248519897,
                        "yaw": 90.1356201171875
                    }
                },
                "velocity": {
                    "x": -0.0039579481817781925,
                    "y": 0.8246511816978455,
                    "z": 0.0015178966568782926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.974000453948975,
                "transform": {
                    "location": {
                        "x": 983.8449096679688,
                        "y": 5185.322265625,
                        "z": 371.62701416015625
                    },
                    "rotation": {
                        "roll": 4.2251798731740564e-05,
                        "pitch": -0.03945799916982651,
                        "yaw": 90.06361389160156
                    }
                },
                "velocity": {
                    "x": -0.011317653581500053,
                    "y": 5.973989009857178,
                    "z": 0.001724567380733788
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1011751890182495,
                "transform": {
                    "location": {
                        "x": 983.8192749023438,
                        "y": 5198.9765625,
                        "z": 371.6256408691406
                    },
                    "rotation": {
                        "roll": -0.00018310525047127157,
                        "pitch": -0.006345245521515608,
                        "yaw": 90.16879272460938
                    }
                },
                "velocity": {
                    "x": -0.0025395816192030907,
                    "y": 1.101170301437378,
                    "z": -0.002061386127024889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.017831899225711823,
        "expert_target_speed": 1.7918994542384672,
        "target_point": [
            34.906256941418526,
            -0.3747051876281461
        ],
        "target_point_next": [
            85.90332206838036,
            -0.929369312146585
        ]
    },
    "160": {
        "acceleration": [
            0.01455569639801979,
            0.29438257217407227,
            0.0025074020959436893
        ],
        "angular_velocity": [
            0.2954951822757721,
            -0.006252827122807503,
            -0.09495946764945984
        ],
        "forward_vector": [
            -0.012875357642769814,
            0.9999166131019592,
            -0.000980019336566329
        ],
        "right_vector": [
            -0.9999170899391174,
            -0.012875398620963097,
            -3.547611049725674e-05
        ],
        "location": [
            983.9998168945312,
            5155.68408203125,
            371.62322998046875
        ],
        "rotation": [
            0.0020326324738562107,
            -0.05615098029375076,
            90.73772430419922
        ],
        "velocity": [
            -0.00790533795952797,
            0.5627540946006775,
            0.0019774436950683594
        ],
        "speed": 0.5628096173290597,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.391033172607422,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8423461914062,
                5186.07470703125,
                371.62799072265625
            ],
            "velocity": [
                0.0014651732053607702,
                0.34156614542007446,
                -0.001423044130206108
            ],
            "speed_kmh": 1.229660107979365,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.19968032836914,
                "transform": {
                    "location": {
                        "x": 987.0213012695312,
                        "y": 5196.771484375,
                        "z": 371.6325378417969
                    },
                    "rotation": {
                        "roll": 0.002621694002300501,
                        "pitch": 0.07063781470060349,
                        "yaw": -89.85906219482422
                    }
                },
                "velocity": {
                    "x": 0.01876204088330269,
                    "y": -8.199658393859863,
                    "z": 0.002327184658497572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.029213905334473,
                "transform": {
                    "location": {
                        "x": 987.0941162109375,
                        "y": 5156.4921875,
                        "z": 371.6205139160156
                    },
                    "rotation": {
                        "roll": -0.00021362390543799847,
                        "pitch": -0.0118093965575099,
                        "yaw": -89.89568328857422
                    }
                },
                "velocity": {
                    "x": 0.015570941381156445,
                    "y": -8.02919864654541,
                    "z": -0.0015772914048284292
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4793165922164917,
                "transform": {
                    "location": {
                        "x": 983.9508666992188,
                        "y": 5132.36474609375,
                        "z": 371.6180114746094
                    },
                    "rotation": {
                        "roll": 0.0002492880739737302,
                        "pitch": -0.5826082825660706,
                        "yaw": 90.09906005859375
                    }
                },
                "velocity": {
                    "x": -0.0037596868351101875,
                    "y": 1.4793118238449097,
                    "z": -3.409385681152344e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8368573188781738,
                "transform": {
                    "location": {
                        "x": 983.918701171875,
                        "y": 5144.43310546875,
                        "z": 371.6279602050781
                    },
                    "rotation": {
                        "roll": 9.82807032414712e-05,
                        "pitch": -0.04156852886080742,
                        "yaw": 90.1237564086914
                    }
                },
                "velocity": {
                    "x": -0.003919480834156275,
                    "y": 1.8368514776229858,
                    "z": 0.002512759994715452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.34157225489616394,
                "transform": {
                    "location": {
                        "x": 983.8423461914062,
                        "y": 5186.07470703125,
                        "z": 371.62799072265625
                    },
                    "rotation": {
                        "roll": 0.0016227693995460868,
                        "pitch": -0.15505211055278778,
                        "yaw": 89.81034088134766
                    }
                },
                "velocity": {
                    "x": 0.0014651732053607702,
                    "y": 0.34156614542007446,
                    "z": -0.001423044130206108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.574522852897644,
                "transform": {
                    "location": {
                        "x": 983.8186645507812,
                        "y": 5199.306640625,
                        "z": 371.6256408691406
                    },
                    "rotation": {
                        "roll": 0.0007382649346254766,
                        "pitch": -0.01779264211654663,
                        "yaw": 90.17353057861328
                    }
                },
                "velocity": {
                    "x": -0.001267206622287631,
                    "y": 0.5745189785957336,
                    "z": -0.0016817282885313034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023105120286345482,
        "expert_target_speed": 1.7266596678788249,
        "target_point": [
            34.761139933245445,
            -0.3825249222277152
        ],
        "target_point_next": [
            85.75808486816575,
            -0.9481318169182619
        ]
    },
    "165": {
        "acceleration": [
            -0.014478340744972229,
            0.6708478927612305,
            0.0048570637591183186
        ],
        "angular_velocity": [
            0.32266998291015625,
            -0.010867724195122719,
            0.05772387236356735
        ],
        "forward_vector": [
            -0.012628256343305111,
            0.9999196529388428,
            0.0011042352998629212
        ],
        "right_vector": [
            -0.9999202489852905,
            -0.012628244236111641,
            -1.730571784719359e-05
        ],
        "location": [
            983.9973754882812,
            5155.85888671875,
            371.6228332519531
        ],
        "rotation": [
            0.0009915452683344483,
            0.0632680356502533,
            90.72356414794922
        ],
        "velocity": [
            -0.010994180105626583,
            0.8443927764892578,
            0.0015498542925342917
        ],
        "speed": 0.8444643467805095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.313386917114258,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8419189453125,
                5186.171875,
                371.6268310546875
            ],
            "velocity": [
                -0.0015634113224223256,
                0.7418120503425598,
                -0.00032744408235885203
            ],
            "speed_kmh": 2.670529572355261,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8530883789062,
                        "y": 5236.03125,
                        "z": 371.84979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02597520872950554,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006619453430176,
                "transform": {
                    "location": {
                        "x": 987.0260009765625,
                        "y": 5194.7392578125,
                        "z": 371.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0005454861093312502,
                        "pitch": 0.0035721887834370136,
                        "yaw": -89.86934661865234
                    }
                },
                "velocity": {
                    "x": 0.018163498491048813,
                    "y": -8.006598472595215,
                    "z": 0.0016978931380435824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01388931274414,
                "transform": {
                    "location": {
                        "x": 987.0980224609375,
                        "y": 5154.4873046875,
                        "z": 371.62005615234375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.014097509905695915,
                        "yaw": -89.87163543701172
                    }
                },
                "velocity": {
                    "x": 0.016422711312770844,
                    "y": -8.013873100280762,
                    "z": -0.0019057750469073653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5902296304702759,
                "transform": {
                    "location": {
                        "x": 983.9501342773438,
                        "y": 5132.54931640625,
                        "z": 371.61822509765625
                    },
                    "rotation": {
                        "roll": -0.0006713945185765624,
                        "pitch": -0.1270483434200287,
                        "yaw": 90.12936401367188
                    }
                },
                "velocity": {
                    "x": -0.006440270226448774,
                    "y": 1.5902154445648193,
                    "z": 0.001864795689471066
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2152340412139893,
                "transform": {
                    "location": {
                        "x": 983.9176635742188,
                        "y": 5144.978515625,
                        "z": 371.6281433105469
                    },
                    "rotation": {
                        "roll": 3.410926365177147e-05,
                        "pitch": -0.034485623240470886,
                        "yaw": 90.12722778320312
                    }
                },
                "velocity": {
                    "x": -0.004850650206208229,
                    "y": 2.2152280807495117,
                    "z": 0.001620607334189117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7418137788772583,
                "transform": {
                    "location": {
                        "x": 983.8419189453125,
                        "y": 5186.171875,
                        "z": 371.6268310546875
                    },
                    "rotation": {
                        "roll": -0.0007629402098245919,
                        "pitch": -0.03079049102962017,
                        "yaw": 89.77691650390625
                    }
                },
                "velocity": {
                    "x": -0.0015634113224223256,
                    "y": 0.7418120503425598,
                    "z": -0.00032744408235885203
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5061618685722351,
                "transform": {
                    "location": {
                        "x": 983.8184814453125,
                        "y": 5199.36279296875,
                        "z": 371.6257019042969
                    },
                    "rotation": {
                        "roll": -0.00030517656705342233,
                        "pitch": -0.025333169847726822,
                        "yaw": 90.16724395751953
                    }
                },
                "velocity": {
                    "x": 0.00023364319349639118,
                    "y": 0.5061597228050232,
                    "z": -0.0014531039632856846
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.024116888642311096,
        "expert_target_speed": 2.006536410421262,
        "target_point": [
            34.58641204501701,
            -0.37414754620788365
        ],
        "target_point_next": [
            85.58349552564485,
            -0.927121618377023
        ]
    },
    "170": {
        "acceleration": [
            -0.05593305453658104,
            3.121805191040039,
            0.022119902074337006
        ],
        "angular_velocity": [
            0.6469964385032654,
            0.04213282838463783,
            0.7617729902267456
        ],
        "forward_vector": [
            -0.01295507326722145,
            0.9999133348464966,
            0.002351520350202918
        ],
        "right_vector": [
            -0.9999160766601562,
            -0.01295507326722145,
            -1.5011172763479408e-05
        ],
        "location": [
            983.9943237304688,
            5156.10888671875,
            371.62261962890625
        ],
        "rotation": [
            0.0008600791916251183,
            0.13473230600357056,
            90.74229431152344
        ],
        "velocity": [
            -0.016226496547460556,
            1.2424312829971313,
            0.0019393825205042958
        ],
        "speed": 1.2425372397478083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.326066970825195,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8419799804688,
                5186.4345703125,
                371.6263122558594
            ],
            "velocity": [
                -0.001490359427407384,
                1.3212898969650269,
                0.0012529658852145076
            ],
            "speed_kmh": 4.756648793699081,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.85693359375,
                        "y": 5233.9560546875,
                        "z": 371.66412353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02597520872950554,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.998207092285156,
                "transform": {
                    "location": {
                        "x": 987.0302124023438,
                        "y": 5192.7490234375,
                        "z": 371.6336975097656
                    },
                    "rotation": {
                        "roll": 0.0019432920962572098,
                        "pitch": 0.007991320453584194,
                        "yaw": -89.8814697265625
                    }
                },
                "velocity": {
                    "x": 0.015569382347166538,
                    "y": -7.9981913566589355,
                    "z": 0.002174549037590623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00853443145752,
                "transform": {
                    "location": {
                        "x": 987.1022338867188,
                        "y": 5152.484375,
                        "z": 371.6195373535156
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": -0.01818196289241314,
                        "yaw": -89.8935775756836
                    }
                },
                "velocity": {
                    "x": 0.015623336657881737,
                    "y": -8.00851821899414,
                    "z": -0.002536897547543049
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4020557403564453,
                "transform": {
                    "location": {
                        "x": 983.9481201171875,
                        "y": 5133.1083984375,
                        "z": 371.6187438964844
                    },
                    "rotation": {
                        "roll": -3.0515846447087824e-05,
                        "pitch": 0.15447838604450226,
                        "yaw": 90.1574478149414
                    }
                },
                "velocity": {
                    "x": -0.00823196116834879,
                    "y": 2.40204119682312,
                    "z": 0.0015538310399278998
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6869672536849976,
                "transform": {
                    "location": {
                        "x": 983.9165649414062,
                        "y": 5145.4443359375,
                        "z": 371.6275634765625
                    },
                    "rotation": {
                        "roll": -0.0006103550549596548,
                        "pitch": 0.05910162255167961,
                        "yaw": 90.1263427734375
                    }
                },
                "velocity": {
                    "x": -0.0036650102119892836,
                    "y": 1.686962604522705,
                    "z": 0.0015204143710434437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3212913274765015,
                "transform": {
                    "location": {
                        "x": 983.8419799804688,
                        "y": 5186.4345703125,
                        "z": 371.6263122558594
                    },
                    "rotation": {
                        "roll": -0.0001525887055322528,
                        "pitch": 0.02353000082075596,
                        "yaw": 89.8236312866211
                    }
                },
                "velocity": {
                    "x": -0.001490359427407384,
                    "y": 1.3212898969650269,
                    "z": 0.0012529658852145076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2284787893295288,
                "transform": {
                    "location": {
                        "x": 983.818115234375,
                        "y": 5199.58935546875,
                        "z": 371.62542724609375
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.004063962493091822,
                        "yaw": 90.19023132324219
                    }
                },
                "velocity": {
                    "x": -0.0018224064260721207,
                    "y": 1.2284764051437378,
                    "z": -0.001632099156267941
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.027411505579948425,
        "expert_target_speed": 2.4020656388457367,
        "target_point": [
            34.33626961913663,
            -0.38524076727834367
        ],
        "target_point_next": [
            85.33317003112805,
            -0.9548478459250769
        ]
    },
    "175": {
        "acceleration": [
            -0.011362731456756592,
            0.2638840675354004,
            -0.002339170314371586
        ],
        "angular_velocity": [
            -0.11363516002893448,
            -0.009434297680854797,
            -0.05006425827741623
        ],
        "forward_vector": [
            -0.012006677687168121,
            0.9999216198921204,
            0.0035558862145990133
        ],
        "right_vector": [
            -0.9999279379844666,
            -0.01200657244771719,
            -5.069514372735284e-05
        ],
        "location": [
            983.989501953125,
            5156.48193359375,
            371.6224670410156
        ],
        "rotation": [
            0.002904636086896062,
            0.20373770594596863,
            90.68795013427734
        ],
        "velocity": [
            -0.020273953676223755,
            1.6810904741287231,
            0.0016828823136165738
        ],
        "speed": 1.681212721639948,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.359243392944336,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8422241210938,
                5186.8408203125,
                371.6263122558594
            ],
            "velocity": [
                -0.0029519926756620407,
                1.8525960445404053,
                0.0016937160398811102
            ],
            "speed_kmh": 6.669357014425956,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8605346679688,
                        "y": 5231.8740234375,
                        "z": 371.6255798339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02343437820672989,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.096733093261719,
                "transform": {
                    "location": {
                        "x": 987.0340576171875,
                        "y": 5190.72998046875,
                        "z": 371.6341857910156
                    },
                    "rotation": {
                        "roll": 0.0019218996167182922,
                        "pitch": 0.025230716913938522,
                        "yaw": -89.89244842529297
                    }
                },
                "velocity": {
                    "x": 0.014413091354072094,
                    "y": -8.096719741821289,
                    "z": 0.0021270751021802425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013192176818848,
                "transform": {
                    "location": {
                        "x": 987.1060791015625,
                        "y": 5150.48193359375,
                        "z": 371.618896484375
                    },
                    "rotation": {
                        "roll": -0.0004577644285745919,
                        "pitch": -0.018584944307804108,
                        "yaw": -89.87654876708984
                    }
                },
                "velocity": {
                    "x": 0.015617878176271915,
                    "y": -8.013176918029785,
                    "z": -0.0018355273641645908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3755073547363281,
                "transform": {
                    "location": {
                        "x": 983.9476318359375,
                        "y": 5133.32470703125,
                        "z": 371.6187438964844
                    },
                    "rotation": {
                        "roll": -0.0024108814541250467,
                        "pitch": -0.261042982339859,
                        "yaw": 90.3509521484375
                    }
                },
                "velocity": {
                    "x": -0.001410194905474782,
                    "y": 0.3755030333995819,
                    "z": 0.0011278819292783737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.24963116645813,
                "transform": {
                    "location": {
                        "x": 983.91552734375,
                        "y": 5145.931640625,
                        "z": 371.62835693359375
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": -0.021426301449537277,
                        "yaw": 90.11592102050781
                    }
                },
                "velocity": {
                    "x": -0.00367075577378273,
                    "y": 2.2496273517608643,
                    "z": 0.001817150041460991
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8525992631912231,
                "transform": {
                    "location": {
                        "x": 983.8422241210938,
                        "y": 5186.8408203125,
                        "z": 371.6263122558594
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": 0.022286906838417053,
                        "yaw": 89.9144058227539
                    }
                },
                "velocity": {
                    "x": -0.0029519926756620407,
                    "y": 1.8525960445404053,
                    "z": 0.0016937160398811102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9564460515975952,
                "transform": {
                    "location": {
                        "x": 983.817138671875,
                        "y": 5200.00341796875,
                        "z": 371.6252746582031
                    },
                    "rotation": {
                        "roll": 7.359034498222172e-05,
                        "pitch": -0.002288113348186016,
                        "yaw": 90.12657928466797
                    }
                },
                "velocity": {
                    "x": -0.0031655507627874613,
                    "y": 1.9564422369003296,
                    "z": -0.002197542227804661
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02984904870390892,
        "expert_target_speed": 2.8369904499811547,
        "target_point": [
            33.963540576874756,
            -0.3531225920797657
        ],
        "target_point_next": [
            84.96095666861359,
            -0.8745205405521252
        ]
    },
    "180": {
        "acceleration": [
            -0.022680014371871948,
            1.83638334274292,
            -0.017636872828006744
        ],
        "angular_velocity": [
            0.07969044893980026,
            -0.011232612654566765,
            -0.009429181925952435
        ],
        "forward_vector": [
            -0.011964734643697739,
            0.9999234080314636,
            0.0031725112348794937
        ],
        "right_vector": [
            -0.9999284148216248,
            -0.011964704841375351,
            -2.8177977583254687e-05
        ],
        "location": [
            983.9840698242188,
            5156.94287109375,
            371.6226501464844
        ],
        "rotation": [
            0.001614487380720675,
            0.18177181482315063,
            90.685546875
        ],
        "velocity": [
            -0.024120289832353592,
            2.0375735759735107,
            0.0012704086257144809
        ],
        "speed": 2.0377163359719814,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.40755844116211,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8418579101562,
                5187.35009765625,
                371.62646484375
            ],
            "velocity": [
                -0.0033759726211428642,
                1.9062942266464233,
                0.0010408877860754728
            ],
            "speed_kmh": 6.862671000639965,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8643798828125,
                        "y": 5229.791015625,
                        "z": 371.6229248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02343437820672989,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004719734191895,
                "transform": {
                    "location": {
                        "x": 987.0377197265625,
                        "y": 5188.71923828125,
                        "z": 371.6343994140625
                    },
                    "rotation": {
                        "roll": 0.00034988136030733585,
                        "pitch": -0.003114566206932068,
                        "yaw": -89.89427947998047
                    }
                },
                "velocity": {
                    "x": 0.014705481939017773,
                    "y": -8.004706382751465,
                    "z": 0.0012254714965820312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014300346374512,
                "transform": {
                    "location": {
                        "x": 987.110107421875,
                        "y": 5148.478515625,
                        "z": 371.6182861328125
                    },
                    "rotation": {
                        "roll": -0.0006713862530887127,
                        "pitch": -0.01797705702483654,
                        "yaw": -89.90233612060547
                    }
                },
                "velocity": {
                    "x": 0.01519419439136982,
                    "y": -8.014286041259766,
                    "z": -0.0017336844466626644
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5773078203201294,
                "transform": {
                    "location": {
                        "x": 983.9464111328125,
                        "y": 5133.583984375,
                        "z": 371.6190490722656
                    },
                    "rotation": {
                        "roll": 0.0018380278488621116,
                        "pitch": 0.15498381853103638,
                        "yaw": 90.36995697021484
                    }
                },
                "velocity": {
                    "x": -0.0055322968401014805,
                    "y": 1.5772972106933594,
                    "z": 0.0017263316549360752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.431210994720459,
                "transform": {
                    "location": {
                        "x": 983.9139404296875,
                        "y": 5146.44189453125,
                        "z": 371.6278381347656
                    },
                    "rotation": {
                        "roll": -0.0012207034742459655,
                        "pitch": 0.060344718396663666,
                        "yaw": 90.03704833984375
                    }
                },
                "velocity": {
                    "x": 0.003700076835229993,
                    "y": 1.4312052726745605,
                    "z": 0.001663379603996873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9062975645065308,
                "transform": {
                    "location": {
                        "x": 983.8418579101562,
                        "y": 5187.35009765625,
                        "z": 371.62646484375
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.008045962080359459,
                        "yaw": 89.96317291259766
                    }
                },
                "velocity": {
                    "x": -0.0033759726211428642,
                    "y": 1.9062942266464233,
                    "z": 0.0010408877860754728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9042081832885742,
                "transform": {
                    "location": {
                        "x": 983.8162231445312,
                        "y": 5200.4619140625,
                        "z": 371.6252136230469
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.016296830028295517,
                        "yaw": 90.12142944335938
                    }
                },
                "velocity": {
                    "x": -0.003977460786700249,
                    "y": 1.9042036533355713,
                    "z": -0.0011926650768145919
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03556790202856064,
        "expert_target_speed": 3.188854070897693,
        "target_point": [
            33.50258687063608,
            -0.3515167319742919
        ],
        "target_point_next": [
            84.50002628160624,
            -0.8706288384049541
        ]
    },
    "185": {
        "acceleration": [
            -0.023801065981388092,
            2.1082544326782227,
            -0.006866645999252796
        ],
        "angular_velocity": [
            0.14365847408771515,
            0.02627929113805294,
            -0.010225453414022923
        ],
        "forward_vector": [
            -0.011935030110180378,
            0.9999217391014099,
            0.003752341726794839
        ],
        "right_vector": [
            -0.9999287724494934,
            -0.01193506084382534,
            -1.4203948921931442e-05
        ],
        "location": [
            983.9772338867188,
            5157.515625,
            371.6226501464844
        ],
        "rotation": [
            0.0008138320408761501,
            0.21499384939670563,
            90.68384552001953
        ],
        "velocity": [
            -0.029994891956448555,
            2.5401132106781006,
            0.0013771533267572522
        ],
        "speed": 2.5402903016397334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.976381301879883,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.8414916992188,
                5187.49169921875,
                371.6268310546875
            ],
            "velocity": [
                -0.0010962681844830513,
                0.6244750618934631,
                0.0003771781921386719
            ],
            "speed_kmh": 2.2481140969809306,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8680419921875,
                        "y": 5227.70751953125,
                        "z": 371.6217041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02093452773988247,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050311088562012,
                "transform": {
                    "location": {
                        "x": 987.0414428710938,
                        "y": 5186.71435546875,
                        "z": 371.634521484375
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -3.415094397496432e-05,
                        "yaw": -89.89434051513672
                    }
                },
                "velocity": {
                    "x": 0.014794926159083843,
                    "y": -8.050296783447266,
                    "z": 0.0013888835674151778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013315200805664,
                "transform": {
                    "location": {
                        "x": 987.1137084960938,
                        "y": 5146.47509765625,
                        "z": 371.61761474609375
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": -0.018496152013540268,
                        "yaw": -89.88375091552734
                    }
                },
                "velocity": {
                    "x": 0.014971810393035412,
                    "y": -8.013300895690918,
                    "z": -0.0021711348090320826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.297492265701294,
                "transform": {
                    "location": {
                        "x": 983.9442749023438,
                        "y": 5134.12353515625,
                        "z": 371.6193542480469
                    },
                    "rotation": {
                        "roll": 0.00036396298673935235,
                        "pitch": 0.1885405331850052,
                        "yaw": 90.38543701171875
                    }
                },
                "velocity": {
                    "x": -0.008525252342224121,
                    "y": 2.297475814819336,
                    "z": 0.00169115059543401
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1762943267822266,
                "transform": {
                    "location": {
                        "x": 983.91357421875,
                        "y": 5146.63134765625,
                        "z": 371.6280822753906
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": 0.0413363017141819,
                        "yaw": 89.97720336914062
                    }
                },
                "velocity": {
                    "x": -0.0022683176212012768,
                    "y": 1.1762914657592773,
                    "z": 0.0013105582911521196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6244761347770691,
                "transform": {
                    "location": {
                        "x": 983.8414916992188,
                        "y": 5187.49169921875,
                        "z": 371.6268310546875
                    },
                    "rotation": {
                        "roll": -0.0003051774110645056,
                        "pitch": -0.03145984932780266,
                        "yaw": 89.94535827636719
                    }
                },
                "velocity": {
                    "x": -0.0010962681844830513,
                    "y": 0.6244750618934631,
                    "z": 0.0003771781921386719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.638117551803589,
                "transform": {
                    "location": {
                        "x": 983.8150634765625,
                        "y": 5201.03369140625,
                        "z": 371.625
                    },
                    "rotation": {
                        "roll": 0.0006639069179072976,
                        "pitch": -0.005190943367779255,
                        "yaw": 90.12120056152344
                    }
                },
                "velocity": {
                    "x": -0.005645927041769028,
                    "y": 2.638111114501953,
                    "z": -0.00150579446926713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04132823273539543,
        "expert_target_speed": 3.677529065556823,
        "target_point": [
            32.929802632805036,
            -0.3505176146952883
        ],
        "target_point_next": [
            83.92725749187413,
            -0.8681098787653706
        ]
    },
    "190": {
        "acceleration": [
            -0.029969289898872375,
            2.4539947509765625,
            -0.005035782232880592
        ],
        "angular_velocity": [
            0.1401633620262146,
            -0.006392819341272116,
            -0.010748294182121754
        ],
        "forward_vector": [
            -0.011894112452864647,
            0.9999195337295532,
            0.004411802161484957
        ],
        "right_vector": [
            -0.9999292492866516,
            -0.01189419999718666,
            -6.415880761778681e-06
        ],
        "location": [
            983.9688110351562,
            5158.2265625,
            371.6226501464844
        ],
        "rotation": [
            0.0003676064661704004,
            0.25277847051620483,
            90.68150329589844
        ],
        "velocity": [
            -0.0369817391037941,
            3.1259515285491943,
            0.001475801458582282
        ],
        "speed": 3.1261702781304455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.50955581665039,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.840576171875,
                5187.73583984375,
                371.62640380859375
            ],
            "velocity": [
                -0.002259116619825363,
                1.2589691877365112,
                -0.0007217120728455484
            ],
            "speed_kmh": 4.53229711738916,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.189127922058105,
                "transform": {
                    "location": {
                        "x": 986.876708984375,
                        "y": 5225.67041015625,
                        "z": 371.6177673339844
                    },
                    "rotation": {
                        "roll": -0.005065918900072575,
                        "pitch": 0.016419773921370506,
                        "yaw": -89.69591522216797
                    }
                },
                "velocity": {
                    "x": 0.07434893399477005,
                    "y": -8.188766479492188,
                    "z": -0.019828414544463158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047593116760254,
                "transform": {
                    "location": {
                        "x": 987.0451049804688,
                        "y": 5184.69970703125,
                        "z": 371.6343994140625
                    },
                    "rotation": {
                        "roll": 0.00042092037620022893,
                        "pitch": -0.004152754787355661,
                        "yaw": -89.89431762695312
                    }
                },
                "velocity": {
                    "x": 0.014776956290006638,
                    "y": -8.047578811645508,
                    "z": -0.0021459960844367743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013117790222168,
                "transform": {
                    "location": {
                        "x": 987.1175537109375,
                        "y": 5144.4716796875,
                        "z": 371.6168518066406
                    },
                    "rotation": {
                        "roll": 0.0002457859518472105,
                        "pitch": -0.02034713327884674,
                        "yaw": -89.90911865234375
                    }
                },
                "velocity": {
                    "x": 0.013597660697996616,
                    "y": -8.013105392456055,
                    "z": -0.0024874210357666016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3368854820728302,
                "transform": {
                    "location": {
                        "x": 983.9437255859375,
                        "y": 5134.34130859375,
                        "z": 371.6193542480469
                    },
                    "rotation": {
                        "roll": -0.004302981775254011,
                        "pitch": -0.256070613861084,
                        "yaw": 90.45917510986328
                    }
                },
                "velocity": {
                    "x": 0.0012079516891390085,
                    "y": 0.33688175678253174,
                    "z": 0.0010302638402208686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0468218326568604,
                "transform": {
                    "location": {
                        "x": 983.9130859375,
                        "y": 5147.0380859375,
                        "z": 371.6290283203125
                    },
                    "rotation": {
                        "roll": -0.00015259211068041623,
                        "pitch": -0.0614238865673542,
                        "yaw": 90.01262664794922
                    }
                },
                "velocity": {
                    "x": -0.003769958158954978,
                    "y": 2.0468175411224365,
                    "z": 0.0016674327198415995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2589714527130127,
                "transform": {
                    "location": {
                        "x": 983.840576171875,
                        "y": 5187.73583984375,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": 7.128467404982075e-05,
                        "pitch": 0.013072981499135494,
                        "yaw": 89.90118408203125
                    }
                },
                "velocity": {
                    "x": -0.002259116619825363,
                    "y": 1.2589691877365112,
                    "z": -0.0007217120728455484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.842315435409546,
                "transform": {
                    "location": {
                        "x": 983.8136596679688,
                        "y": 5201.712890625,
                        "z": 371.6247863769531
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": -0.01141324546188116,
                        "yaw": 90.11869049072266
                    }
                },
                "velocity": {
                    "x": -0.005745851434767246,
                    "y": 2.8423092365264893,
                    "z": -0.0015180587070062757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04707826301455498,
        "expert_target_speed": 4.246185922989327,
        "target_point": [
            32.218829253748424,
            -0.349163958088049
        ],
        "target_point_next": [
            83.2163048037155,
            -0.8647135533016286
        ]
    },
    "195": {
        "acceleration": [
            -0.02162337303161621,
            1.7821311950683594,
            -0.011931417509913445
        ],
        "angular_velocity": [
            -0.09363805502653122,
            0.011269978247582912,
            -0.011204791255295277
        ],
        "forward_vector": [
            -0.011845598928630352,
            0.9999202489852905,
            0.004381404258310795
        ],
        "right_vector": [
            -0.9999298453330994,
            -0.011845646426081657,
            -1.5079974218679126e-05
        ],
        "location": [
            983.9588012695312,
            5159.076171875,
            371.6228332519531
        ],
        "rotation": [
            0.0008640271844342351,
            0.25103676319122314,
            90.67872619628906
        ],
        "velocity": [
            -0.042687270790338516,
            3.6277620792388916,
            0.001408700947649777
        ],
        "speed": 3.628013217540864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.66473388671875,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.977184772491455,
                "transform": {
                    "location": {
                        "x": 986.896240234375,
                        "y": 5223.650390625,
                        "z": 371.6158447265625
                    },
                    "rotation": {
                        "roll": -0.003845214145258069,
                        "pitch": 0.019035736098885536,
                        "yaw": -89.29047393798828
                    }
                },
                "velocity": {
                    "x": 0.10783939808607101,
                    "y": -7.9764556884765625,
                    "z": -0.00015899658319540322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029986381530762,
                "transform": {
                    "location": {
                        "x": 987.0488891601562,
                        "y": 5182.69140625,
                        "z": 371.63409423828125
                    },
                    "rotation": {
                        "roll": -0.001037598354741931,
                        "pitch": -0.011051245033740997,
                        "yaw": -89.89434051513672
                    }
                },
                "velocity": {
                    "x": 0.014760288409888744,
                    "y": -8.029972076416016,
                    "z": -0.0015212345169857144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013737678527832,
                "transform": {
                    "location": {
                        "x": 987.1209106445312,
                        "y": 5142.46826171875,
                        "z": 371.6160888671875
                    },
                    "rotation": {
                        "roll": -0.0005493175121955574,
                        "pitch": -0.02814037725329399,
                        "yaw": -89.89144134521484
                    }
                },
                "velocity": {
                    "x": 0.014606501907110214,
                    "y": -8.013723373413086,
                    "z": -0.0026903818361461163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5903620719909668,
                "transform": {
                    "location": {
                        "x": 983.9426879882812,
                        "y": 5134.59375,
                        "z": 371.61968994140625
                    },
                    "rotation": {
                        "roll": 0.0007836936856620014,
                        "pitch": 0.15539363026618958,
                        "yaw": 90.42147827148438
                    }
                },
                "velocity": {
                    "x": -0.007355218753218651,
                    "y": 1.5903443098068237,
                    "z": 0.0015489101642742753
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.851439356803894,
                "transform": {
                    "location": {
                        "x": 983.9122314453125,
                        "y": 5147.5595703125,
                        "z": 371.6285400390625
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": 0.01760139688849449,
                        "yaw": 90.03616333007812
                    }
                },
                "velocity": {
                    "x": -0.003557625226676464,
                    "y": 1.8514351844787598,
                    "z": 0.0017216586275026202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05841568484902382,
        "expert_target_speed": 4.7847970258194215,
        "target_point": [
            31.369176701172027,
            -0.3476455096133495
        ],
        "target_point_next": [
            82.36667555296884,
            -0.8608849426236589
        ]
    },
    "200": {
        "acceleration": [
            0.07678061723709106,
            1.949930191040039,
            0.011461067944765091
        ],
        "angular_velocity": [
            -0.030061539262533188,
            -0.029327813535928726,
            -0.39121976494789124
        ],
        "forward_vector": [
            -0.011060081422328949,
            0.9999303817749023,
            0.004119264893233776
        ],
        "right_vector": [
            -0.9999388456344604,
            -0.011059432290494442,
            -0.00018040835857391357
        ],
        "location": [
            983.9485473632812,
            5160.04443359375,
            371.62310791015625
        ],
        "rotation": [
            0.010336725041270256,
            0.2360171675682068,
            90.63371276855469
        ],
        "velocity": [
            -0.03612260892987251,
            4.104318141937256,
            0.0017502021510154009
        ],
        "speed": 4.104477098621843,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.69676971435547,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.154068946838379,
                "transform": {
                    "location": {
                        "x": 986.9202880859375,
                        "y": 5221.63330078125,
                        "z": 371.6164855957031
                    },
                    "rotation": {
                        "roll": 0.002705335384234786,
                        "pitch": 0.02047007530927658,
                        "yaw": -89.16626739501953
                    }
                },
                "velocity": {
                    "x": 0.0906558707356453,
                    "y": -8.153564453125,
                    "z": 0.002288551302626729
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04672622680664,
                "transform": {
                    "location": {
                        "x": 987.0525512695312,
                        "y": 5180.681640625,
                        "z": 371.63372802734375
                    },
                    "rotation": {
                        "roll": 9.526829671813175e-05,
                        "pitch": -0.010040377266705036,
                        "yaw": -89.89421081542969
                    }
                },
                "velocity": {
                    "x": 0.01487827580422163,
                    "y": -8.046712875366211,
                    "z": -0.001569509506225586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013734817504883,
                "transform": {
                    "location": {
                        "x": 987.1245727539062,
                        "y": 5140.46484375,
                        "z": 371.6151123046875
                    },
                    "rotation": {
                        "roll": -0.0004272470250725746,
                        "pitch": -0.029267359524965286,
                        "yaw": -89.91310119628906
                    }
                },
                "velocity": {
                    "x": 0.013108826242387295,
                    "y": -8.013723373413086,
                    "z": -0.0031346892938017845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2212648391723633,
                "transform": {
                    "location": {
                        "x": 983.940673828125,
                        "y": 5135.1201171875,
                        "z": 371.6199951171875
                    },
                    "rotation": {
                        "roll": 0.001490268623456359,
                        "pitch": 0.1723734736442566,
                        "yaw": 90.3498306274414
                    }
                },
                "velocity": {
                    "x": -0.008413642644882202,
                    "y": 2.2212483882904053,
                    "z": 0.0016367626376450062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.063417434692383,
                "transform": {
                    "location": {
                        "x": 983.9115600585938,
                        "y": 5148.021484375,
                        "z": 371.6287841796875
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": 0.007048754952847958,
                        "yaw": 90.05184936523438
                    }
                },
                "velocity": {
                    "x": -0.004102363716810942,
                    "y": 2.063412666320801,
                    "z": 0.0017924498533830047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06234671548008919,
        "expert_target_speed": 5.240944807094286,
        "target_point": [
            30.401124225565972,
            -0.3225419392742516
        ],
        "target_point_next": [
            81.39901053612311,
            -0.7957181327823677
        ]
    },
    "205": {
        "acceleration": [
            0.028267167508602142,
            1.9163227081298828,
            0.005786512047052383
        ],
        "angular_velocity": [
            -0.009136677719652653,
            0.020959975197911263,
            -0.5188965797424316
        ],
        "forward_vector": [
            -0.008939712308347225,
            0.9999517202377319,
            0.004078138154000044
        ],
        "right_vector": [
            -0.9999600052833557,
            -0.008938700892031193,
            -0.0002660578757058829
        ],
        "location": [
            983.9403076171875,
            5161.13330078125,
            371.6233825683594
        ],
        "rotation": [
            0.015244120731949806,
            0.2336607575416565,
            90.51222229003906
        ],
        "velocity": [
            -0.02814585343003273,
            4.587048053741455,
            0.002066507237032056
        ],
        "speed": 4.587134403568156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.6083869934082,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941891193389893,
                "transform": {
                    "location": {
                        "x": 986.9426879882812,
                        "y": 5219.62255859375,
                        "z": 371.6171875
                    },
                    "rotation": {
                        "roll": 0.0017485452117398381,
                        "pitch": 0.018680566921830177,
                        "yaw": -89.33592987060547
                    }
                },
                "velocity": {
                    "x": 0.0769738256931305,
                    "y": -7.9415178298950195,
                    "z": 0.0022072314750403166
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040409088134766,
                "transform": {
                    "location": {
                        "x": 987.0563354492188,
                        "y": 5178.67041015625,
                        "z": 371.6332702636719
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": -0.013366679660975933,
                        "yaw": -89.89424896240234
                    }
                },
                "velocity": {
                    "x": 0.014857948757708073,
                    "y": -8.040395736694336,
                    "z": -0.0018124294001609087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014039993286133,
                "transform": {
                    "location": {
                        "x": 987.1278076171875,
                        "y": 5138.46142578125,
                        "z": 371.6141357421875
                    },
                    "rotation": {
                        "roll": 0.00023656367557123303,
                        "pitch": -0.02859117090702057,
                        "yaw": -89.89464569091797
                    }
                },
                "velocity": {
                    "x": 0.013417576439678669,
                    "y": -8.014026641845703,
                    "z": -0.004882154520601034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6350967884063721,
                "transform": {
                    "location": {
                        "x": 983.9403076171875,
                        "y": 5135.26806640625,
                        "z": 371.6199951171875
                    },
                    "rotation": {
                        "roll": -0.00323486328125,
                        "pitch": -0.1317133605480194,
                        "yaw": 90.4015121459961
                    }
                },
                "velocity": {
                    "x": -0.0023769300896674395,
                    "y": 0.6350911855697632,
                    "z": 0.0012125968933105469
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8485808372497559,
                "transform": {
                    "location": {
                        "x": 983.9105834960938,
                        "y": 5148.54296875,
                        "z": 371.6287536621094
                    },
                    "rotation": {
                        "roll": -0.00036620890023186803,
                        "pitch": 0.03084513172507286,
                        "yaw": 90.06544494628906
                    }
                },
                "velocity": {
                    "x": -0.003509372938424349,
                    "y": 1.8485767841339111,
                    "z": 0.001632585539482534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.060235537588596344,
        "expert_target_speed": 5.696171037140493,
        "target_point": [
            29.31284432820376,
            -0.25636649929545346
        ],
        "target_point_next": [
            80.3116219593987,
            -0.6210361834533487
        ]
    },
    "210": {
        "acceleration": [
            0.03822639584541321,
            1.8809032440185547,
            0.06741466373205185
        ],
        "angular_velocity": [
            -0.02783995307981968,
            -0.0048540798015892506,
            -0.5610110759735107
        ],
        "forward_vector": [
            -0.0065688518807291985,
            0.9999703168869019,
            0.004031289368867874
        ],
        "right_vector": [
            -0.9999783635139465,
            -0.006567669101059437,
            -0.0003064068441744894
        ],
        "location": [
            983.9338989257812,
            5162.34228515625,
            371.623779296875
        ],
        "rotation": [
            0.0175559613853693,
            0.23097649216651917,
            90.37637329101562
        ],
        "velocity": [
            -0.019464045763015747,
            5.061989784240723,
            0.005175333004444838
        ],
        "speed": 5.062027205066652,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.40007400512695,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.12048053741455,
                "transform": {
                    "location": {
                        "x": 986.9620361328125,
                        "y": 5217.61376953125,
                        "z": 371.6178283691406
                    },
                    "rotation": {
                        "roll": 0.0023951095063239336,
                        "pitch": 0.018543962389230728,
                        "yaw": -89.521240234375
                    }
                },
                "velocity": {
                    "x": 0.05895338952541351,
                    "y": -8.12026596069336,
                    "z": 0.0024623489007353783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037327766418457,
                "transform": {
                    "location": {
                        "x": 987.0599975585938,
                        "y": 5176.66162109375,
                        "z": 371.6328125
                    },
                    "rotation": {
                        "roll": -0.00024414047948084772,
                        "pitch": -0.01299784891307354,
                        "yaw": -89.89427947998047
                    }
                },
                "velocity": {
                    "x": 0.014843843877315521,
                    "y": -8.037313461303711,
                    "z": -0.0020792484283447266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0133638381958,
                "transform": {
                    "location": {
                        "x": 987.1312866210938,
                        "y": 5136.4580078125,
                        "z": 371.6130676269531
                    },
                    "rotation": {
                        "roll": 7.355126581387594e-05,
                        "pitch": -0.02862532064318657,
                        "yaw": -89.91661834716797
                    }
                },
                "velocity": {
                    "x": 0.013185635209083557,
                    "y": -8.013351440429688,
                    "z": -0.005496930796653032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9028942584991455,
                "transform": {
                    "location": {
                        "x": 983.9391479492188,
                        "y": 5135.6025390625,
                        "z": 371.6202697753906
                    },
                    "rotation": {
                        "roll": 0.0015101139433681965,
                        "pitch": 0.19292551279067993,
                        "yaw": 90.36475372314453
                    }
                },
                "velocity": {
                    "x": -0.007017180789262056,
                    "y": 1.9028810262680054,
                    "z": 0.0009963512420654297
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.059725284576416,
                "transform": {
                    "location": {
                        "x": 983.9098510742188,
                        "y": 5149.00390625,
                        "z": 371.62908935546875
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": 0.008585547097027302,
                        "yaw": 90.07450103759766
                    }
                },
                "velocity": {
                    "x": -0.0032264734618365765,
                    "y": 2.0597221851348877,
                    "z": 0.0014885234413668513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.061028044670820236,
        "expert_target_speed": 6.136145967517551,
        "target_point": [
            28.104368825562396,
            -0.18542032021789387
        ],
        "target_point_next": [
            79.10386700143889,
            -0.4293253496574636
        ]
    },
    "215": {
        "acceleration": [
            0.02729032188653946,
            0.35678863525390625,
            -0.10063037276268005
        ],
        "angular_velocity": [
            -0.28006649017333984,
            0.03500746935606003,
            -0.24954035878181458
        ],
        "forward_vector": [
            -0.006568656302988529,
            0.9999768733978271,
            0.0017760981572791934
        ],
        "right_vector": [
            -0.9999784231185913,
            -0.006568402983248234,
            -0.00014831071894150227
        ],
        "location": [
            983.9295654296875,
            5163.609375,
            371.6246032714844
        ],
        "rotation": [
            0.008497592061758041,
            0.10176298022270203,
            90.37635803222656
        ],
        "velocity": [
            -0.016355300322175026,
            5.053409099578857,
            -0.003191356547176838
        ],
        "speed": 5.053435566380067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.13380432128906,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.90709114074707,
                "transform": {
                    "location": {
                        "x": 986.9758911132812,
                        "y": 5215.61181640625,
                        "z": 371.61846923828125
                    },
                    "rotation": {
                        "roll": 0.0018170130206272006,
                        "pitch": 0.017990717664361,
                        "yaw": -89.70470428466797
                    }
                },
                "velocity": {
                    "x": 0.04082484170794487,
                    "y": -7.906985282897949,
                    "z": 0.0019359588623046875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044787406921387,
                "transform": {
                    "location": {
                        "x": 987.063720703125,
                        "y": 5174.65087890625,
                        "z": 371.63238525390625
                    },
                    "rotation": {
                        "roll": 0.00013013085117563605,
                        "pitch": -0.011467887088656425,
                        "yaw": -89.89424896240234
                    }
                },
                "velocity": {
                    "x": 0.014805631712079048,
                    "y": -8.04477310180664,
                    "z": -0.0018527316860854626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013513565063477,
                "transform": {
                    "location": {
                        "x": 987.134521484375,
                        "y": 5134.45458984375,
                        "z": 371.6119384765625
                    },
                    "rotation": {
                        "roll": 0.0003108553646598011,
                        "pitch": -0.03164426609873772,
                        "yaw": -89.89360046386719
                    }
                },
                "velocity": {
                    "x": 0.013513066805899143,
                    "y": -8.01349925994873,
                    "z": -0.006072415970265865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.157367706298828,
                "transform": {
                    "location": {
                        "x": 983.9369506835938,
                        "y": 5136.18798828125,
                        "z": 371.62054443359375
                    },
                    "rotation": {
                        "roll": 5.246717410045676e-05,
                        "pitch": 0.12083286792039871,
                        "yaw": 90.33756256103516
                    }
                },
                "velocity": {
                    "x": -0.007636101450771093,
                    "y": 2.157353639602661,
                    "z": 0.0015761565882712603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6725199222564697,
                "transform": {
                    "location": {
                        "x": 983.9088134765625,
                        "y": 5149.59228515625,
                        "z": 371.629638671875
                    },
                    "rotation": {
                        "roll": -3.051907697226852e-05,
                        "pitch": -0.03546233847737312,
                        "yaw": 90.08202362060547
                    }
                },
                "velocity": {
                    "x": -0.0051481956616044044,
                    "y": 2.6725146770477295,
                    "z": 0.0014418124919757247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06321981549263,
        "expert_target_speed": 6.128149067523735,
        "target_point": [
            26.837277854697863,
            -0.18142997231728902
        ],
        "target_point_next": [
            77.83677603057434,
            -0.42533500175685884
        ]
    },
    "220": {
        "acceleration": [
            0.054235611110925674,
            -0.7681751251220703,
            -0.0006912229582667351
        ],
        "angular_velocity": [
            -0.432496041059494,
            -0.024430841207504272,
            -0.8271674513816833
        ],
        "forward_vector": [
            -0.0033865333534777164,
            0.9999938607215881,
            0.0008928774041123688
        ],
        "right_vector": [
            -0.9999942183494568,
            -0.003386253956705332,
            -0.0003142089117318392
        ],
        "location": [
            983.9268798828125,
            5164.9013671875,
            371.62506103515625
        ],
        "rotation": [
            0.01800285279750824,
            0.0511581152677536,
            90.19403839111328
        ],
        "velocity": [
            2.3215812689159065e-05,
            5.10203218460083,
            0.0017978954128921032
        ],
        "speed": 5.10203218465365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.84275817871094,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8568949699401855,
                "transform": {
                    "location": {
                        "x": 986.9852294921875,
                        "y": 5213.74755859375,
                        "z": 371.6194152832031
                    },
                    "rotation": {
                        "roll": 0.000909616646822542,
                        "pitch": -0.015108377672731876,
                        "yaw": -89.79885864257812
                    }
                },
                "velocity": {
                    "x": 0.02726423367857933,
                    "y": -6.856840133666992,
                    "z": 0.0019075870513916016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036901473999023,
                "transform": {
                    "location": {
                        "x": 987.0673828125,
                        "y": 5172.640625,
                        "z": 371.63189697265625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.012574377469718456,
                        "yaw": -89.89419555664062
                    }
                },
                "velocity": {
                    "x": 0.01475475262850523,
                    "y": -8.036887168884277,
                    "z": -0.0022394179832190275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014124870300293,
                "transform": {
                    "location": {
                        "x": 987.1381225585938,
                        "y": 5132.451171875,
                        "z": 371.61077880859375
                    },
                    "rotation": {
                        "roll": 0.0006334434729069471,
                        "pitch": -0.039977096021175385,
                        "yaw": -89.91297912597656
                    }
                },
                "velocity": {
                    "x": 0.013874996453523636,
                    "y": -8.014111518859863,
                    "z": -0.00584034901112318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5912411212921143,
                "transform": {
                    "location": {
                        "x": 983.9367065429688,
                        "y": 5136.3115234375,
                        "z": 371.62054443359375
                    },
                    "rotation": {
                        "roll": -0.00286865490488708,
                        "pitch": -0.1427304595708847,
                        "yaw": 90.40127563476562
                    }
                },
                "velocity": {
                    "x": -0.003120248205959797,
                    "y": 0.5912294387817383,
                    "z": 0.002013683319091797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6414811611175537,
                "transform": {
                    "location": {
                        "x": 983.907470703125,
                        "y": 5150.37841796875,
                        "z": 371.63018798828125
                    },
                    "rotation": {
                        "roll": -0.00018310791347175837,
                        "pitch": -0.07289860397577286,
                        "yaw": 90.0879898071289
                    }
                },
                "velocity": {
                    "x": -0.005258619785308838,
                    "y": 3.64147686958313,
                    "z": 0.001862649922259152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05455024167895317,
        "expert_target_speed": 6.1725934310632296,
        "target_point": [
            25.545724158207573,
            -0.09468498820425525
        ],
        "target_point_next": [
            76.54573915093238,
            -0.17699292499558844
        ]
    },
    "225": {
        "acceleration": [
            0.00037364661693573,
            0.7513046264648438,
            0.0005926121957600117
        ],
        "angular_velocity": [
            0.1515386700630188,
            0.07607580721378326,
            -0.5379641652107239
        ],
        "forward_vector": [
            -1.1845429071399849e-05,
            0.9999998807907104,
            0.00050520891090855
        ],
        "right_vector": [
            -0.9999999403953552,
            -1.1696773071889766e-05,
            -0.00029424895183183253
        ],
        "location": [
            983.9282836914062,
            5166.1796875,
            371.62542724609375
        ],
        "rotation": [
            0.016859224066138268,
            0.028946340084075928,
            90.00067901611328
        ],
        "velocity": [
            0.011331934481859207,
            5.153107166290283,
            0.0016993999015539885
        ],
        "speed": 5.153119626014068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.565582275390625,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.899147033691406,
                "transform": {
                    "location": {
                        "x": 986.9913940429688,
                        "y": 5212.05322265625,
                        "z": 371.6197509765625
                    },
                    "rotation": {
                        "roll": 0.0007338046561926603,
                        "pitch": 0.012355811893939972,
                        "yaw": -89.83959197998047
                    }
                },
                "velocity": {
                    "x": 0.019731108099222183,
                    "y": -6.899118423461914,
                    "z": 0.001732196775265038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042069435119629,
                "transform": {
                    "location": {
                        "x": 987.071044921875,
                        "y": 5170.630859375,
                        "z": 371.6314697265625
                    },
                    "rotation": {
                        "roll": -9.155221050605178e-05,
                        "pitch": -0.011467887088656425,
                        "yaw": -89.89408874511719
                    }
                },
                "velocity": {
                    "x": 0.014868579804897308,
                    "y": -8.042055130004883,
                    "z": -0.0016950988210737705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014193534851074,
                "transform": {
                    "location": {
                        "x": 987.141357421875,
                        "y": 5130.44775390625,
                        "z": 371.609375
                    },
                    "rotation": {
                        "roll": 0.00022731559874955565,
                        "pitch": -0.0403459258377552,
                        "yaw": -89.88951110839844
                    }
                },
                "velocity": {
                    "x": 0.014512283727526665,
                    "y": -8.014178276062012,
                    "z": -0.005710897501558065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8766354322433472,
                "transform": {
                    "location": {
                        "x": 983.9354248046875,
                        "y": 5136.6240234375,
                        "z": 371.6207580566406
                    },
                    "rotation": {
                        "roll": 0.000982092460617423,
                        "pitch": 0.20116272568702698,
                        "yaw": 90.41841125488281
                    }
                },
                "velocity": {
                    "x": -0.007007409352809191,
                    "y": 1.8766216039657593,
                    "z": 0.001662130351178348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.764245986938477,
                "transform": {
                    "location": {
                        "x": 983.9055786132812,
                        "y": 5151.43701171875,
                        "z": 371.6307373046875
                    },
                    "rotation": {
                        "roll": 0.0002714136498980224,
                        "pitch": -0.09216656535863876,
                        "yaw": 90.09519958496094
                    }
                },
                "velocity": {
                    "x": -0.01034987810999155,
                    "y": 4.76423454284668,
                    "z": 0.0019592666067183018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04608980193734169,
        "expert_target_speed": 6.219222735918049,
        "target_point": [
            24.26757446155612,
            -0.014794496721840973
        ],
        "target_point_next": [
            75.26760290558242,
            0.058707633330732666
        ]
    },
    "230": {
        "acceleration": [
            0.020822398364543915,
            -0.4000091552734375,
            0.011666107922792435
        ],
        "angular_velocity": [
            -0.15601550042629242,
            -0.0018094363622367382,
            -0.3600544035434723
        ],
        "forward_vector": [
            0.001713230856694281,
            0.9999982118606567,
            0.0008033513440750539
        ],
        "right_vector": [
            -0.9999985098838806,
            0.0017133817309513688,
            -0.00018727246788330376
        ],
        "location": [
            983.93115234375,
            5167.48095703125,
            371.6256103515625
        ],
        "rotation": [
            0.010729925706982613,
            0.04602864384651184,
            89.90184020996094
        ],
        "velocity": [
            0.016620216891169548,
            5.2228851318359375,
            0.0017480659298598766
        ],
        "speed": 5.222911576119436,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.26559066772461,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.744501113891602,
                "transform": {
                    "location": {
                        "x": 986.9964599609375,
                        "y": 5210.21435546875,
                        "z": 371.62005615234375
                    },
                    "rotation": {
                        "roll": 0.0008414374897256494,
                        "pitch": 0.04400690644979477,
                        "yaw": -89.86217498779297
                    }
                },
                "velocity": {
                    "x": 0.01982725039124489,
                    "y": -7.744475364685059,
                    "z": 0.0014637947315350175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040069580078125,
                "transform": {
                    "location": {
                        "x": 987.0748291015625,
                        "y": 5168.6201171875,
                        "z": 371.63104248046875
                    },
                    "rotation": {
                        "roll": -3.0518236599164084e-05,
                        "pitch": -0.01172060426324606,
                        "yaw": -89.89408874511719
                    }
                },
                "velocity": {
                    "x": 0.014812388457357883,
                    "y": -8.040056228637695,
                    "z": -0.001825571060180664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013801574707031,
                "transform": {
                    "location": {
                        "x": 987.1451416015625,
                        "y": 5128.4443359375,
                        "z": 371.6080017089844
                    },
                    "rotation": {
                        "roll": 0.0012158523313701153,
                        "pitch": -0.039642415940761566,
                        "yaw": -89.90575408935547
                    }
                },
                "velocity": {
                    "x": 0.01463753916323185,
                    "y": -8.013786315917969,
                    "z": -0.005759935360401869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2558255195617676,
                "transform": {
                    "location": {
                        "x": 983.9330444335938,
                        "y": 5137.255859375,
                        "z": 371.62115478515625
                    },
                    "rotation": {
                        "roll": 0.002770291641354561,
                        "pitch": 0.29417622089385986,
                        "yaw": 90.34629821777344
                    }
                },
                "velocity": {
                    "x": -0.011646650731563568,
                    "y": 3.2558038234710693,
                    "z": 0.002461004303768277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.237428665161133,
                "transform": {
                    "location": {
                        "x": 983.9032592773438,
                        "y": 5152.72314453125,
                        "z": 371.63092041015625
                    },
                    "rotation": {
                        "roll": 0.0006616163300350308,
                        "pitch": -0.0417461134493351,
                        "yaw": 90.08863830566406
                    }
                },
                "velocity": {
                    "x": -0.009513569995760918,
                    "y": 5.237420082092285,
                    "z": 0.0015871620271354914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03631118685007095,
        "expert_target_speed": 6.282775991684783,
        "target_point": [
            22.96628172671711,
            0.0353072838263995
        ],
        "target_point_next": [
            73.9660546295011,
            0.21269871280255642
        ]
    },
    "235": {
        "acceleration": [
            0.07734231650829315,
            2.0840835571289062,
            -0.0113143939524889
        ],
        "angular_velocity": [
            0.0017453799955546856,
            0.015280199237167835,
            -0.5744656920433044
        ],
        "forward_vector": [
            0.003952397033572197,
            0.9999790191650391,
            0.005127645563334227
        ],
        "right_vector": [
            -0.9999921321868896,
            0.0039540743455290794,
            -0.0003170391428284347
        ],
        "location": [
            983.9376831054688,
            5168.96142578125,
            371.6250305175781
        ],
        "rotation": [
            0.018165243789553642,
            0.2937937378883362,
            89.77354431152344
        ],
        "velocity": [
            0.036357998847961426,
            6.281963348388672,
            0.0015541076427325606
        ],
        "speed": 6.28206856175407,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.78679275512695,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.837332725524902,
                "transform": {
                    "location": {
                        "x": 987.00146484375,
                        "y": 5208.16162109375,
                        "z": 371.6205749511719
                    },
                    "rotation": {
                        "roll": 0.0012015335960313678,
                        "pitch": 0.05881475657224655,
                        "yaw": -89.87103271484375
                    }
                },
                "velocity": {
                    "x": 0.02067449502646923,
                    "y": -8.837307929992676,
                    "z": 0.0018755625933408737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041145324707031,
                "transform": {
                    "location": {
                        "x": 987.0784912109375,
                        "y": 5166.6103515625,
                        "z": 371.6305847167969
                    },
                    "rotation": {
                        "roll": 0.0004683006554841995,
                        "pitch": -0.011993811465799809,
                        "yaw": -89.89412689208984
                    }
                },
                "velocity": {
                    "x": 0.014885282143950462,
                    "y": -8.041131019592285,
                    "z": -0.0016525363316759467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013493537902832,
                "transform": {
                    "location": {
                        "x": 987.1485595703125,
                        "y": 5126.44091796875,
                        "z": 371.6065979003906
                    },
                    "rotation": {
                        "roll": 0.0008866857970133424,
                        "pitch": -0.039615094661712646,
                        "yaw": -89.88628387451172
                    }
                },
                "velocity": {
                    "x": 0.014330434612929821,
                    "y": -8.01347827911377,
                    "z": -0.005406713578850031
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.795212745666504,
                "transform": {
                    "location": {
                        "x": 983.9297485351562,
                        "y": 5138.27783203125,
                        "z": 371.6217041015625
                    },
                    "rotation": {
                        "roll": 0.003470837837085128,
                        "pitch": 0.34076493978500366,
                        "yaw": 90.25887298583984
                    }
                },
                "velocity": {
                    "x": -0.014420595951378345,
                    "y": 4.795190811157227,
                    "z": 0.0016289901686832309
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.86033821105957,
                "transform": {
                    "location": {
                        "x": 983.9008178710938,
                        "y": 5154.1337890625,
                        "z": 371.63116455078125
                    },
                    "rotation": {
                        "roll": 0.0004634390934370458,
                        "pitch": -0.03805098310112953,
                        "yaw": 90.13125610351562
                    }
                },
                "velocity": {
                    "x": -0.010921010747551918,
                    "y": 5.86032772064209,
                    "z": 0.001534862443804741
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020685501396656036,
        "expert_target_speed": 7.220470519235174,
        "target_point": [
            21.48566026479759,
            0.08789608293329873
        ],
        "target_point_next": [
            72.48490195921838,
            0.38055706199737865
        ]
    },
    "240": {
        "acceleration": [
            0.0612148642539978,
            0.8285999298095703,
            0.0031070690602064133
        ],
        "angular_velocity": [
            -0.3266931474208832,
            -0.021840499714016914,
            -0.5800533294677734
        ],
        "forward_vector": [
            0.006466850638389587,
            0.9999721050262451,
            0.00374125549569726
        ],
        "right_vector": [
            -0.9999790191650391,
            0.0064683230593800545,
            -0.0003816664684563875
        ],
        "location": [
            983.948486328125,
            5170.57080078125,
            371.625732421875
        ],
        "rotation": [
            0.021868029609322548,
            0.2143586426973343,
            89.62947082519531
        ],
        "velocity": [
            0.053523950278759,
            6.5731658935546875,
            0.0021318625658750534
        ],
        "speed": 6.573383807252094,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.17951202392578,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8338623046875,
                        "y": 5246.78857421875,
                        "z": 371.8927917480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031036376953125,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.28712272644043,
                "transform": {
                    "location": {
                        "x": 987.0064086914062,
                        "y": 5206.02099609375,
                        "z": 371.6217041015625
                    },
                    "rotation": {
                        "roll": -3.0517821869580075e-05,
                        "pitch": 0.013462302275002003,
                        "yaw": -89.87508392333984
                    }
                },
                "velocity": {
                    "x": 0.018258126452565193,
                    "y": -8.287101745605469,
                    "z": 0.0021269035059958696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039039611816406,
                "transform": {
                    "location": {
                        "x": 987.0822143554688,
                        "y": 5164.60009765625,
                        "z": 371.6300964355469
                    },
                    "rotation": {
                        "roll": 0.00033106529735960066,
                        "pitch": -0.01178207527846098,
                        "yaw": -89.89412689208984
                    }
                },
                "velocity": {
                    "x": 0.014791786670684814,
                    "y": -8.03902530670166,
                    "z": -0.002292089397087693
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0140380859375,
                "transform": {
                    "location": {
                        "x": 987.1524047851562,
                        "y": 5124.4375,
                        "z": 371.6051025390625
                    },
                    "rotation": {
                        "roll": 0.0009387910831719637,
                        "pitch": -0.042668189853429794,
                        "yaw": -89.9061508178711
                    }
                },
                "velocity": {
                    "x": 0.014718177728354931,
                    "y": -8.014021873474121,
                    "z": -0.006306829396635294
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.446040630340576,
                "transform": {
                    "location": {
                        "x": 983.9261474609375,
                        "y": 5139.59912109375,
                        "z": 371.62261962890625
                    },
                    "rotation": {
                        "roll": 0.0026826064568012953,
                        "pitch": 0.20080755650997162,
                        "yaw": 90.1989517211914
                    }
                },
                "velocity": {
                    "x": -0.013564965687692165,
                    "y": 5.446023464202881,
                    "z": 0.0011891459580510855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.302302837371826,
                "transform": {
                    "location": {
                        "x": 983.8973388671875,
                        "y": 5155.78857421875,
                        "z": 371.6322326660156
                    },
                    "rotation": {
                        "roll": -3.0522474844474345e-05,
                        "pitch": -0.12258823215961456,
                        "yaw": 90.12582397460938
                    }
                },
                "velocity": {
                    "x": -0.015878459438681602,
                    "y": 7.302285194396973,
                    "z": 0.001734294812195003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 5.232123294263147e-05,
        "expert_target_speed": 7.468521729334958,
        "target_point": [
            19.875959762808147,
            0.14236735928064242
        ],
        "target_point_next": [
            70.87430328928106,
            0.5633915990491282
        ]
    },
    "245": {
        "acceleration": [
            0.09906157851219177,
            1.685781478881836,
            0.0018222816288471222
        ],
        "angular_velocity": [
            -0.0013862281339243054,
            -0.047626394778490067,
            -0.6102229952812195
        ],
        "forward_vector": [
            0.009099389426410198,
            0.9999537467956543,
            0.0031087344978004694
        ],
        "right_vector": [
            -0.9999584555625916,
            0.009100760333240032,
            -0.0004273264203220606
        ],
        "location": [
            983.9640502929688,
            5172.2578125,
            371.6261901855469
        ],
        "rotation": [
            0.024484118446707726,
            0.17811766266822815,
            89.4786376953125
        ],
        "velocity": [
            0.07473735511302948,
            6.917386531829834,
            0.0018675040919333696
        ],
        "speed": 6.917790261564026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.49502944946289,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.837646484375,
                        "y": 5244.712890625,
                        "z": 371.7193603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031036376953125,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.069964408874512,
                "transform": {
                    "location": {
                        "x": 987.0106811523438,
                        "y": 5203.9853515625,
                        "z": 371.6224060058594
                    },
                    "rotation": {
                        "roll": 0.00044888188131153584,
                        "pitch": 0.009220754727721214,
                        "yaw": -89.88317108154297
                    }
                },
                "velocity": {
                    "x": 0.015389878302812576,
                    "y": -8.06994915008545,
                    "z": 0.00239982595667243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042370796203613,
                "transform": {
                    "location": {
                        "x": 987.0859985351562,
                        "y": 5162.58984375,
                        "z": 371.6296691894531
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": -0.011843547224998474,
                        "yaw": -89.89405822753906
                    }
                },
                "velocity": {
                    "x": 0.014867388643324375,
                    "y": -8.042356491088867,
                    "z": -0.0022975157480686903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01435661315918,
                "transform": {
                    "location": {
                        "x": 987.1558227539062,
                        "y": 5122.43408203125,
                        "z": 371.6035461425781
                    },
                    "rotation": {
                        "roll": 0.0003475243574939668,
                        "pitch": -0.05096687003970146,
                        "yaw": -89.88658905029297
                    }
                },
                "velocity": {
                    "x": 0.01419508270919323,
                    "y": -8.014342308044434,
                    "z": -0.0059552667662501335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.2707905769348145,
                "transform": {
                    "location": {
                        "x": 983.922607421875,
                        "y": 5141.11669921875,
                        "z": 371.6232604980469
                    },
                    "rotation": {
                        "roll": 0.0015622666105628014,
                        "pitch": 0.18040578067302704,
                        "yaw": 90.15011596679688
                    }
                },
                "velocity": {
                    "x": -0.014573881402611732,
                    "y": 6.270773410797119,
                    "z": 0.0020846270490437746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.358234882354736,
                "transform": {
                    "location": {
                        "x": 983.8936767578125,
                        "y": 5157.5185546875,
                        "z": 371.63116455078125
                    },
                    "rotation": {
                        "roll": 0.0005781017243862152,
                        "pitch": 0.05712086707353592,
                        "yaw": 90.12214660644531
                    }
                },
                "velocity": {
                    "x": -0.01359768956899643,
                    "y": 6.358220100402832,
                    "z": 0.002078046789392829
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.7095642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.025357039645314217,
        "expert_target_speed": 7.755652132484738,
        "target_point": [
            18.188433657069528,
            0.19480240204252255
        ],
        "target_point_next": [
            69.18549510661504,
            0.7498045334753067
        ]
    },
    "250": {
        "acceleration": [
            0.07532939314842224,
            0.5582046508789062,
            -0.001969530712813139
        ],
        "angular_velocity": [
            -0.1952095478773117,
            -0.013320372439920902,
            -0.626017153263092
        ],
        "forward_vector": [
            0.011848914436995983,
            0.9999257326126099,
            0.0028393229003995657
        ],
        "right_vector": [
            -0.999929666519165,
            0.011850311420857906,
            -0.00047558077494613826
        ],
        "location": [
            983.9849853515625,
            5174.02734375,
            371.6266174316406
        ],
        "rotation": [
            0.027248883619904518,
            0.1626814305782318,
            89.32109069824219
        ],
        "velocity": [
            0.09663109481334686,
            7.20233154296875,
            0.0018704509129747748
        ],
        "speed": 7.2029797461416925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.72856521606445,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.934330463409424,
                "transform": {
                    "location": {
                        "x": 986.8427734375,
                        "y": 5242.6484375,
                        "z": 371.592529296875
                    },
                    "rotation": {
                        "roll": -0.01666259765625,
                        "pitch": -0.006837018765509129,
                        "yaw": -89.83544158935547
                    }
                },
                "velocity": {
                    "x": 0.05113397166132927,
                    "y": -7.9298295974731445,
                    "z": -0.2622745633125305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.845882415771484,
                "transform": {
                    "location": {
                        "x": 987.0142822265625,
                        "y": 5202.134765625,
                        "z": 371.6233215332031
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.017212076112627983,
                        "yaw": -89.89093017578125
                    }
                },
                "velocity": {
                    "x": 0.012862902134656906,
                    "y": -6.845870018005371,
                    "z": 0.001702594687230885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038599014282227,
                "transform": {
                    "location": {
                        "x": 987.0896606445312,
                        "y": 5160.580078125,
                        "z": 371.62921142578125
                    },
                    "rotation": {
                        "roll": -0.00024414047948084772,
                        "pitch": -0.011966491118073463,
                        "yaw": -89.89421081542969
                    }
                },
                "velocity": {
                    "x": 0.014804820530116558,
                    "y": -8.03858470916748,
                    "z": -0.0022533987648785114
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014381408691406,
                "transform": {
                    "location": {
                        "x": 987.1594848632812,
                        "y": 5120.4306640625,
                        "z": 371.6017761230469
                    },
                    "rotation": {
                        "roll": 0.0004551766032818705,
                        "pitch": -0.05072098225355148,
                        "yaw": -89.91240692138672
                    }
                },
                "velocity": {
                    "x": 0.013868757523596287,
                    "y": -8.01436710357666,
                    "z": -0.006232938729226589
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.321529388427734,
                "transform": {
                    "location": {
                        "x": 983.9196166992188,
                        "y": 5143.013671875,
                        "z": 371.62420654296875
                    },
                    "rotation": {
                        "roll": 0.0023850116413086653,
                        "pitch": 0.36538776755332947,
                        "yaw": 90.06260681152344
                    }
                },
                "velocity": {
                    "x": -0.013172919861972332,
                    "y": 8.321518898010254,
                    "z": 0.002514219144359231
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.122547149658203,
                "transform": {
                    "location": {
                        "x": 983.889892578125,
                        "y": 5158.91357421875,
                        "z": 371.63018798828125
                    },
                    "rotation": {
                        "roll": -0.0043334863148629665,
                        "pitch": 0.1950223743915558,
                        "yaw": 89.8973159790039
                    }
                },
                "velocity": {
                    "x": 0.01680467464029789,
                    "y": 4.122512340545654,
                    "z": -0.0022240541875362396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5525359511375427,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.6650390625
                    },
                    "rotation": {
                        "roll": 0.00021786404249724,
                        "pitch": -0.031036376953125,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -0.00011120411363663152,
                    "y": -0.0003032201202586293,
                    "z": -0.5525358319282532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05080016329884529,
        "expert_target_speed": 7.988054447482438,
        "target_point": [
            16.418174227279692,
            0.2447831826292731
        ],
        "target_point_next": [
            67.41351697757446,
            0.9399965560427388
        ]
    },
    "255": {
        "acceleration": [
            0.11318117380142212,
            1.2534713745117188,
            0.007291410584002733
        ],
        "angular_velocity": [
            0.0007362529868260026,
            -0.05517595261335373,
            -0.6682323813438416
        ],
        "forward_vector": [
            0.014688242226839066,
            0.9998897314071655,
            0.002170441672205925
        ],
        "right_vector": [
            -0.999891996383667,
            0.014689385890960693,
            -0.0005115646054036915
        ],
        "location": [
            984.0115966796875,
            5175.85302734375,
            371.6272277832031
        ],
        "rotation": [
            0.02931056171655655,
            0.12435724586248398,
            89.15839385986328
        ],
        "velocity": [
            0.12071201950311661,
            7.410092830657959,
            0.0022641848772764206
        ],
        "speed": 7.411075977927969,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.90654754638672,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.155760765075684,
                "transform": {
                    "location": {
                        "x": 986.8617553710938,
                        "y": 5240.63134765625,
                        "z": 371.6033630371094
                    },
                    "rotation": {
                        "roll": -0.01925658993422985,
                        "pitch": 0.019247472286224365,
                        "yaw": -89.43160247802734
                    }
                },
                "velocity": {
                    "x": 0.08940783143043518,
                    "y": -8.154937744140625,
                    "z": 0.07364446669816971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.978968143463135,
                "transform": {
                    "location": {
                        "x": 987.0174560546875,
                        "y": 5200.43017578125,
                        "z": 371.62359619140625
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": 0.015285962261259556,
                        "yaw": -89.89257049560547
                    }
                },
                "velocity": {
                    "x": 0.013124136254191399,
                    "y": -6.9789557456970215,
                    "z": 0.002089614747092128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042085647583008,
                "transform": {
                    "location": {
                        "x": 987.0932006835938,
                        "y": 5158.5693359375,
                        "z": 371.6287841796875
                    },
                    "rotation": {
                        "roll": 2.232442784588784e-05,
                        "pitch": -0.01178207527846098,
                        "yaw": -89.9027328491211
                    }
                },
                "velocity": {
                    "x": 0.012670757248997688,
                    "y": -8.042076110839844,
                    "z": -0.0019291496137157083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01384449005127,
                "transform": {
                    "location": {
                        "x": 987.1627197265625,
                        "y": 5118.42724609375,
                        "z": 371.6000061035156
                    },
                    "rotation": {
                        "roll": -0.0002746584068518132,
                        "pitch": -0.050140414386987686,
                        "yaw": -89.89470672607422
                    }
                },
                "velocity": {
                    "x": 0.013141165487468243,
                    "y": -8.01383113861084,
                    "z": -0.0061203003861010075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.310266017913818,
                "transform": {
                    "location": {
                        "x": 983.9164428710938,
                        "y": 5144.97705078125,
                        "z": 371.6248779296875
                    },
                    "rotation": {
                        "roll": 0.00021497259149327874,
                        "pitch": -0.04440305754542351,
                        "yaw": 90.1031723022461
                    }
                },
                "velocity": {
                    "x": -0.012760082259774208,
                    "y": 7.3102545738220215,
                    "z": 0.0018099689623340964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0759425163269043,
                "transform": {
                    "location": {
                        "x": 983.89013671875,
                        "y": 5159.6728515625,
                        "z": 371.6306457519531
                    },
                    "rotation": {
                        "roll": 0.0013875400181859732,
                        "pitch": 0.14601577818393707,
                        "yaw": 89.91850280761719
                    }
                },
                "velocity": {
                    "x": -0.005937465466558933,
                    "y": 3.0759363174438477,
                    "z": 0.0016941165085881948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.049215592443943024,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.60552978515625
                    },
                    "rotation": {
                        "roll": 0.0005597904673777521,
                        "pitch": -0.03186282888054848,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 5.262315971776843e-05,
                    "y": -2.4487007976858877e-05,
                    "z": -0.04921555891633034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08335931599140167,
        "expert_target_speed": 8.142560778937256,
        "target_point": [
            14.591534192645208,
            0.29126480330894755
        ],
        "target_point_next": [
            65.58469364548938,
            1.1314986228041601
        ]
    },
    "260": {
        "acceleration": [
            0.10475903749465942,
            1.3298606872558594,
            0.0001306505873799324
        ],
        "angular_velocity": [
            0.1176786869764328,
            0.033885907381772995,
            -0.6854923963546753
        ],
        "forward_vector": [
            0.017613710835576057,
            0.999841570854187,
            0.002568003488704562
        ],
        "right_vector": [
            -0.9998446702957153,
            0.0176151804625988,
            -0.0005512791685760021
        ],
        "location": [
            984.044677734375,
            5177.7451171875,
            371.6275634765625
        ],
        "rotation": [
            0.03158607333898544,
            0.147135928273201,
            88.99075317382812
        ],
        "velocity": [
            0.14786002039909363,
            7.7396464347839355,
            0.0019783114548772573
        ],
        "speed": 7.741058682189156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.01887130737305,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9432268142700195,
                "transform": {
                    "location": {
                        "x": 986.88623046875,
                        "y": 5238.6201171875,
                        "z": 371.6133117675781
                    },
                    "rotation": {
                        "roll": -0.0103759765625,
                        "pitch": 0.02100283093750477,
                        "yaw": -89.27567291259766
                    }
                },
                "velocity": {
                    "x": 0.10283181071281433,
                    "y": -7.942538261413574,
                    "z": 0.019019335508346558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.732528209686279,
                "transform": {
                    "location": {
                        "x": 987.02099609375,
                        "y": 5198.572265625,
                        "z": 371.6239318847656
                    },
                    "rotation": {
                        "roll": 0.0002516681852284819,
                        "pitch": 0.04227886721491814,
                        "yaw": -89.89433288574219
                    }
                },
                "velocity": {
                    "x": 0.014413532800972462,
                    "y": -7.73251485824585,
                    "z": 0.002170200226828456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039264678955078,
                "transform": {
                    "location": {
                        "x": 987.096435546875,
                        "y": 5156.5595703125,
                        "z": 371.6283264160156
                    },
                    "rotation": {
                        "roll": 0.0005522072315216064,
                        "pitch": -0.011870868504047394,
                        "yaw": -89.90682983398438
                    }
                },
                "velocity": {
                    "x": 0.012124666944146156,
                    "y": -8.039255142211914,
                    "z": -0.002143650082871318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014031410217285,
                "transform": {
                    "location": {
                        "x": 987.1663818359375,
                        "y": 5116.423828125,
                        "z": 371.5982666015625
                    },
                    "rotation": {
                        "roll": 2.0734032659674995e-05,
                        "pitch": -0.050502415746450424,
                        "yaw": -89.91374969482422
                    }
                },
                "velocity": {
                    "x": 0.014683579094707966,
                    "y": -8.014016151428223,
                    "z": -0.005529012531042099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2995383739471436,
                "transform": {
                    "location": {
                        "x": 983.9151611328125,
                        "y": 5146.28662109375,
                        "z": 371.6248779296875
                    },
                    "rotation": {
                        "roll": -0.001953170634806156,
                        "pitch": -0.7994735836982727,
                        "yaw": 90.3131332397461
                    }
                },
                "velocity": {
                    "x": 0.002813970437273383,
                    "y": 2.2995364665985107,
                    "z": -0.000949859619140625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.063297748565674,
                "transform": {
                    "location": {
                        "x": 983.8890380859375,
                        "y": 5160.5595703125,
                        "z": 371.6325378417969
                    },
                    "rotation": {
                        "roll": 0.00012134762800997123,
                        "pitch": -0.05581630393862724,
                        "yaw": 89.98593139648438
                    }
                },
                "velocity": {
                    "x": -0.007688984740525484,
                    "y": 4.063290119171143,
                    "z": 0.0016199398087337613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.01164945773780346,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.6050720214844
                    },
                    "rotation": {
                        "roll": -0.0007324228645302355,
                        "pitch": -0.032101888209581375,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.00017432891763746738,
                    "y": 1.2608104952960275e-05,
                    "z": 0.0116481464356184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11854734271764755,
        "expert_target_speed": 8.3976632515406,
        "target_point": [
            12.698241490334501,
            0.333668636508556
        ],
        "target_point_next": [
            63.688727090756245,
            1.3229522600452799
        ]
    },
    "265": {
        "acceleration": [
            0.01445770263671875,
            2.064647674560547,
            0.021720314398407936
        ],
        "angular_velocity": [
            0.15135999023914337,
            0.08513963222503662,
            0.06176450476050377
        ],
        "forward_vector": [
            0.01923963986337185,
            0.9998095035552979,
            0.003295415546745062
        ],
        "right_vector": [
            -0.9998149275779724,
            0.019240448251366615,
            -0.00021381302212830633
        ],
        "location": [
            984.0831298828125,
            5179.73876953125,
            371.6278381347656
        ],
        "rotation": [
            0.01225065067410469,
            0.18881374597549438,
            88.89757537841797
        ],
        "velocity": [
            0.15643395483493805,
            8.19328498840332,
            0.0024749659933149815
        ],
        "speed": 8.19477824492039,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.0305061340332,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.121603012084961,
                "transform": {
                    "location": {
                        "x": 986.9080810546875,
                        "y": 5236.611328125,
                        "z": 371.6159973144531
                    },
                    "rotation": {
                        "roll": 0.007314065936952829,
                        "pitch": 0.02855701930820942,
                        "yaw": -89.4129867553711
                    }
                },
                "velocity": {
                    "x": 0.0751846507191658,
                    "y": -8.121252059936523,
                    "z": 0.006543617229908705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.782727241516113,
                "transform": {
                    "location": {
                        "x": 987.02490234375,
                        "y": 5196.4912109375,
                        "z": 371.6244812011719
                    },
                    "rotation": {
                        "roll": -0.00048827865975908935,
                        "pitch": 0.0560348704457283,
                        "yaw": -89.89659881591797
                    }
                },
                "velocity": {
                    "x": 0.016099099069833755,
                    "y": -8.78271198272705,
                    "z": 0.002536516170948744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041810989379883,
                "transform": {
                    "location": {
                        "x": 987.0996704101562,
                        "y": 5154.54931640625,
                        "z": 371.6278381347656
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": -0.01299784891307354,
                        "yaw": -89.90873718261719
                    }
                },
                "velocity": {
                    "x": 0.012830739840865135,
                    "y": -8.041800498962402,
                    "z": -0.0023713111877441406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014618873596191,
                "transform": {
                    "location": {
                        "x": 987.1697387695312,
                        "y": 5114.419921875,
                        "z": 371.596435546875
                    },
                    "rotation": {
                        "roll": -0.00033569158404134214,
                        "pitch": -0.05233973637223244,
                        "yaw": -89.88628387451172
                    }
                },
                "velocity": {
                    "x": 0.014477025717496872,
                    "y": -8.014603614807129,
                    "z": -0.006366090849041939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7965238690376282,
                "transform": {
                    "location": {
                        "x": 983.9151611328125,
                        "y": 5146.42626953125,
                        "z": 371.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0071105933748185635,
                        "pitch": -0.4508061110973358,
                        "yaw": 90.32445526123047
                    }
                },
                "velocity": {
                    "x": -0.003486640052869916,
                    "y": 0.7965145707130432,
                    "z": 0.0016295337118208408
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1494855880737305,
                "transform": {
                    "location": {
                        "x": 983.8872680664062,
                        "y": 5161.71826171875,
                        "z": 371.63330078125
                    },
                    "rotation": {
                        "roll": 0.0007512817974202335,
                        "pitch": -0.09429758787155151,
                        "yaw": 90.0408935546875
                    }
                },
                "velocity": {
                    "x": -0.00986057985574007,
                    "y": 5.149473667144775,
                    "z": 0.0050868988037109375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0018326586578041315,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.60638427734375
                    },
                    "rotation": {
                        "roll": 0.00033986030030064285,
                        "pitch": -0.03186282888054848,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 4.901148258795729e-06,
                    "y": 4.877308128925506e-06,
                    "z": 0.0018326456192880869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15224003791809082,
        "expert_target_speed": 8.736596991245717,
        "target_point": [
            10.703658605442294,
            0.35442169714401095
        ],
        "target_point_next": [
            61.69246693119333,
            1.4266760393769238
        ]
    },
    "270": {
        "acceleration": [
            -0.007337033748626709,
            0.5876922607421875,
            -0.002619554288685322
        ],
        "angular_velocity": [
            -0.2711678743362427,
            -0.003729009535163641,
            0.1339193731546402
        ],
        "forward_vector": [
            0.018724288791418076,
            0.9998199939727783,
            0.0030732103623449802
        ],
        "right_vector": [
            -0.9998247027397156,
            0.018724408000707626,
            -1.0393094271421432e-05
        ],
        "location": [
            984.1224975585938,
            5181.83251953125,
            371.6283264160156
        ],
        "rotation": [
            0.0005954832304269075,
            0.17608226835727692,
            88.92710876464844
        ],
        "velocity": [
            0.15740755200386047,
            8.50064468383789,
            0.0016241358825936913
        ],
        "speed": 8.502101927070107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.942806243896484,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.907276630401611,
                "transform": {
                    "location": {
                        "x": 986.924560546875,
                        "y": 5234.6083984375,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": 0.007374498527497053,
                        "pitch": 0.021016491577029228,
                        "yaw": -89.54580688476562
                    }
                },
                "velocity": {
                    "x": 0.060326654464006424,
                    "y": -7.907044410705566,
                    "z": 0.00551403034478426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.243942260742188,
                "transform": {
                    "location": {
                        "x": 987.0286254882812,
                        "y": 5194.37060546875,
                        "z": 371.62554931640625
                    },
                    "rotation": {
                        "roll": 0.0007567714783363044,
                        "pitch": 0.010907811112701893,
                        "yaw": -89.89852142333984
                    }
                },
                "velocity": {
                    "x": 0.014443820342421532,
                    "y": -8.243929862976074,
                    "z": 0.0017795562744140625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039270401000977,
                "transform": {
                    "location": {
                        "x": 987.1028442382812,
                        "y": 5152.5390625,
                        "z": 371.6273498535156
                    },
                    "rotation": {
                        "roll": -0.00039672793354839087,
                        "pitch": -0.017335020005702972,
                        "yaw": -89.90878295898438
                    }
                },
                "velocity": {
                    "x": 0.012812829576432705,
                    "y": -8.039259910583496,
                    "z": -0.001937227207235992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014370918273926,
                "transform": {
                    "location": {
                        "x": 987.173583984375,
                        "y": 5112.416015625,
                        "z": 371.5946044921875
                    },
                    "rotation": {
                        "roll": -0.0005187977803871036,
                        "pitch": -0.055508945137262344,
                        "yaw": -89.90546417236328
                    }
                },
                "velocity": {
                    "x": 0.01455416064709425,
                    "y": -8.014355659484863,
                    "z": -0.0064263055101037025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.122692584991455,
                "transform": {
                    "location": {
                        "x": 983.9138793945312,
                        "y": 5146.80810546875,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": 0.0009090512758120894,
                        "pitch": 0.13475961983203888,
                        "yaw": 90.27202606201172
                    }
                },
                "velocity": {
                    "x": -0.005914665292948484,
                    "y": 2.1226837635040283,
                    "z": 0.0016000366304069757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6028900146484375,
                "transform": {
                    "location": {
                        "x": 983.8851318359375,
                        "y": 5163.04931640625,
                        "z": 371.6332702636719
                    },
                    "rotation": {
                        "roll": 0.00035876844776794314,
                        "pitch": -0.04596034064888954,
                        "yaw": 90.09457397460938
                    }
                },
                "velocity": {
                    "x": -0.011696463450789452,
                    "y": 5.602877616882324,
                    "z": 0.0012985991779714823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.002055387245491147,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.60675048828125
                    },
                    "rotation": {
                        "roll": 0.00011079882824560627,
                        "pitch": -0.031985774636268616,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 5.369024620449636e-06,
                    "y": 2.395580395386787e-06,
                    "z": 0.0020553788635879755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17645682394504547,
        "expert_target_speed": 8.956110492304838,
        "target_point": [
            8.609718476369592,
            0.3490971232926436
        ],
        "target_point_next": [
            59.59906874305861,
            1.395263092685448
        ]
    },
    "275": {
        "acceleration": [
            0.03660649061203003,
            0.9466934204101562,
            -0.001121903769671917
        ],
        "angular_velocity": [
            -0.13503415882587433,
            -0.020538030192255974,
            -0.12556272745132446
        ],
        "forward_vector": [
            0.01886211708188057,
            0.9998198747634888,
            0.002104518935084343
        ],
        "right_vector": [
            -0.9998220801353455,
            0.018862327560782433,
            -8.017441723495722e-05
        ],
        "location": [
            984.1629638671875,
            5183.9833984375,
            371.6288146972656
        ],
        "rotation": [
            0.004593665711581707,
            0.12058015167713165,
            88.9192123413086
        ],
        "velocity": [
            0.16608770191669464,
            8.694266319274902,
            0.0018050955841317773
        ],
        "speed": 8.695852572071695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.798831939697266,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.2385969161987305,
                "transform": {
                    "location": {
                        "x": 986.9370727539062,
                        "y": 5232.84765625,
                        "z": 371.6178894042969
                    },
                    "rotation": {
                        "roll": 0.00618167407810688,
                        "pitch": -0.18609532713890076,
                        "yaw": -89.60051727294922
                    }
                },
                "velocity": {
                    "x": 0.03772955387830734,
                    "y": -6.238482475280762,
                    "z": 0.0023432255256921053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.065469741821289,
                "transform": {
                    "location": {
                        "x": 987.0322265625,
                        "y": 5192.34228515625,
                        "z": 371.6261291503906
                    },
                    "rotation": {
                        "roll": 0.00020556485105771571,
                        "pitch": 0.0035107170697301626,
                        "yaw": -89.90001678466797
                    }
                },
                "velocity": {
                    "x": 0.014129826799035072,
                    "y": -8.06545639038086,
                    "z": 0.0022268295288085938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04207706451416,
                "transform": {
                    "location": {
                        "x": 987.1061401367188,
                        "y": 5150.52880859375,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": -0.0011901847319677472,
                        "pitch": -0.017642376944422722,
                        "yaw": -89.90550994873047
                    }
                },
                "velocity": {
                    "x": 0.013169720768928528,
                    "y": -8.042065620422363,
                    "z": -0.002101688412949443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.1304321289062,
                        "y": 5110.349609375,
                        "z": 371.5959167480469
                    },
                    "rotation": {
                        "roll": -1.667527338433672e-09,
                        "pitch": -0.05575483292341232,
                        "yaw": -89.89771270751953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6955795288085938,
                "transform": {
                    "location": {
                        "x": 983.9119262695312,
                        "y": 5147.5341796875,
                        "z": 371.6256103515625
                    },
                    "rotation": {
                        "roll": 0.001586039667017758,
                        "pitch": 0.3000638484954834,
                        "yaw": 90.2227554321289
                    }
                },
                "velocity": {
                    "x": -0.00941929966211319,
                    "y": 3.6955671310424805,
                    "z": 0.0018030357314273715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3190131187438965,
                "transform": {
                    "location": {
                        "x": 983.8822631835938,
                        "y": 5164.501953125,
                        "z": 371.633544921875
                    },
                    "rotation": {
                        "roll": 0.0005485747242346406,
                        "pitch": -0.04327607527375221,
                        "yaw": 90.08413696289062
                    }
                },
                "velocity": {
                    "x": -0.016363007947802544,
                    "y": 6.318991661071777,
                    "z": 0.001388282747939229
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010857116430997849,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.60675048828125
                    },
                    "rotation": {
                        "roll": 0.0010827052174136043,
                        "pitch": -0.03143252804875374,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -5.832064289279515e-07,
                    "y": 8.158199307217728e-07,
                    "z": 0.0010857111774384975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21295517683029175,
        "expert_target_speed": 9.088539268478518,
        "target_point": [
            57.447623059764794,
            1.403086366537038
        ],
        "target_point_next": [
            73.44423861269281,
            1.733399520685559
        ]
    },
    "280": {
        "acceleration": [
            0.009083747863769531,
            -0.5149459838867188,
            0.008626367896795273
        ],
        "angular_velocity": [
            -0.35648879408836365,
            -0.005913912784308195,
            -0.13374200463294983
        ],
        "forward_vector": [
            0.019430669024586678,
            0.999810516834259,
            0.0011864898260682821
        ],
        "right_vector": [
            -0.9998112320899963,
            0.019430803135037422,
            -0.00010268703772453591
        ],
        "location": [
            984.2051391601562,
            5186.16748046875,
            371.6292419433594
        ],
        "rotation": [
            0.005883538164198399,
            0.06798087060451508,
            88.88663482666016
        ],
        "velocity": [
            0.1716645061969757,
            8.73370361328125,
            0.002064285334199667
        ],
        "speed": 8.735390518307113,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.6226692199707,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.194090843200684,
                "transform": {
                    "location": {
                        "x": 986.9450073242188,
                        "y": 5231.3095703125,
                        "z": 371.61871337890625
                    },
                    "rotation": {
                        "roll": 0.004708311054855585,
                        "pitch": -0.028843887150287628,
                        "yaw": -89.6982421875
                    }
                },
                "velocity": {
                    "x": 0.02867005579173565,
                    "y": -6.194024562835693,
                    "z": 0.0023547266609966755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.787907600402832,
                "transform": {
                    "location": {
                        "x": 987.0353393554688,
                        "y": 5190.5244140625,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 0.0002091078640660271,
                        "pitch": -0.024506717920303345,
                        "yaw": -89.8935546875
                    }
                },
                "velocity": {
                    "x": 0.01202527154237032,
                    "y": -6.787896633148193,
                    "z": 0.0016514873132109642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039226531982422,
                "transform": {
                    "location": {
                        "x": 987.1095581054688,
                        "y": 5148.51904296875,
                        "z": 371.62603759765625
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": -0.017423812299966812,
                        "yaw": -89.90245819091797
                    }
                },
                "velocity": {
                    "x": 0.013692699372768402,
                    "y": -8.039214134216309,
                    "z": -0.002280616667121649
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0877685546875,
                        "y": 5108.26708984375,
                        "z": 371.5973815917969
                    },
                    "rotation": {
                        "roll": -1.667527338433672e-09,
                        "pitch": -0.05575483292341232,
                        "yaw": -89.89771270751953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.158809185028076,
                "transform": {
                    "location": {
                        "x": 983.9093017578125,
                        "y": 5148.65283203125,
                        "z": 371.6261291503906
                    },
                    "rotation": {
                        "roll": 0.001208282308652997,
                        "pitch": 0.3240719735622406,
                        "yaw": 90.17195129394531
                    }
                },
                "velocity": {
                    "x": -0.011553463526070118,
                    "y": 5.158790588378906,
                    "z": 0.007680282462388277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.954861640930176,
                "transform": {
                    "location": {
                        "x": 983.8789672851562,
                        "y": 5166.32470703125,
                        "z": 371.6346740722656
                    },
                    "rotation": {
                        "roll": -0.0002441465621814132,
                        "pitch": -0.13335943222045898,
                        "yaw": 90.09900665283203
                    }
                },
                "velocity": {
                    "x": -0.014052879065275192,
                    "y": 7.9548492431640625,
                    "z": 0.002039155922830105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.166776726488024e-05,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.6067810058594
                    },
                    "rotation": {
                        "roll": 0.001362067530862987,
                        "pitch": -0.0315827913582325,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 2.1512655621336307e-06,
                    "y": 7.451930628121772e-07,
                    "z": 9.163949289359152e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03863837942481041,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24628028273582458,
        "expert_target_speed": 9.109846882370379,
        "target_point": [
            55.262320590623666,
            1.4357243341114734
        ],
        "target_point_next": [
            71.25874427525912,
            1.7752022120605049
        ]
    },
    "285": {
        "acceleration": [
            0.01970648765563965,
            -0.14722824096679688,
            -0.017518235370516777
        ],
        "angular_velocity": [
            -0.19413428008556366,
            0.0403670109808445,
            -0.13337433338165283
        ],
        "forward_vector": [
            0.020016243681311607,
            0.9997996687889099,
            -0.00012993811105843633
        ],
        "right_vector": [
            -0.9997996687889099,
            0.020016228780150414,
            -0.00011955563968513161
        ],
        "location": [
            984.2484130859375,
            5188.3388671875,
            371.6296081542969
        ],
        "rotation": [
            0.006850033532828093,
            -0.007444905582815409,
            88.85308074951172
        ],
        "velocity": [
            0.17496348917484283,
            8.643190383911133,
            -0.001276741037145257
        ],
        "speed": 8.644961089274961,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.460243225097656,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.98853063583374,
                "transform": {
                    "location": {
                        "x": 986.9524536132812,
                        "y": 5229.58251953125,
                        "z": 371.6197814941406
                    },
                    "rotation": {
                        "roll": 0.00227842153981328,
                        "pitch": 0.24052509665489197,
                        "yaw": -89.74376678466797
                    }
                },
                "velocity": {
                    "x": 0.032981377094984055,
                    "y": -7.988461971282959,
                    "z": 0.002613992663100362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.146094799041748,
                "transform": {
                    "location": {
                        "x": 987.0385131835938,
                        "y": 5188.8037109375,
                        "z": 371.6265869140625
                    },
                    "rotation": {
                        "roll": 0.0004653495561797172,
                        "pitch": 0.008961208164691925,
                        "yaw": -89.89080810546875
                    }
                },
                "velocity": {
                    "x": 0.012556812725961208,
                    "y": -7.146083831787109,
                    "z": 0.0013526821276172996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041947364807129,
                "transform": {
                    "location": {
                        "x": 987.113037109375,
                        "y": 5146.5087890625,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -0.00039672793354839087,
                        "pitch": -0.01773116923868656,
                        "yaw": -89.902099609375
                    }
                },
                "velocity": {
                    "x": 0.01373237557709217,
                    "y": -8.041934967041016,
                    "z": -0.001960277557373047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.674149036407471,
                "transform": {
                    "location": {
                        "x": 983.9063110351562,
                        "y": 5150.015625,
                        "z": 371.6266174316406
                    },
                    "rotation": {
                        "roll": 0.0012952403631061316,
                        "pitch": 0.17061129212379456,
                        "yaw": 90.17227172851562
                    }
                },
                "velocity": {
                    "x": -0.010090759955346584,
                    "y": 5.674139499664307,
                    "z": 0.001386508927680552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.835759162902832,
                "transform": {
                    "location": {
                        "x": 983.8753051757812,
                        "y": 5168.4296875,
                        "z": 371.6347961425781
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.0922553613781929,
                        "yaw": 90.1012191772461
                    }
                },
                "velocity": {
                    "x": -0.015719739720225334,
                    "y": 8.835744857788086,
                    "z": 0.0025242422707378864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002475276996847242,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0166015625,
                        "z": 371.6067810058594
                    },
                    "rotation": {
                        "roll": 0.000489389116410166,
                        "pitch": -0.03182867914438248,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -2.723183570196852e-06,
                    "y": 4.7559287850162946e-06,
                    "z": 0.0002474670181982219
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1655054092407227,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6603088378906
                    },
                    "rotation": {
                        "roll": 5.0089176511392e-05,
                        "pitch": -0.03808513283729553,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -0.00011385596735635772,
                    "y": -0.0007560951053164899,
                    "z": -1.1655051708221436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28159698843955994,
        "expert_target_speed": 9.038792195843318,
        "target_point": [
            53.08965604588978,
            1.4677554169781806
        ],
        "target_point_next": [
            69.08587903648922,
            1.8165619005773277
        ]
    },
    "290": {
        "acceleration": [
            0.006310939788818359,
            -0.5872917175292969,
            0.007851216942071915
        ],
        "angular_velocity": [
            -0.08324553072452545,
            0.019519366323947906,
            -0.13048318028450012
        ],
        "forward_vector": [
            0.02059607207775116,
            0.9997876286506653,
            -0.0007275341777130961
        ],
        "right_vector": [
            -0.9997878670692444,
            0.020595988258719444,
            -0.0001240547135239467
        ],
        "location": [
            984.2922973632812,
            5190.484375,
            371.6293640136719
        ],
        "rotation": [
            0.007107812911272049,
            -0.04168464243412018,
            88.8198471069336
        ],
        "velocity": [
            0.1777138113975525,
            8.534621238708496,
            -0.0023495578207075596
        ],
        "speed": 8.536471278401608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.32484436035156,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.2453031539917,
                "transform": {
                    "location": {
                        "x": 986.960693359375,
                        "y": 5227.49658203125,
                        "z": 371.6204528808594
                    },
                    "rotation": {
                        "roll": 0.0019183058757334948,
                        "pitch": 0.10806724429130554,
                        "yaw": -89.76588439941406
                    }
                },
                "velocity": {
                    "x": 0.02886193059384823,
                    "y": -8.24525260925293,
                    "z": 0.0019383811159059405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.689400672912598,
                "transform": {
                    "location": {
                        "x": 987.0419311523438,
                        "y": 5186.92041015625,
                        "z": 371.6265563964844
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.01598264090716839,
                        "yaw": -89.89588165283203
                    }
                },
                "velocity": {
                    "x": 0.013992011547088623,
                    "y": -7.689387798309326,
                    "z": 0.0012296008644625545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03931713104248,
                "transform": {
                    "location": {
                        "x": 987.116455078125,
                        "y": 5144.49853515625,
                        "z": 371.6246643066406
                    },
                    "rotation": {
                        "roll": -0.0005187992355786264,
                        "pitch": -0.020176377147436142,
                        "yaw": -89.90221405029297
                    }
                },
                "velocity": {
                    "x": 0.01370291318744421,
                    "y": -8.039304733276367,
                    "z": -0.0021395969670265913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.08838415145874,
                "transform": {
                    "location": {
                        "x": 983.9032592773438,
                        "y": 5151.5673828125,
                        "z": 371.6271057128906
                    },
                    "rotation": {
                        "roll": 0.002754064043983817,
                        "pitch": 0.27033886313438416,
                        "yaw": 90.07597351074219
                    }
                },
                "velocity": {
                    "x": -0.010846350342035294,
                    "y": 7.088375568389893,
                    "z": 0.001759004546329379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.272909164428711,
                "transform": {
                    "location": {
                        "x": 983.8711547851562,
                        "y": 5170.7353515625,
                        "z": 371.6349182128906
                    },
                    "rotation": {
                        "roll": -0.0006103532505221665,
                        "pitch": -0.0408923402428627,
                        "yaw": 90.10208129882812
                    }
                },
                "velocity": {
                    "x": -0.01652648113667965,
                    "y": 9.272893905639648,
                    "z": 0.002065458334982395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.16090548038482666,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5243.0185546875,
                        "z": 371.6067810058594
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.03070169873535633,
                        "yaw": 90.10266876220703
                    }
                },
                "velocity": {
                    "x": -0.002042283769696951,
                    "y": 0.1608922928571701,
                    "z": 0.0002704620419535786
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.04831048846244812,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.58197021484375
                    },
                    "rotation": {
                        "roll": 6.087974179536104e-05,
                        "pitch": -0.037716303020715714,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -1.9057833924307488e-06,
                    "y": 3.3285177778452635e-05,
                    "z": 0.048310477286577225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3327313959598541,
        "expert_target_speed": 8.953281547464853,
        "target_point": [
            50.94284166209136,
            1.4981532900165617
        ],
        "target_point_next": [
            66.93886022604781,
            1.856211985684165
        ]
    },
    "295": {
        "acceleration": [
            -0.132293701171875,
            0.06532669067382812,
            -0.006425855681300163
        ],
        "angular_velocity": [
            0.057417355477809906,
            0.09358853846788406,
            0.7575187683105469
        ],
        "forward_vector": [
            0.019157500937581062,
            0.9998162388801575,
            -0.0006700753001496196
        ],
        "right_vector": [
            -0.9998164176940918,
            0.01915772445499897,
            0.00033129705116152763
        ],
        "location": [
            984.333984375,
            5192.6123046875,
            371.6288146972656
        ],
        "rotation": [
            -0.018981928005814552,
            -0.03839249163866043,
            88.90229034423828
        ],
        "velocity": [
            0.15041007101535797,
            8.492297172546387,
            -0.0020929621532559395
        ],
        "speed": 8.49362905101831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.20816421508789,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.859358310699463,
                "transform": {
                    "location": {
                        "x": 986.966796875,
                        "y": 5225.50048828125,
                        "z": 371.6211242675781
                    },
                    "rotation": {
                        "roll": 0.0026919045485556126,
                        "pitch": -0.0032375094015151262,
                        "yaw": -89.84581756591797
                    }
                },
                "velocity": {
                    "x": 0.02214227430522442,
                    "y": -7.8593268394470215,
                    "z": 0.002026262227445841
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.64543628692627,
                "transform": {
                    "location": {
                        "x": 987.045654296875,
                        "y": 5184.80322265625,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": 0.0001504701067460701,
                        "pitch": 0.022314226254820824,
                        "yaw": -89.8932113647461
                    }
                },
                "velocity": {
                    "x": 0.01498392503708601,
                    "y": -8.64542293548584,
                    "z": -0.002175550442188978
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041922569274902,
                "transform": {
                    "location": {
                        "x": 987.119873046875,
                        "y": 5142.48828125,
                        "z": 371.6238708496094
                    },
                    "rotation": {
                        "roll": -0.0004577644285745919,
                        "pitch": -0.027464188635349274,
                        "yaw": -89.90036010742188
                    }
                },
                "velocity": {
                    "x": 0.014825524762272835,
                    "y": -8.041908264160156,
                    "z": -0.002224092371761799
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.947997093200684,
                "transform": {
                    "location": {
                        "x": 983.9004516601562,
                        "y": 5153.609375,
                        "z": 371.6277160644531
                    },
                    "rotation": {
                        "roll": 0.0005702133057639003,
                        "pitch": 0.3812679648399353,
                        "yaw": 90.0771484375
                    }
                },
                "velocity": {
                    "x": -0.01268361322581768,
                    "y": 8.94798755645752,
                    "z": 0.0022252558264881372
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.439712524414062,
                "transform": {
                    "location": {
                        "x": 983.8672485351562,
                        "y": 5172.92724609375,
                        "z": 371.6344299316406
                    },
                    "rotation": {
                        "roll": 0.00019119540229439735,
                        "pitch": 0.071006640791893,
                        "yaw": 90.1019287109375
                    }
                },
                "velocity": {
                    "x": -0.015050229616463184,
                    "y": 8.439699172973633,
                    "z": 0.001932067796587944
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2215778827667236,
                "transform": {
                    "location": {
                        "x": 983.8379516601562,
                        "y": 5243.2265625,
                        "z": 371.6064758300781
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": -0.0021105282939970493,
                        "yaw": 90.22423553466797
                    }
                },
                "velocity": {
                    "x": -0.023252690210938454,
                    "y": 1.221355676651001,
                    "z": -0.0014389323769137263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03686495125293732,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.59722900390625
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.037593357264995575,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -2.5314649974461645e-05,
                    "y": 2.6321033146814443e-05,
                    "z": 0.036864932626485825
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3510719835758209,
        "expert_target_speed": 8.911196532975236,
        "target_point": [
            48.81660337234196,
            1.4258871833887912
        ],
        "target_point_next": [
            64.81311977388793,
            1.760967685736094
        ]
    },
    "300": {
        "acceleration": [
            -0.12439072132110596,
            -0.9623527526855469,
            0.009384917095303535
        ],
        "angular_velocity": [
            -0.20019017159938812,
            0.049381405115127563,
            0.8067795634269714
        ],
        "forward_vector": [
            0.015633968636393547,
            0.9998773336410522,
            -0.0009912250097841024
        ],
        "right_vector": [
            -0.9998776316642761,
            0.01563456654548645,
            0.0005997434491291642
        ],
        "location": [
            984.3681030273438,
            5194.720703125,
            371.62835693359375
        ],
        "rotation": [
            -0.0343627892434597,
            -0.05679301917552948,
            89.10420227050781
        ],
        "velocity": [
            0.11887295544147491,
            8.361371040344238,
            -0.0015193367144092917
        ],
        "speed": 8.362216001386395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.111845016479492,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.130542755126953,
                "transform": {
                    "location": {
                        "x": 986.9722290039062,
                        "y": 5223.501953125,
                        "z": 371.6219177246094
                    },
                    "rotation": {
                        "roll": 0.0021739001385867596,
                        "pitch": 0.04673898220062256,
                        "yaw": -89.82967376708984
                    }
                },
                "velocity": {
                    "x": 0.02165369689464569,
                    "y": -8.130513191223145,
                    "z": 0.0026786804664880037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.192479133605957,
                "transform": {
                    "location": {
                        "x": 987.0494995117188,
                        "y": 5182.7080078125,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": -0.01800437830388546,
                        "yaw": -89.92052459716797
                    }
                },
                "velocity": {
                    "x": 0.013879464939236641,
                    "y": -8.19246768951416,
                    "z": -0.0019663809798657894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03860855102539,
                "transform": {
                    "location": {
                        "x": 987.1237182617188,
                        "y": 5140.478515625,
                        "z": 371.6229248046875
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02865264192223549,
                        "yaw": -89.89151000976562
                    }
                },
                "velocity": {
                    "x": 0.015176423825323582,
                    "y": -8.038593292236328,
                    "z": -0.003756580175831914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.685432434082031,
                "transform": {
                    "location": {
                        "x": 983.8970947265625,
                        "y": 5155.8544921875,
                        "z": 371.6281433105469
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": 0.06184053048491478,
                        "yaw": 90.07677459716797
                    }
                },
                "velocity": {
                    "x": -0.013331874273717403,
                    "y": 8.68542194366455,
                    "z": 0.0018730068113654852
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.950605392456055,
                "transform": {
                    "location": {
                        "x": 983.8634033203125,
                        "y": 5175.0859375,
                        "z": 371.63568115234375
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": -0.013428151607513428,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": -0.01590363308787346,
                    "y": 8.950591087341309,
                    "z": 0.00200342177413404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7313814163208008,
                "transform": {
                    "location": {
                        "x": 983.8328857421875,
                        "y": 5243.59912109375,
                        "z": 371.6062927246094
                    },
                    "rotation": {
                        "roll": 0.000323556421790272,
                        "pitch": -0.011843547224998474,
                        "yaw": 90.40819549560547
                    }
                },
                "velocity": {
                    "x": -0.02165607362985611,
                    "y": 1.7312448024749756,
                    "z": -0.001992502249777317
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015998216113075614,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6007385253906
                    },
                    "rotation": {
                        "roll": -0.00018310446466784924,
                        "pitch": -0.037777774035930634,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -0.000131001477711834,
                    "y": 1.1578341627682676e-06,
                    "z": 0.0015944486949592829
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37134644389152527,
        "expert_target_speed": 8.803522014937844,
        "target_point": [
            46.71265338410799,
            1.254908378016987
        ],
        "target_point_next": [
            62.710251829706486,
            1.533583639508029
        ]
    },
    "305": {
        "acceleration": [
            -0.168512761592865,
            0.0254058837890625,
            0.009203338995575905
        ],
        "angular_velocity": [
            0.11380289494991302,
            0.04628387838602066,
            1.0773570537567139
        ],
        "forward_vector": [
            0.011362375691533089,
            0.9999346733093262,
            -0.0012506243074312806
        ],
        "right_vector": [
            -0.9999350905418396,
            0.011363429017364979,
            0.0008383624372072518
        ],
        "location": [
            984.3931884765625,
            5196.79345703125,
            371.6277160644531
        ],
        "rotation": [
            -0.0480346716940403,
            -0.0716555118560791,
            89.34896850585938
        ],
        "velocity": [
            0.07711480557918549,
            8.24830150604248,
            -0.0019993972964584827
        ],
        "speed": 8.248661978031478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.051895141601562,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055597305297852,
                "transform": {
                    "location": {
                        "x": 986.977294921875,
                        "y": 5221.47216796875,
                        "z": 371.6226501464844
                    },
                    "rotation": {
                        "roll": 0.0011486082803457975,
                        "pitch": 0.019472869113087654,
                        "yaw": -89.87298583984375
                    }
                },
                "velocity": {
                    "x": 0.01880478486418724,
                    "y": -8.055575370788574,
                    "z": 0.0020609188359230757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.968323230743408,
                "transform": {
                    "location": {
                        "x": 987.0526123046875,
                        "y": 5180.69384765625,
                        "z": 371.6260070800781
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.022000038996338844,
                        "yaw": -89.89940643310547
                    }
                },
                "velocity": {
                    "x": 0.012780172750353813,
                    "y": -7.968312740325928,
                    "z": -0.002063322113826871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043424606323242,
                "transform": {
                    "location": {
                        "x": 987.1272583007812,
                        "y": 5138.4677734375,
                        "z": 371.6219482421875
                    },
                    "rotation": {
                        "roll": 0.0003982103953603655,
                        "pitch": -0.027949132025241852,
                        "yaw": -89.89966583251953
                    }
                },
                "velocity": {
                    "x": 0.014076992869377136,
                    "y": -8.043410301208496,
                    "z": -0.0054113673977553844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.395445823669434,
                "transform": {
                    "location": {
                        "x": 983.8934326171875,
                        "y": 5157.95849609375,
                        "z": 371.6286315917969
                    },
                    "rotation": {
                        "roll": -0.0009155263542197645,
                        "pitch": -0.024445245042443275,
                        "yaw": 90.11326599121094
                    }
                },
                "velocity": {
                    "x": -0.015589343383908272,
                    "y": 8.395431518554688,
                    "z": 0.001611528336070478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.91757583618164,
                "transform": {
                    "location": {
                        "x": 983.859375,
                        "y": 5177.36279296875,
                        "z": 371.63604736328125
                    },
                    "rotation": {
                        "roll": 0.0001841701741795987,
                        "pitch": 0.004200566094368696,
                        "yaw": 90.1021728515625
                    }
                },
                "velocity": {
                    "x": -0.015914075076580048,
                    "y": 8.917561531066895,
                    "z": 0.0019721125718206167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1174113750457764,
                "transform": {
                    "location": {
                        "x": 983.8278198242188,
                        "y": 5244.0986328125,
                        "z": 371.6060485839844
                    },
                    "rotation": {
                        "roll": 0.00053737050620839,
                        "pitch": -0.016235359013080597,
                        "yaw": 90.46529388427734
                    }
                },
                "velocity": {
                    "x": -0.023445477709174156,
                    "y": 2.1172807216644287,
                    "z": -0.001995296450331807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013116744812577963,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6005859375
                    },
                    "rotation": {
                        "roll": 0.00021007005125284195,
                        "pitch": -0.037777774035930634,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -7.801744686730672e-06,
                    "y": 1.486260430283437e-06,
                    "z": -0.0013116503832861781
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4055629372596741,
        "expert_target_speed": 8.705052563756302,
        "target_point": [
            44.64468671762283,
            1.0567183617253393
        ],
        "target_point_next": [
            60.64333043133883,
            1.2669925863893154
        ]
    },
    "310": {
        "acceleration": [
            -0.14095604419708252,
            -0.2575492858886719,
            0.00581932021304965
        ],
        "angular_velocity": [
            0.06567850708961487,
            -0.009077641181647778,
            1.046769380569458
        ],
        "forward_vector": [
            0.006718897260725498,
            0.9999771118164062,
            -0.0007642506388947368
        ],
        "right_vector": [
            -0.9999769926071167,
            0.006719616707414389,
            0.0009427586919628084
        ],
        "location": [
            984.4083862304688,
            5198.85107421875,
            371.626953125
        ],
        "rotation": [
            -0.0540161170065403,
            -0.04378833994269371,
            89.61503601074219
        ],
        "velocity": [
            0.039118293672800064,
            8.221428871154785,
            -0.0018799781100824475
        ],
        "speed": 8.221521934797554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.0079345703125,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.486328125,
                5224.6943359375,
                371.6253967285156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.014326095581055,
                "transform": {
                    "location": {
                        "x": 986.9818725585938,
                        "y": 5219.4697265625,
                        "z": 371.6233215332031
                    },
                    "rotation": {
                        "roll": 0.0011606724001467228,
                        "pitch": 0.014452679082751274,
                        "yaw": -89.85594940185547
                    }
                },
                "velocity": {
                    "x": 0.017522582784295082,
                    "y": -8.01430606842041,
                    "z": 0.0020619011484086514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.960296630859375,
                "transform": {
                    "location": {
                        "x": 987.0560913085938,
                        "y": 5178.7060546875,
                        "z": 371.62548828125
                    },
                    "rotation": {
                        "roll": -3.051824023714289e-05,
                        "pitch": -0.014801018871366978,
                        "yaw": -89.91976165771484
                    }
                },
                "velocity": {
                    "x": 0.01293755043298006,
                    "y": -7.9602861404418945,
                    "z": -0.0013640975812450051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03779411315918,
                "transform": {
                    "location": {
                        "x": 987.1309204101562,
                        "y": 5136.4580078125,
                        "z": 371.6208801269531
                    },
                    "rotation": {
                        "roll": -0.0012817376991733909,
                        "pitch": -0.028775585815310478,
                        "yaw": -89.89550018310547
                    }
                },
                "velocity": {
                    "x": 0.015568869188427925,
                    "y": -8.037776947021484,
                    "z": -0.005806369706988335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.131145477294922,
                "transform": {
                    "location": {
                        "x": 983.8895874023438,
                        "y": 5160.1572265625,
                        "z": 371.6291809082031
                    },
                    "rotation": {
                        "roll": -0.00015258570783771574,
                        "pitch": 0.12374252825975418,
                        "yaw": 90.08943939208984
                    }
                },
                "velocity": {
                    "x": -0.016155794262886047,
                    "y": 9.131131172180176,
                    "z": 0.002184276469051838
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.906771659851074,
                "transform": {
                    "location": {
                        "x": 983.8551635742188,
                        "y": 5179.58349609375,
                        "z": 371.6363830566406
                    },
                    "rotation": {
                        "roll": 0.0010901072528213263,
                        "pitch": 0.017068641260266304,
                        "yaw": 90.11090850830078
                    }
                },
                "velocity": {
                    "x": -0.017450131475925446,
                    "y": 8.906753540039062,
                    "z": 0.0019616412464529276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18007205426692963,
                "transform": {
                    "location": {
                        "x": 983.8265380859375,
                        "y": 5244.2958984375,
                        "z": 371.6066589355469
                    },
                    "rotation": {
                        "roll": 0.0005784823442809284,
                        "pitch": -0.08822555094957352,
                        "yaw": 90.55506896972656
                    }
                },
                "velocity": {
                    "x": -0.0018890178762376308,
                    "y": 0.18005740642547607,
                    "z": -0.0013058566255494952
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002490998012945056,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6004943847656
                    },
                    "rotation": {
                        "roll": 0.00015394775255117565,
                        "pitch": -0.03765483200550079,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -1.4152460607874673e-05,
                    "y": 2.6670143142837333e-06,
                    "z": -0.000248683150857687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.486328125,
                        "y": 5224.6943359375,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02087305672466755,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40070855617523193,
        "expert_target_speed": 8.662049440616848,
        "target_point": [
            42.591432662343635,
            0.8511210073680249
        ],
        "target_point_next": [
            58.59087922059382,
            0.9872303666298822
        ]
    },
    "315": {
        "acceleration": [
            -0.09668552875518799,
            0.24539947509765625,
            -0.00291366595774889
        ],
        "angular_velocity": [
            0.08231918513774872,
            -0.0431603267788887,
            0.6806395649909973
        ],
        "forward_vector": [
            0.0029216522816568613,
            0.9999955892562866,
            -0.0004483461088966578
        ],
        "right_vector": [
            -0.9999954104423523,
            0.0029219966381788254,
            0.0007696534157730639
        ],
        "location": [
            984.4154663085938,
            5200.9091796875,
            371.62615966796875
        ],
        "rotation": [
            -0.0440979041159153,
            -0.02568834088742733,
            89.83260345458984
        ],
        "velocity": [
            0.013618874363601208,
            8.234760284423828,
            -0.002267064992338419
        ],
        "speed": 8.234771546051714,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.96489143371582,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4859008789062,
                5224.6943359375,
                371.6253356933594
            ],
            "velocity": [
                -0.008549227379262447,
                -8.798494673101231e-05,
                0.0008064181893132627
            ],
            "speed_kmh": 0.030915457815838893,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077301025390625,
                "transform": {
                    "location": {
                        "x": 986.986083984375,
                        "y": 5217.45556640625,
                        "z": 371.6240234375
                    },
                    "rotation": {
                        "roll": 0.0010810209205374122,
                        "pitch": 0.02553124539554119,
                        "yaw": -89.89432525634766
                    }
                },
                "velocity": {
                    "x": 0.01574668288230896,
                    "y": -8.077284812927246,
                    "z": 0.002043132670223713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021084785461426,
                "transform": {
                    "location": {
                        "x": 987.0590209960938,
                        "y": 5176.70751953125,
                        "z": 371.6250305175781
                    },
                    "rotation": {
                        "roll": 0.00024071455118246377,
                        "pitch": -0.010655094869434834,
                        "yaw": -89.8978271484375
                    }
                },
                "velocity": {
                    "x": 0.012871608138084412,
                    "y": -8.021074295043945,
                    "z": -0.0017639350844547153
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04306697845459,
                "transform": {
                    "location": {
                        "x": 987.1345825195312,
                        "y": 5134.4482421875,
                        "z": 371.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.03128226473927498,
                        "yaw": -89.89335632324219
                    }
                },
                "velocity": {
                    "x": 0.014959479682147503,
                    "y": -8.043051719665527,
                    "z": -0.004952449817210436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.477409362792969,
                "transform": {
                    "location": {
                        "x": 983.8856201171875,
                        "y": 5162.36669921875,
                        "z": 371.6295471191406
                    },
                    "rotation": {
                        "roll": 2.437925104459282e-06,
                        "pitch": -0.05896501988172531,
                        "yaw": 90.11600494384766
                    }
                },
                "velocity": {
                    "x": -0.015428307466208935,
                    "y": 8.477395057678223,
                    "z": 0.0026641557924449444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.215248107910156,
                "transform": {
                    "location": {
                        "x": 983.8510131835938,
                        "y": 5181.7041015625,
                        "z": 371.636474609375
                    },
                    "rotation": {
                        "roll": 0.00048388983123004436,
                        "pitch": 0.0633021891117096,
                        "yaw": 90.11176300048828
                    }
                },
                "velocity": {
                    "x": -0.01602480560541153,
                    "y": 8.215231895446777,
                    "z": 0.001632852479815483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8097851872444153,
                "transform": {
                    "location": {
                        "x": 983.8253784179688,
                        "y": 5244.4267578125,
                        "z": 371.60595703125
                    },
                    "rotation": {
                        "roll": 8.337633916610798e-10,
                        "pitch": -0.025333169847726822,
                        "yaw": 90.5884017944336
                    }
                },
                "velocity": {
                    "x": -0.009637107141315937,
                    "y": 0.8097254037857056,
                    "z": -0.0019796942360699177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003881544980686158,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6004943847656
                    },
                    "rotation": {
                        "roll": -0.00045776282786391675,
                        "pitch": -0.03765483200550079,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": 9.382871212437749e-06,
                    "y": -6.110407184678479e-07,
                    "z": -0.0003880406147800386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.008587626740336418,
                "transform": {
                    "location": {
                        "x": 981.4859008789062,
                        "y": 5224.6943359375,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": 0.08159652352333069,
                        "pitch": -0.026733359321951866,
                        "yaw": 90.1016616821289
                    }
                },
                "velocity": {
                    "x": -0.008549227379262447,
                    "y": -8.798494673101231e-05,
                    "z": 0.0008064181893132627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3950427770614624,
        "expert_target_speed": 8.638973156426392,
        "target_point": [
            40.53625053148824,
            0.6898356792448175
        ],
        "target_point_next": [
            56.53609971428657,
            0.7649492977824786
        ]
    },
    "320": {
        "acceleration": [
            -0.0730748325586319,
            -0.47458648681640625,
            0.00822276808321476
        ],
        "angular_velocity": [
            -0.08660300076007843,
            -0.008421565406024456,
            0.5432726144790649
        ],
        "forward_vector": [
            0.0003275433846283704,
            0.9999998211860657,
            -0.0004756449779961258
        ],
        "right_vector": [
            -0.9999997615814209,
            0.00032783724600449204,
            0.0006178531912155449
        ],
        "location": [
            984.4168701171875,
            5202.962890625,
            371.6254577636719
        ],
        "rotation": [
            -0.0354003868997097,
            -0.027252452448010445,
            89.98123168945312
        ],
        "velocity": [
            -0.0058756014332175255,
            8.193519592285156,
            -0.0020444965921342373
        ],
        "speed": 8.19352169899201,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.92876625061035,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4853515625,
                5224.69482421875,
                371.62548828125
            ],
            "velocity": [
                -0.0012191708665341139,
                0.00022955592430662364,
                0.001283787889406085
            ],
            "speed_kmh": 0.006426967862414983,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.79986572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03814660385251045,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039530754089355,
                "transform": {
                    "location": {
                        "x": 986.989990234375,
                        "y": 5215.44091796875,
                        "z": 371.6246643066406
                    },
                    "rotation": {
                        "roll": 0.00015652239380870014,
                        "pitch": 0.016938868910074234,
                        "yaw": -89.87390899658203
                    }
                },
                "velocity": {
                    "x": 0.01513699721544981,
                    "y": -8.039515495300293,
                    "z": 0.0022854041308164597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.028739929199219,
                "transform": {
                    "location": {
                        "x": 987.0625610351562,
                        "y": 5174.7001953125,
                        "z": 371.62457275390625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.012362641282379627,
                        "yaw": -89.91558074951172
                    }
                },
                "velocity": {
                    "x": 0.013354755006730556,
                    "y": -8.028728485107422,
                    "z": -0.002282381057739258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039198875427246,
                "transform": {
                    "location": {
                        "x": 987.1383666992188,
                        "y": 5132.4375,
                        "z": 371.6185607910156
                    },
                    "rotation": {
                        "roll": 0.000929164350964129,
                        "pitch": -0.03973803669214249,
                        "yaw": -89.89278411865234
                    }
                },
                "velocity": {
                    "x": 0.015021645464003086,
                    "y": -8.039182662963867,
                    "z": -0.005566749256104231
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.40175199508667,
                "transform": {
                    "location": {
                        "x": 983.8819580078125,
                        "y": 5164.3701171875,
                        "z": 371.6300354003906
                    },
                    "rotation": {
                        "roll": 9.444249735679477e-05,
                        "pitch": -0.17938807606697083,
                        "yaw": 90.09091186523438
                    }
                },
                "velocity": {
                    "x": -0.013458359986543655,
                    "y": 7.401740074157715,
                    "z": 0.001344013144262135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.426604270935059,
                "transform": {
                    "location": {
                        "x": 983.8477783203125,
                        "y": 5183.36279296875,
                        "z": 371.63531494140625
                    },
                    "rotation": {
                        "roll": -0.00033569580409675837,
                        "pitch": 0.23095600306987762,
                        "yaw": 90.10589599609375
                    }
                },
                "velocity": {
                    "x": -0.00894908607006073,
                    "y": 5.426596641540527,
                    "z": 0.0016142273088917136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3155951499938965,
                "transform": {
                    "location": {
                        "x": 983.8220825195312,
                        "y": 5244.69482421875,
                        "z": 371.6057434082031
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": -0.012881736271083355,
                        "yaw": 90.55738067626953
                    }
                },
                "velocity": {
                    "x": -0.014658222906291485,
                    "y": 1.315512776374817,
                    "z": -0.0013490963028743863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002351712464587763,
                "transform": {
                    "location": {
                        "x": 983.8159790039062,
                        "y": 5256.8330078125,
                        "z": 371.6004943847656
                    },
                    "rotation": {
                        "roll": -0.000244140945142135,
                        "pitch": -0.037504564970731735,
                        "yaw": 90.10233306884766
                    }
                },
                "velocity": {
                    "x": -2.1241641661617905e-05,
                    "y": 2.3092561605153605e-06,
                    "z": -0.00023419858189299703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001785268890671432,
                "transform": {
                    "location": {
                        "x": 981.4853515625,
                        "y": 5224.69482421875,
                        "z": 371.62548828125
                    },
                    "rotation": {
                        "roll": 0.10457374155521393,
                        "pitch": 0.024417925626039505,
                        "yaw": 90.09818267822266
                    }
                },
                "velocity": {
                    "x": -0.0012191708665341139,
                    "y": 0.00022955592430662364,
                    "z": 0.001283787889406085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40524977445602417,
        "expert_target_speed": 8.565971741693591,
        "target_point": [
            38.484174696543185,
            0.5865949639042202
        ],
        "target_point_next": [
            54.48416387661637,
            0.6206855127890638
        ]
    },
    "325": {
        "acceleration": [
            -0.024298615753650665,
            -1.7870044708251953,
            0.0011499365791678429
        ],
        "angular_velocity": [
            -0.49373140931129456,
            -0.045953039079904556,
            0.23819342255592346
        ],
        "forward_vector": [
            -0.0014776408206671476,
            0.9999979138374329,
            -0.0014274114510044456
        ],
        "right_vector": [
            -0.9999988675117493,
            -0.0014770696870982647,
            0.0004010716511402279
        ],
        "location": [
            984.4142456054688,
            5204.9912109375,
            371.6250305175781
        ],
        "rotation": [
            -0.022979736328125,
            -0.0817846804857254,
            90.08466339111328
        ],
        "velocity": [
            -0.015321199782192707,
            7.949092388153076,
            -0.0022149658761918545
        ],
        "speed": 7.949107153294384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.919843673706055,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.48388671875,
                5224.6943359375,
                371.6261291503906
            ],
            "velocity": [
                0.0012973154662176967,
                0.00010850099351955578,
                -0.0016293346416205168
            ],
            "speed_kmh": 0.007507990750854498,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.10935644805431366,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.5500793457031
                    },
                    "rotation": {
                        "roll": -0.00042724708328023553,
                        "pitch": 0.03798950836062431,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.00018896478286478668,
                    "y": 8.007708674995229e-05,
                    "z": 0.10935625433921814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047205924987793,
                "transform": {
                    "location": {
                        "x": 986.99365234375,
                        "y": 5213.43115234375,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": -0.00012206879182485864,
                        "pitch": 0.020026113837957382,
                        "yaw": -89.90689086914062
                    }
                },
                "velocity": {
                    "x": 0.01526313554495573,
                    "y": -8.04719066619873,
                    "z": 0.001953458646312356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.012800216674805,
                "transform": {
                    "location": {
                        "x": 987.0658569335938,
                        "y": 5172.6953125,
                        "z": 371.6241760253906
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": -0.01282026432454586,
                        "yaw": -89.88829803466797
                    }
                },
                "velocity": {
                    "x": 0.014867620542645454,
                    "y": -8.012786865234375,
                    "z": -0.0017668628133833408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0896606445312,
                        "y": 5130.35498046875,
                        "z": 371.6169738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.040222980082035065,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6962568759918213,
                "transform": {
                    "location": {
                        "x": 983.8795776367188,
                        "y": 5165.75537109375,
                        "z": 371.62994384765625
                    },
                    "rotation": {
                        "roll": -0.00012210126442369074,
                        "pitch": -0.7912022471427917,
                        "yaw": 90.1052017211914
                    }
                },
                "velocity": {
                    "x": -0.004829022102057934,
                    "y": 2.6962521076202393,
                    "z": -0.0014285373035818338
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.18789216876029968,
                "transform": {
                    "location": {
                        "x": 983.8463745117188,
                        "y": 5184.05517578125,
                        "z": 371.63330078125
                    },
                    "rotation": {
                        "roll": -0.00039677764289081097,
                        "pitch": 0.46467140316963196,
                        "yaw": 90.27653503417969
                    }
                },
                "velocity": {
                    "x": 0.0015032499795779586,
                    "y": 0.18788279592990875,
                    "z": -0.0011227226350456476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9385902881622314,
                "transform": {
                    "location": {
                        "x": 983.81787109375,
                        "y": 5245.10595703125,
                        "z": 371.60546875
                    },
                    "rotation": {
                        "roll": -3.0516986953443848e-05,
                        "pitch": -0.011467887088656425,
                        "yaw": 90.60724639892578
                    }
                },
                "velocity": {
                    "x": -0.02179727889597416,
                    "y": 1.9384665489196777,
                    "z": -0.0021322821266949177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.992398202419281,
                "transform": {
                    "location": {
                        "x": 983.8142700195312,
                        "y": 5256.96875,
                        "z": 371.6002502441406
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.019561661407351494,
                        "yaw": 90.1517562866211
                    }
                },
                "velocity": {
                    "x": -0.015290590934455395,
                    "y": 0.9922793507575989,
                    "z": -0.0014527892926707864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.002085553016513586,
                "transform": {
                    "location": {
                        "x": 981.48388671875,
                        "y": 5224.6943359375,
                        "z": 371.6261291503906
                    },
                    "rotation": {
                        "roll": -0.11193844676017761,
                        "pitch": -0.044833358377218246,
                        "yaw": 90.09874725341797
                    }
                },
                "velocity": {
                    "x": 0.0012973154662176967,
                    "y": 0.00010850099351955578,
                    "z": -0.0016293346416205168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.422201007604599,
        "expert_target_speed": 8.331151318693262,
        "target_point": [
            36.45687238720175,
            0.5158035598896095
        ],
        "target_point_next": [
            52.45689725749461,
            0.5202844071473743
        ]
    },
    "330": {
        "acceleration": [
            -0.00393696129322052,
            -3.959951400756836,
            -0.005331612192094326
        ],
        "angular_velocity": [
            -0.7337390184402466,
            -0.0028400043956935406,
            0.10623123496770859
        ],
        "forward_vector": [
            -0.0020679449662566185,
            0.9999878406524658,
            -0.004475697875022888
        ],
        "right_vector": [
            -0.9999978542327881,
            -0.0020670550875365734,
            0.00020346346718724817
        ],
        "location": [
            984.4105224609375,
            5206.87646484375,
            371.62506103515625
        ],
        "rotation": [
            -0.01165771484375,
            -0.2564394474029541,
            90.11848449707031
        ],
        "velocity": [
            -0.01671149581670761,
            7.135725975036621,
            -0.0018229293636977673
        ],
        "speed": 7.135745543732958,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.056516647338867,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4845581054688,
                5224.6943359375,
                371.6259765625
            ],
            "velocity": [
                0.00030714701279066503,
                6.035652768332511e-05,
                -0.0004893058794550598
            ],
            "speed_kmh": 0.002091108711363616,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8192110061645508,
                "transform": {
                    "location": {
                        "x": 986.8150634765625,
                        "y": 5257.416015625,
                        "z": 371.5826416015625
                    },
                    "rotation": {
                        "roll": -0.0020446793641895056,
                        "pitch": 0.07529599964618683,
                        "yaw": -89.8553237915039
                    }
                },
                "velocity": {
                    "x": 0.008422416634857655,
                    "y": -0.8151042461395264,
                    "z": 0.08149143308401108
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054342269897461,
                "transform": {
                    "location": {
                        "x": 986.99755859375,
                        "y": 5211.41748046875,
                        "z": 371.6259765625
                    },
                    "rotation": {
                        "roll": 9.663317541708238e-06,
                        "pitch": 0.021077962592244148,
                        "yaw": -89.87261199951172
                    }
                },
                "velocity": {
                    "x": 0.015335675328969955,
                    "y": -8.054327011108398,
                    "z": 0.0021636581514030695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.008782386779785,
                "transform": {
                    "location": {
                        "x": 987.0696411132812,
                        "y": 5170.69287109375,
                        "z": 371.6236572265625
                    },
                    "rotation": {
                        "roll": -0.00045776396291330457,
                        "pitch": -0.012547057121992111,
                        "yaw": -89.90533447265625
                    }
                },
                "velocity": {
                    "x": 0.014563296921551228,
                    "y": -8.008769035339355,
                    "z": -0.0020200060680508614
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4856,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0516357421875,
                        "y": 5128.2724609375,
                        "z": 371.6153869628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.040222980082035065,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.011188823729753494,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.88134765625,
                        "z": 371.6299133300781
                    },
                    "rotation": {
                        "roll": -6.107542139943689e-05,
                        "pitch": -0.6498104929924011,
                        "yaw": 90.10478973388672
                    }
                },
                "velocity": {
                    "x": 0.00010345147893531248,
                    "y": -0.011074641719460487,
                    "z": 0.0015910353977233171
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015577508602291346,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.0537109375,
                        "z": 371.63592529296875
                    },
                    "rotation": {
                        "roll": -0.0010681140702217817,
                        "pitch": 0.13947927951812744,
                        "yaw": 90.30323791503906
                    }
                },
                "velocity": {
                    "x": 3.3073964004870504e-05,
                    "y": -0.001378796179778874,
                    "z": 0.0007241651182994246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7701486349105835,
                "transform": {
                    "location": {
                        "x": 983.8101196289062,
                        "y": 5245.576171875,
                        "z": 371.60552978515625
                    },
                    "rotation": {
                        "roll": 0.00010390361421741545,
                        "pitch": -0.0455641895532608,
                        "yaw": 90.34442138671875
                    }
                },
                "velocity": {
                    "x": -0.010412149131298065,
                    "y": 0.7700773477554321,
                    "z": -0.0011752891587093472
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8432573080062866,
                "transform": {
                    "location": {
                        "x": 983.809814453125,
                        "y": 5257.32470703125,
                        "z": 371.5999450683594
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": -0.01803852804005146,
                        "yaw": 90.28435516357422
                    }
                },
                "velocity": {
                    "x": -0.029936160892248154,
                    "y": 1.8430132865905762,
                    "z": -0.0017436217749491334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005808635032735765,
                "transform": {
                    "location": {
                        "x": 981.4845581054688,
                        "y": 5224.6943359375,
                        "z": 371.6259765625
                    },
                    "rotation": {
                        "roll": -0.01580810733139515,
                        "pitch": -0.024991661310195923,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.00030714701279066503,
                    "y": 6.035652768332511e-05,
                    "z": -0.0004893058794550598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4723890423774719,
        "expert_target_speed": 7.659557056737808,
        "target_point": [
            34.571901157564696,
            0.495333849773258
        ],
        "target_point_next": [
            50.57192599895548,
            0.49075096200511614
        ]
    },
    "335": {
        "acceleration": [
            0.021321456879377365,
            -9.094066619873047,
            -0.018854331225156784
        ],
        "angular_velocity": [
            -2.1721887588500977,
            0.024517498910427094,
            -0.04640960320830345
        ],
        "forward_vector": [
            -0.0021852084901183844,
            0.9999706745147705,
            -0.007344417739659548
        ],
        "right_vector": [
            -0.999997615814209,
            -0.00218482525087893,
            6.018601925461553e-05
        ],
        "location": [
            984.4067993164062,
            5208.5634765625,
            371.6251220703125
        ],
        "rotation": [
            -0.0034484979696571827,
            -0.42080792784690857,
            90.12520599365234
        ],
        "velocity": [
            -0.012715011835098267,
            5.9396653175354,
            -0.0025596427731215954
        ],
        "speed": 5.9396789270009265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.393394470214844,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.310145616531372,
                "transform": {
                    "location": {
                        "x": 986.8173828125,
                        "y": 5257.12060546875,
                        "z": 371.5928039550781
                    },
                    "rotation": {
                        "roll": -0.00036620916216634214,
                        "pitch": 0.07442173361778259,
                        "yaw": -89.65789031982422
                    }
                },
                "velocity": {
                    "x": 0.010159446857869625,
                    "y": -1.3100359439849854,
                    "z": 0.013565167784690857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0463228225708,
                "transform": {
                    "location": {
                        "x": 987.001220703125,
                        "y": 5209.4052734375,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.0011059945682063699,
                        "pitch": 0.018981095403432846,
                        "yaw": -89.91011810302734
                    }
                },
                "velocity": {
                    "x": 0.013704897835850716,
                    "y": -8.046310424804688,
                    "z": 0.0022784708999097347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013193130493164,
                "transform": {
                    "location": {
                        "x": 987.072998046875,
                        "y": 5168.6904296875,
                        "z": 371.6232604980469
                    },
                    "rotation": {
                        "roll": 4.66136189061217e-05,
                        "pitch": -0.01272464171051979,
                        "yaw": -89.8863525390625
                    }
                },
                "velocity": {
                    "x": 0.014296965673565865,
                    "y": -8.013179779052734,
                    "z": -0.0017354964511469007
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0033545810729265213,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.88427734375,
                        "z": 371.6301574707031
                    },
                    "rotation": {
                        "roll": -0.000488279911223799,
                        "pitch": -0.13999155163764954,
                        "yaw": 90.10468292236328
                    }
                },
                "velocity": {
                    "x": 1.4484816347248852e-05,
                    "y": -0.003115590661764145,
                    "z": 0.0012434220407158136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001410008524544537,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6369323730469
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": 0.01592116989195347,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.2876844013808295e-05,
                    "y": -0.0001774236880009994,
                    "z": 0.0013986141420900822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7328338027000427,
                "transform": {
                    "location": {
                        "x": 983.8086547851562,
                        "y": 5245.68798828125,
                        "z": 371.6054992675781
                    },
                    "rotation": {
                        "roll": 0.0005758321494795382,
                        "pitch": -0.04824162274599075,
                        "yaw": 90.3138198852539
                    }
                },
                "velocity": {
                    "x": -0.007497383747249842,
                    "y": 0.7327946424484253,
                    "z": -0.0011096191592514515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5879063606262207,
                "transform": {
                    "location": {
                        "x": 983.8021850585938,
                        "y": 5257.88232421875,
                        "z": 371.599609375
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": -0.019377246499061584,
                        "yaw": 90.46654510498047
                    }
                },
                "velocity": {
                    "x": -0.04329461604356766,
                    "y": 2.587543487548828,
                    "z": -0.0018962001195177436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5005263090133667,
        "expert_target_speed": 6.722741691084227,
        "target_point": [
            32.884927133119,
            0.4923223715202442
        ],
        "target_point_next": [
            48.88495152931097,
            0.4863852641382971
        ]
    },
    "340": {
        "acceleration": [
            0.03454996272921562,
            -6.775121688842773,
            0.03744640201330185
        ],
        "angular_velocity": [
            -0.39441290497779846,
            -0.010233309119939804,
            -0.1448729783296585
        ],
        "forward_vector": [
            -0.001540502766147256,
            0.9999456405639648,
            -0.01030998956412077
        ],
        "right_vector": [
            -0.9999988079071045,
            -0.0015412932261824608,
            -6.871576624689624e-05
        ],
        "location": [
            984.4046020507812,
            5209.86572265625,
            371.6251525878906
        ],
        "rotation": [
            0.003937332890927792,
            -0.5907293558120728,
            90.08827209472656
        ],
        "velocity": [
            -0.00430284021422267,
            4.531611442565918,
            -0.003614730667322874
        ],
        "speed": 4.531613485374527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.113362312316895,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.690218687057495,
                "transform": {
                    "location": {
                        "x": 986.8251953125,
                        "y": 5256.5927734375,
                        "z": 371.5942077636719
                    },
                    "rotation": {
                        "roll": -0.0012817333918064833,
                        "pitch": 0.11094275861978531,
                        "yaw": -89.70977020263672
                    }
                },
                "velocity": {
                    "x": 0.03553469851613045,
                    "y": -2.6899800300598145,
                    "z": 0.004643249325454235
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050435066223145,
                "transform": {
                    "location": {
                        "x": 987.0048217773438,
                        "y": 5207.3935546875,
                        "z": 371.6273498535156
                    },
                    "rotation": {
                        "roll": 0.00023544143186882138,
                        "pitch": 0.019834868609905243,
                        "yaw": -89.88225555419922
                    }
                },
                "velocity": {
                    "x": 0.013883310370147228,
                    "y": -8.050422668457031,
                    "z": 0.002130117267370224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01452350616455,
                "transform": {
                    "location": {
                        "x": 987.0768432617188,
                        "y": 5166.6865234375,
                        "z": 371.622802734375
                    },
                    "rotation": {
                        "roll": -0.00018310525047127157,
                        "pitch": -0.01282026432454586,
                        "yaw": -89.90887451171875
                    }
                },
                "velocity": {
                    "x": 0.014338170178234577,
                    "y": -8.014510154724121,
                    "z": -0.0020233248360455036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.726984717417508e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.005955924745649099,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.0318942915764637e-05,
                    "y": -1.0092581760545727e-05,
                    "z": 9.458701242692769e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2969833612442017,
                "transform": {
                    "location": {
                        "x": 983.8056640625,
                        "y": 5245.9541015625,
                        "z": 371.60504150390625
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.01556600071489811,
                        "yaw": 90.29917907714844
                    }
                },
                "velocity": {
                    "x": -0.013123896904289722,
                    "y": 1.2969160079956055,
                    "z": -0.0015531921526417136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.826343536376953,
                "transform": {
                    "location": {
                        "x": 983.7919311523438,
                        "y": 5258.6015625,
                        "z": 371.5992126464844
                    },
                    "rotation": {
                        "roll": -0.0005493150092661381,
                        "pitch": -0.03076316975057125,
                        "yaw": 90.64458465576172
                    }
                },
                "velocity": {
                    "x": -0.03390571475028992,
                    "y": 2.8261396884918213,
                    "z": -0.0016731166979297996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4928644597530365,
        "expert_target_speed": 5.449028700468033,
        "target_point": [
            31.582391247046093,
            0.511057581938884
        ],
        "target_point_next": [
            47.582416415736105,
            0.5143024653492756
        ]
    },
    "345": {
        "acceleration": [
            0.022797023877501488,
            -3.3268070220947266,
            -0.0019487366080284119
        ],
        "angular_velocity": [
            0.5322422385215759,
            0.0039601619355380535,
            -0.6833439469337463
        ],
        "forward_vector": [
            -0.0009404419688507915,
            0.9999530911445618,
            -0.009644238278269768
        ],
        "right_vector": [
            -0.9999995827674866,
            -0.0009411885403096676,
            -7.287366315722466e-05
        ],
        "location": [
            984.4039916992188,
            5210.8466796875,
            371.6246337890625
        ],
        "rotation": [
            0.004175547510385513,
            -0.5525827407836914,
            90.05388641357422
        ],
        "velocity": [
            5.967744073132053e-05,
            3.464538812637329,
            -0.0018333434127271175
        ],
        "speed": 3.4645388131513077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.152030944824219,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.930323839187622,
                "transform": {
                    "location": {
                        "x": 986.8356323242188,
                        "y": 5255.75341796875,
                        "z": 371.59490966796875
                    },
                    "rotation": {
                        "roll": -0.0014953614445403218,
                        "pitch": 0.1266317069530487,
                        "yaw": -89.61776733398438
                    }
                },
                "velocity": {
                    "x": 0.05044741556048393,
                    "y": -3.929999351501465,
                    "z": 0.002473382977768779
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050289154052734,
                "transform": {
                    "location": {
                        "x": 987.0084838867188,
                        "y": 5205.38037109375,
                        "z": 371.62799072265625
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": 0.019711924716830254,
                        "yaw": -89.90735626220703
                    }
                },
                "velocity": {
                    "x": 0.01543341763317585,
                    "y": -8.050273895263672,
                    "z": 0.0022114848252385855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013046264648438,
                "transform": {
                    "location": {
                        "x": 987.0802612304688,
                        "y": 5164.68310546875,
                        "z": 371.62237548828125
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": -0.012847584672272205,
                        "yaw": -89.88499450683594
                    }
                },
                "velocity": {
                    "x": 0.01456936914473772,
                    "y": -8.013032913208008,
                    "z": -0.0022666549775749445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6616438844939694e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.000387426873203367,
                        "pitch": 0.0057920003309845924,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.3786792269220314e-07,
                    "y": -1.3558333193941507e-06,
                    "z": 2.658081939443946e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8503179550170898,
                "transform": {
                    "location": {
                        "x": 983.8018798828125,
                        "y": 5246.3544921875,
                        "z": 371.60479736328125
                    },
                    "rotation": {
                        "roll": -0.00045776236220262945,
                        "pitch": -0.014281924813985825,
                        "yaw": 90.33763122558594
                    }
                },
                "velocity": {
                    "x": -0.01997188851237297,
                    "y": 1.8502094745635986,
                    "z": -0.001677341409958899
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4038397073745728,
                "transform": {
                    "location": {
                        "x": 983.7871704101562,
                        "y": 5259.169921875,
                        "z": 371.59912109375
                    },
                    "rotation": {
                        "roll": -6.1031510995235294e-05,
                        "pitch": -0.06225034222006798,
                        "yaw": 90.83153533935547
                    }
                },
                "velocity": {
                    "x": -0.022974060848355293,
                    "y": 1.4036505222320557,
                    "z": -0.0018056868575513363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4925471246242523,
        "expert_target_speed": 4.431428757289322,
        "target_point": [
            30.601085228109206,
            0.5324645922763956
        ],
        "target_point_next": [
            46.601104648768775,
            0.5464097168255467
        ]
    },
    "350": {
        "acceleration": [
            0.007935790345072746,
            -2.7797889709472656,
            -0.0019372929818928242
        ],
        "angular_velocity": [
            0.4150514602661133,
            -0.036127131432294846,
            0.5736256241798401
        ],
        "forward_vector": [
            -0.00022665425785817206,
            0.9999721050262451,
            -0.007470537908375263
        ],
        "right_vector": [
            -1.0,
            -0.00022741705470252782,
            -0.00010125990229425952
        ],
        "location": [
            984.4044799804688,
            5211.61376953125,
            371.6239318847656
        ],
        "rotation": [
            0.0058019268326461315,
            -0.4280342757701874,
            90.01298522949219
        ],
        "velocity": [
            0.0049230488948524,
            2.7181594371795654,
            -0.0016779517754912376
        ],
        "speed": 2.7181638954152034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.40247917175293,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.328665256500244,
                "transform": {
                    "location": {
                        "x": 986.8496704101562,
                        "y": 5254.56591796875,
                        "z": 371.595703125
                    },
                    "rotation": {
                        "roll": -0.0008850053418427706,
                        "pitch": 0.12927497923374176,
                        "yaw": -89.44833374023438
                    }
                },
                "velocity": {
                    "x": 0.07026579976081848,
                    "y": -5.3282012939453125,
                    "z": 0.002222843235358596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047322273254395,
                "transform": {
                    "location": {
                        "x": 987.0122680664062,
                        "y": 5203.3681640625,
                        "z": 371.628662109375
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": 0.019705094397068024,
                        "yaw": -89.87866973876953
                    }
                },
                "velocity": {
                    "x": 0.014426625333726406,
                    "y": -8.047308921813965,
                    "z": 0.002211341867223382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01228141784668,
                "transform": {
                    "location": {
                        "x": 987.0841064453125,
                        "y": 5162.68017578125,
                        "z": 371.6219482421875
                    },
                    "rotation": {
                        "roll": 0.00019402755424380302,
                        "pitch": -0.012697321362793446,
                        "yaw": -89.90673065185547
                    }
                },
                "velocity": {
                    "x": 0.014565988443791866,
                    "y": -8.01226806640625,
                    "z": -0.0017490291502326727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.899078572227154e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00022959485067985952,
                        "pitch": 0.005935434252023697,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.0144743100681808e-05,
                    "y": -2.116724999723374e-06,
                    "z": -2.7075253456132486e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9987337589263916,
                "transform": {
                    "location": {
                        "x": 983.7969360351562,
                        "y": 5246.8662109375,
                        "z": 371.6046142578125
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02322264201939106,
                        "yaw": 90.40945434570312
                    }
                },
                "velocity": {
                    "x": -0.021804310381412506,
                    "y": 1.9986143112182617,
                    "z": -0.0014832115266472101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.46705588698387146,
                "transform": {
                    "location": {
                        "x": 983.78662109375,
                        "y": 5259.251953125,
                        "z": 371.59906005859375
                    },
                    "rotation": {
                        "roll": -0.0008850102312862873,
                        "pitch": -0.060754530131816864,
                        "yaw": 90.91029357910156
                    }
                },
                "velocity": {
                    "x": -0.0037933087442070246,
                    "y": 0.46703794598579407,
                    "z": -0.0015399169642478228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4921654462814331,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            29.833496142786466,
            0.5609104778103302
        ],
        "target_point_next": [
            45.83349614528359,
            0.5894735321708491
        ]
    },
    "355": {
        "acceleration": [
            0.03526588901877403,
            -1.7647457122802734,
            -0.0009231548756361008
        ],
        "angular_velocity": [
            0.41322314739227295,
            0.012696580961346626,
            -1.3724528551101685
        ],
        "forward_vector": [
            0.001286917831748724,
            0.9999824166297913,
            -0.005792823154479265
        ],
        "right_vector": [
            -0.9999991655349731,
            0.0012859813868999481,
            -0.00016536656767129898
        ],
        "location": [
            984.4064331054688,
            5212.21533203125,
            371.6233825683594
        ],
        "rotation": [
            0.009474964812397957,
            -0.33190619945526123,
            89.92626190185547
        ],
        "velocity": [
            0.013162781484425068,
            2.1565353870391846,
            -0.001331500941887498
        ],
        "speed": 2.156575557305761,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.81648063659668,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.25093936920166,
                "transform": {
                    "location": {
                        "x": 986.8673706054688,
                        "y": 5253.06591796875,
                        "z": 371.5963134765625
                    },
                    "rotation": {
                        "roll": 0.0033455935772508383,
                        "pitch": 0.17106890678405762,
                        "yaw": -89.3321533203125
                    }
                },
                "velocity": {
                    "x": 0.06397003680467606,
                    "y": -7.2506561279296875,
                    "z": 0.0034909057430922985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050454139709473,
                "transform": {
                    "location": {
                        "x": 987.0159301757812,
                        "y": 5201.35595703125,
                        "z": 371.62933349609375
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.02047690562903881,
                        "yaw": -89.90728759765625
                    }
                },
                "velocity": {
                    "x": 0.015098520554602146,
                    "y": -8.050439834594727,
                    "z": 0.0012631796998903155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.012948036193848,
                "transform": {
                    "location": {
                        "x": 987.087646484375,
                        "y": 5160.67724609375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": 2.353838863200508e-05,
                        "pitch": -0.012697321362793446,
                        "yaw": -89.88469696044922
                    }
                },
                "velocity": {
                    "x": 0.015310417860746384,
                    "y": -8.012932777404785,
                    "z": -0.0017330931732431054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8913894968573004e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0004608582821674645,
                        "pitch": 0.005901283118873835,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.6278021575999446e-05,
                    "y": -7.66837638366269e-06,
                    "z": -3.450381336733699e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.931387186050415,
                "transform": {
                    "location": {
                        "x": 983.792236328125,
                        "y": 5247.33349609375,
                        "z": 371.60443115234375
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": -0.03650052845478058,
                        "yaw": 90.46224975585938
                    }
                },
                "velocity": {
                    "x": -0.021670233458280563,
                    "y": 1.9312646389007568,
                    "z": -0.0019308947958052158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10509852319955826,
                "transform": {
                    "location": {
                        "x": 983.78515625,
                        "y": 5259.384765625,
                        "z": 371.5988464355469
                    },
                    "rotation": {
                        "roll": -0.0014343269867822528,
                        "pitch": -0.05212116986513138,
                        "yaw": 90.90747833251953
                    }
                },
                "velocity": {
                    "x": -0.001004857593216002,
                    "y": 0.1050901785492897,
                    "z": -0.0008629226358607411
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5033271908760071,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            29.23118203125095,
            0.6006305492533148
        ],
        "target_point_next": [
            45.23113177666052,
            0.649865418509164
        ]
    },
    "360": {
        "acceleration": [
            0.07667489349842072,
            -1.1772561073303223,
            0.005820081569254398
        ],
        "angular_velocity": [
            0.34211426973342896,
            -0.06683752685785294,
            0.22307802736759186
        ],
        "forward_vector": [
            0.003624238073825836,
            0.9999850988388062,
            -0.004083144944161177
        ],
        "right_vector": [
            -0.9999933838844299,
            0.003622984979301691,
            -0.000314230564981699
        ],
        "location": [
            984.4108276367188,
            5212.70751953125,
            371.6228942871094
        ],
        "rotation": [
            0.01800423488020897,
            -0.23394761979579926,
            89.79234313964844
        ],
        "velocity": [
            0.02747458592057228,
            1.8114465475082397,
            -0.0016741561703383923
        ],
        "speed": 1.8116548919016084,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.338805198669434,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.375362396240234,
                "transform": {
                    "location": {
                        "x": 986.8844604492188,
                        "y": 5251.07373046875,
                        "z": 371.5978088378906
                    },
                    "rotation": {
                        "roll": 0.003192748175933957,
                        "pitch": 0.13300426304340363,
                        "yaw": -89.50493621826172
                    }
                },
                "velocity": {
                    "x": 0.06335605680942535,
                    "y": -8.375120162963867,
                    "z": 0.005871124099940062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049555778503418,
                "transform": {
                    "location": {
                        "x": 987.0196533203125,
                        "y": 5199.34326171875,
                        "z": 371.6300048828125
                    },
                    "rotation": {
                        "roll": 0.00011144414747832343,
                        "pitch": 0.019616302102804184,
                        "yaw": -89.87548065185547
                    }
                },
                "velocity": {
                    "x": 0.014904296956956387,
                    "y": -8.049541473388672,
                    "z": 0.0021777248475700617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013157844543457,
                "transform": {
                    "location": {
                        "x": 987.0914916992188,
                        "y": 5158.673828125,
                        "z": 371.62103271484375
                    },
                    "rotation": {
                        "roll": 1.0660914085747208e-05,
                        "pitch": -0.01272464171051979,
                        "yaw": -89.9076156616211
                    }
                },
                "velocity": {
                    "x": 0.014516422525048256,
                    "y": -8.013144493103027,
                    "z": -0.001259546261280775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004551190068013966,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0009231129079125822,
                        "pitch": 0.0057920003309845924,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.6282437829650007e-05,
                    "y": 9.824056178331375e-06,
                    "z": -0.00045425325515680015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6580561399459839,
                "transform": {
                    "location": {
                        "x": 983.7874145507812,
                        "y": 5247.79296875,
                        "z": 371.6043701171875
                    },
                    "rotation": {
                        "roll": -0.00021362359984777868,
                        "pitch": -0.05483958497643471,
                        "yaw": 90.49128723144531
                    }
                },
                "velocity": {
                    "x": -0.007622043136507273,
                    "y": 0.6580102443695068,
                    "z": -0.001527061453089118
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1786276251077652,
                "transform": {
                    "location": {
                        "x": 983.7847290039062,
                        "y": 5259.42822265625,
                        "z": 371.5987854003906
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.045133888721466064,
                        "yaw": 90.9249267578125
                    }
                },
                "velocity": {
                    "x": -0.001761839841492474,
                    "y": 0.17861448228359222,
                    "z": -0.0012605666415765882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5128312706947327,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            28.737503465254168,
            0.6713306691565716
        ],
        "target_point_next": [
            44.73729511875104,
            0.7578348463629446
        ]
    },
    "365": {
        "acceleration": [
            0.0008752942085266113,
            -0.8713483810424805,
            0.006891060620546341
        ],
        "angular_velocity": [
            0.2038729190826416,
            0.0652749165892601,
            -1.862450361251831
        ],
        "forward_vector": [
            0.007416105363518,
            0.9999682903289795,
            -0.0029145434964448214
        ],
        "right_vector": [
            -0.9999725222587585,
            0.007415462285280228,
            -0.00023139850236475468
        ],
        "location": [
            984.4178466796875,
            5213.1279296875,
            371.62249755859375
        ],
        "rotation": [
            0.013258213177323341,
            -0.16699127852916718,
            89.57508087158203
        ],
        "velocity": [
            0.03251295164227486,
            1.567525029182434,
            -0.0014661216409876943
        ],
        "speed": 1.5678621779792647,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.932528495788574,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007425308227539,
                "transform": {
                    "location": {
                        "x": 986.9002075195312,
                        "y": 5249.0185546875,
                        "z": 371.59967041015625
                    },
                    "rotation": {
                        "roll": 0.002048154827207327,
                        "pitch": 0.03835150972008705,
                        "yaw": -89.57109832763672
                    }
                },
                "velocity": {
                    "x": 0.05874780938029289,
                    "y": -8.007207870483398,
                    "z": 0.00572065357118845
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048925399780273,
                "transform": {
                    "location": {
                        "x": 987.023193359375,
                        "y": 5197.3310546875,
                        "z": 371.6306457519531
                    },
                    "rotation": {
                        "roll": 0.0001836330338846892,
                        "pitch": 0.019616302102804184,
                        "yaw": -89.91228485107422
                    }
                },
                "velocity": {
                    "x": 0.014014676213264465,
                    "y": -8.04891300201416,
                    "z": 0.0013048648834228516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013129234313965,
                "transform": {
                    "location": {
                        "x": 987.0949096679688,
                        "y": 5156.67041015625,
                        "z": 371.62060546875
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": -0.012608528137207031,
                        "yaw": -89.88726806640625
                    }
                },
                "velocity": {
                    "x": 0.014395664446055889,
                    "y": -8.013115882873535,
                    "z": -0.0019089126726612449
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011613097740337253,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00041909446008503437,
                        "pitch": 0.00584664149209857,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.5265010006260127e-05,
                    "y": -1.7449834558647126e-05,
                    "z": -0.0001137931685661897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7691596746444702,
                "transform": {
                    "location": {
                        "x": 983.7864379882812,
                        "y": 5247.8984375,
                        "z": 371.6042175292969
                    },
                    "rotation": {
                        "roll": -0.0004882836365140975,
                        "pitch": -0.04855581372976303,
                        "yaw": 90.52345275878906
                    }
                },
                "velocity": {
                    "x": -0.008898427709937096,
                    "y": 0.7691051363945007,
                    "z": -0.0021877288818359375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10057829320430756,
                "transform": {
                    "location": {
                        "x": 983.7836303710938,
                        "y": 5259.50341796875,
                        "z": 371.59869384765625
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.04581007733941078,
                        "yaw": 90.9037857055664
                    }
                },
                "velocity": {
                    "x": -0.0009190880809910595,
                    "y": 0.10056951642036438,
                    "z": -0.0009597587632015347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5361248254776001,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            28.314294327883278,
            0.7844245831276448
        ],
        "target_point_next": [
            44.3136417604156,
            0.9317258428093712
        ]
    },
    "370": {
        "acceleration": [
            -0.08312791585922241,
            -0.9128141403198242,
            -0.0030834204517304897
        ],
        "angular_velocity": [
            0.06880258023738861,
            0.024705246090888977,
            0.9220174551010132
        ],
        "forward_vector": [
            0.009307896718382835,
            0.9999539852142334,
            -0.002308485796675086
        ],
        "right_vector": [
            -0.9999566674232483,
            0.009307997301220894,
            3.249046494602226e-05
        ],
        "location": [
            984.4241333007812,
            5213.4931640625,
            371.6222229003906
        ],
        "rotation": [
            -0.001861571567133069,
            -0.13226661086082458,
            89.46669006347656
        ],
        "velocity": [
            0.020747652277350426,
            1.3535014390945435,
            -0.0016483974177390337
        ],
        "speed": 1.3536604488223853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.580442428588867,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.948935508728027,
                "transform": {
                    "location": {
                        "x": 986.9130249023438,
                        "y": 5247.04443359375,
                        "z": 371.6009216308594
                    },
                    "rotation": {
                        "roll": 0.003938681911677122,
                        "pitch": 0.03251169994473457,
                        "yaw": -89.64873504638672
                    }
                },
                "velocity": {
                    "x": 0.03704409673810005,
                    "y": -7.94884729385376,
                    "z": 0.005237493198364973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048846244812012,
                "transform": {
                    "location": {
                        "x": 987.0267944335938,
                        "y": 5195.31884765625,
                        "z": 371.63128662109375
                    },
                    "rotation": {
                        "roll": 0.000327021989505738,
                        "pitch": 0.019821207970380783,
                        "yaw": -89.88311767578125
                    }
                },
                "velocity": {
                    "x": 0.013970579020678997,
                    "y": -8.048833847045898,
                    "z": 0.0018052005907520652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.012911796569824,
                "transform": {
                    "location": {
                        "x": 987.0985717773438,
                        "y": 5154.6669921875,
                        "z": 371.6201171875
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": -0.013305207714438438,
                        "yaw": -89.91231536865234
                    }
                },
                "velocity": {
                    "x": 0.013911225832998753,
                    "y": -8.012899398803711,
                    "z": -0.001759386039339006
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00022435667051468045,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0006103512132540345,
                        "pitch": 0.0058534718118608,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.3050084311980754e-05,
                    "y": -2.0663835584855406e-06,
                    "z": -0.00022189939045347273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.300218939781189,
                "transform": {
                    "location": {
                        "x": 983.7835083007812,
                        "y": 5248.1650390625,
                        "z": 371.6037292480469
                    },
                    "rotation": {
                        "roll": -0.00039672962157055736,
                        "pitch": -0.016542717814445496,
                        "yaw": 90.5284423828125
                    }
                },
                "velocity": {
                    "x": -0.014657780528068542,
                    "y": 1.3001350164413452,
                    "z": -0.001853246591053903
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10000798106193542,
                "transform": {
                    "location": {
                        "x": 983.7830810546875,
                        "y": 5259.53759765625,
                        "z": 371.59869384765625
                    },
                    "rotation": {
                        "roll": -0.00030517744016833603,
                        "pitch": -0.04446452856063843,
                        "yaw": 90.8811264038086
                    }
                },
                "velocity": {
                    "x": -0.0010529187275096774,
                    "y": 0.09999384731054306,
                    "z": -0.0013113117311149836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5597614049911499,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            27.947490980033347,
            0.84059469400282
        ],
        "target_point_next": [
            43.94653288629865,
            1.0180038525856483
        ]
    },
    "375": {
        "acceleration": [
            -0.029215123504400253,
            -0.9448003768920898,
            0.009135054424405098
        ],
        "angular_velocity": [
            0.016509421169757843,
            -0.007505330257117748,
            -1.0083919763565063
        ],
        "forward_vector": [
            0.00933245662599802,
            0.999954104423523,
            -0.0021533947438001633
        ],
        "right_vector": [
            -0.9999564290046692,
            0.009332988411188126,
            0.00023702059115748852
        ],
        "location": [
            984.4268798828125,
            5213.80224609375,
            371.6221008300781
        ],
        "rotation": [
            -0.013580311089754105,
            -0.12338052690029144,
            89.46527862548828
        ],
        "velocity": [
            0.0050532035529613495,
            1.1265013217926025,
            -0.0015002917498350143
        ],
        "speed": 1.1265126554400657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.282471656799316,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.162370681762695,
                "transform": {
                    "location": {
                        "x": 986.9225463867188,
                        "y": 5245.0166015625,
                        "z": 371.60198974609375
                    },
                    "rotation": {
                        "roll": 0.0011771473800763488,
                        "pitch": 0.04062596336007118,
                        "yaw": -89.74053955078125
                    }
                },
                "velocity": {
                    "x": 0.03382723778486252,
                    "y": -8.162299156188965,
                    "z": 0.004849071614444256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050887107849121,
                "transform": {
                    "location": {
                        "x": 987.0303955078125,
                        "y": 5193.30615234375,
                        "z": 371.6318359375
                    },
                    "rotation": {
                        "roll": -0.0001525887055322528,
                        "pitch": 0.015586490742862225,
                        "yaw": -89.91252899169922
                    }
                },
                "velocity": {
                    "x": 0.014622015878558159,
                    "y": -8.050873756408691,
                    "z": 0.0018549441592767835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013440132141113,
                "transform": {
                    "location": {
                        "x": 987.1018676757812,
                        "y": 5152.66357421875,
                        "z": 371.6195983886719
                    },
                    "rotation": {
                        "roll": 0.00013774188118986785,
                        "pitch": -0.017642376944422722,
                        "yaw": -89.89244842529297
                    }
                },
                "velocity": {
                    "x": 0.013664945028722286,
                    "y": -8.013428688049316,
                    "z": -0.001802635146304965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00043786197784356773,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0006299515371210873,
                        "pitch": 0.006099358666688204,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -4.683057795773493e-06,
                    "y": 3.3561930194991874e-06,
                    "z": 0.0004378240555524826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9122939109802246,
                "transform": {
                    "location": {
                        "x": 983.7791748046875,
                        "y": 5248.5712890625,
                        "z": 371.603515625
                    },
                    "rotation": {
                        "roll": 0.0002108662447426468,
                        "pitch": -0.014678075909614563,
                        "yaw": 90.53994750976562
                    }
                },
                "velocity": {
                    "x": -0.013970189727842808,
                    "y": 1.91224205493927,
                    "z": -0.0017450046725571156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016151010058820248,
                "transform": {
                    "location": {
                        "x": 983.7821655273438,
                        "y": 5259.61474609375,
                        "z": 371.5986328125
                    },
                    "rotation": {
                        "roll": -0.0005187992937862873,
                        "pitch": -0.03875449299812317,
                        "yaw": 90.85631561279297
                    }
                },
                "velocity": {
                    "x": 0.0005148624768480659,
                    "y": 0.00017454921908210963,
                    "z": -0.0015208552358672023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5306879878044128,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            27.638375322542217,
            0.8411708838166471
        ],
        "target_point_next": [
            43.637412697754,
            1.0189881905073979
        ]
    },
    "380": {
        "acceleration": [
            -0.024326110258698463,
            -0.9537410736083984,
            0.002422523684799671
        ],
        "angular_velocity": [
            -0.021913472563028336,
            -0.03225810080766678,
            1.467598557472229
        ],
        "forward_vector": [
            0.008106437511742115,
            0.9999647736549377,
            -0.002190707251429558
        ],
        "right_vector": [
            -0.9999671578407288,
            0.008106738328933716,
            0.00012836405949201435
        ],
        "location": [
            984.427734375,
            5214.05224609375,
            371.62200927734375
        ],
        "rotation": [
            -0.007354736793786287,
            -0.12551838159561157,
            89.53553009033203
        ],
        "velocity": [
            0.00015960661403369159,
            0.8861089944839478,
            -0.001453351927921176
        ],
        "speed": 0.8861090088581789,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.041542053222656,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.960090637207031,
                "transform": {
                    "location": {
                        "x": 986.9308471679688,
                        "y": 5243.0048828125,
                        "z": 371.6031799316406
                    },
                    "rotation": {
                        "roll": 0.0009942144388332963,
                        "pitch": 0.02580445259809494,
                        "yaw": -89.77276611328125
                    }
                },
                "velocity": {
                    "x": 0.026447482407093048,
                    "y": -7.960044860839844,
                    "z": 0.005618581548333168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048815727233887,
                "transform": {
                    "location": {
                        "x": 987.0338745117188,
                        "y": 5191.2939453125,
                        "z": 371.63232421875
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.011201509274542332,
                        "yaw": -89.88446044921875
                    }
                },
                "velocity": {
                    "x": 0.013576908968389034,
                    "y": -8.04880428314209,
                    "z": 0.001737356185913086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013501167297363,
                "transform": {
                    "location": {
                        "x": 987.10546875,
                        "y": 5150.66015625,
                        "z": 371.6189880371094
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.018619094043970108,
                        "yaw": -89.91313934326172
                    }
                },
                "velocity": {
                    "x": 0.01395826879888773,
                    "y": -8.01348876953125,
                    "z": -0.0018838023534044623
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012692713062278926,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00013986941485200077,
                        "pitch": 0.005812490824609995,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.1241826541663613e-05,
                    "y": -2.4654436714399708e-08,
                    "z": 0.00012642830552067608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9978216886520386,
                "transform": {
                    "location": {
                        "x": 983.7749633789062,
                        "y": 5249.08740234375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": 0.0006448617787100375,
                        "pitch": -0.02559954673051834,
                        "yaw": 90.47515106201172
                    }
                },
                "velocity": {
                    "x": -0.013649940490722656,
                    "y": 1.997774362564087,
                    "z": -0.0016059780027717352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10080761462450027,
                "transform": {
                    "location": {
                        "x": 983.7815551757812,
                        "y": 5259.64599609375,
                        "z": 371.5986328125
                    },
                    "rotation": {
                        "roll": -0.0010375987039878964,
                        "pitch": -0.044676266610622406,
                        "yaw": 90.82494354248047
                    }
                },
                "velocity": {
                    "x": -0.000903794658370316,
                    "y": 0.10078714042901993,
                    "z": -0.001819343538954854
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5494928359985352,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            27.38939129556138,
            0.8059722212537336
        ],
        "target_point_next": [
            43.388635472268405,
            0.9640914866476344
        ]
    },
    "385": {
        "acceleration": [
            0.01605834625661373,
            -0.8779489994049072,
            -0.003952980041503906
        ],
        "angular_velocity": [
            0.015649212524294853,
            -0.01619557850062847,
            -1.1579673290252686
        ],
        "forward_vector": [
            0.007489669602364302,
            0.9999696016311646,
            -0.0021598320454359055
        ],
        "right_vector": [
            -0.9999719262123108,
            0.007489754818379879,
            3.1425264751305804e-05
        ],
        "location": [
            984.4279174804688,
            5214.24365234375,
            371.6219787597656
        ],
        "rotation": [
            -0.0018005393212661147,
            -0.12374936044216156,
            89.57086944580078
        ],
        "velocity": [
            0.00046036398271098733,
            0.6585621237754822,
            -0.0016573715256527066
        ],
        "speed": 0.658562284682831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.857230186462402,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.091910362243652,
                "transform": {
                    "location": {
                        "x": 986.9371948242188,
                        "y": 5241.00048828125,
                        "z": 371.6041564941406
                    },
                    "rotation": {
                        "roll": 0.001190912676975131,
                        "pitch": 0.03281905874609947,
                        "yaw": -89.82323455810547
                    }
                },
                "velocity": {
                    "x": 0.023305049166083336,
                    "y": -8.091875076293945,
                    "z": 0.005173053592443466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050752639770508,
                "transform": {
                    "location": {
                        "x": 987.0374755859375,
                        "y": 5189.28173828125,
                        "z": 371.6326904296875
                    },
                    "rotation": {
                        "roll": -0.0003356926899868995,
                        "pitch": 0.010586792603135109,
                        "yaw": -89.91301727294922
                    }
                },
                "velocity": {
                    "x": 0.013695760630071163,
                    "y": -8.050741195678711,
                    "z": 0.0011954212095588446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01321792602539,
                "transform": {
                    "location": {
                        "x": 987.1087036132812,
                        "y": 5148.6572265625,
                        "z": 371.6183166503906
                    },
                    "rotation": {
                        "roll": -0.0009765620343387127,
                        "pitch": -0.01797705702483654,
                        "yaw": -89.89073944091797
                    }
                },
                "velocity": {
                    "x": 0.013841059058904648,
                    "y": -8.013205528259277,
                    "z": -0.0021447371691465378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036547804484143853,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00024809897877275944,
                        "pitch": 0.005778339691460133,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.7345575543004088e-05,
                    "y": -1.0521167496335693e-05,
                    "z": 0.0003649145655799657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015671970322728157,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.60382080078125
                    },
                    "rotation": {
                        "roll": -0.00198364513926208,
                        "pitch": -0.08535686880350113,
                        "yaw": 90.46973419189453
                    }
                },
                "velocity": {
                    "x": -1.4873857253405731e-05,
                    "y": -8.30928111099638e-05,
                    "z": -0.0015649220440536737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09767798334360123,
                "transform": {
                    "location": {
                        "x": 983.7813720703125,
                        "y": 5259.65869140625,
                        "z": 371.59857177734375
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.04193053022027016,
                        "yaw": 90.8274154663086
                    }
                },
                "velocity": {
                    "x": -0.0009903875179588795,
                    "y": 0.09766744077205658,
                    "z": -0.0010388755472376943
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5462284088134766,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            27.198477179047163,
            0.7879595826801518
        ],
        "target_point_next": [
            43.197815131567815,
            0.9362869537705325
        ]
    },
    "390": {
        "acceleration": [
            -0.014778094366192818,
            -0.6783103942871094,
            -0.0027677533216774464
        ],
        "angular_velocity": [
            0.04680520296096802,
            -0.017781320959329605,
            1.4429012537002563
        ],
        "forward_vector": [
            0.00663961423560977,
            0.9999760985374451,
            -0.0019265400478616357
        ],
        "right_vector": [
            -0.9999779462814331,
            0.006639609578996897,
            -8.704256288183387e-06
        ],
        "location": [
            984.4281616210938,
            5214.384765625,
            371.6218566894531
        ],
        "rotation": [
            0.0004987181164324284,
            -0.11038268357515335,
            89.61957550048828
        ],
        "velocity": [
            -0.0005732744466513395,
            0.47792816162109375,
            -0.0015975760761648417
        ],
        "speed": 0.4779285054420896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.721536636352539,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028120040893555,
                "transform": {
                    "location": {
                        "x": 986.9429321289062,
                        "y": 5238.982421875,
                        "z": 371.605224609375
                    },
                    "rotation": {
                        "roll": 3.3008691389113665e-05,
                        "pitch": 0.02862532064318657,
                        "yaw": -89.83806610107422
                    }
                },
                "velocity": {
                    "x": 0.021381359547376633,
                    "y": -8.02808952331543,
                    "z": 0.005326518788933754
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049365997314453,
                "transform": {
                    "location": {
                        "x": 987.0411987304688,
                        "y": 5187.26904296875,
                        "z": 371.6328125
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.0015914340037852526,
                        "yaw": -89.87664794921875
                    }
                },
                "velocity": {
                    "x": 0.014641978777945042,
                    "y": -8.049352645874023,
                    "z": 0.001811389927752316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013517379760742,
                "transform": {
                    "location": {
                        "x": 987.1124267578125,
                        "y": 5146.65380859375,
                        "z": 371.6176452636719
                    },
                    "rotation": {
                        "roll": -0.0010986332781612873,
                        "pitch": -0.01812049001455307,
                        "yaw": -89.9107437133789
                    }
                },
                "velocity": {
                    "x": 0.014187486842274666,
                    "y": -8.013504028320312,
                    "z": -0.002123927930369973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2798548596038017e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.006024226546287537,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -6.504604243673384e-06,
                    "y": 3.940603221508354e-07,
                    "z": -1.1015338714059908e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011310772970318794,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033630371094
                    },
                    "rotation": {
                        "roll": -0.0014343250077217817,
                        "pitch": -0.04141143336892128,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 6.283771654125303e-05,
                    "y": -3.195960016455501e-05,
                    "z": -0.0011288780951872468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001029252540320158,
                "transform": {
                    "location": {
                        "x": 983.7813720703125,
                        "y": 5259.658203125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.040134187787771225,
                        "yaw": 90.82736206054688
                    }
                },
                "velocity": {
                    "x": 2.424667945888359e-05,
                    "y": -1.7821322444433463e-06,
                    "z": -0.001028965343721211
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5549944043159485,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            27.058020740355396,
            0.7643107082999129
        ],
        "target_point_next": [
            43.05747818294917,
            0.8991345586127184
        ]
    },
    "395": {
        "acceleration": [
            0.0017566292081028223,
            -0.524134635925293,
            -0.00527610769495368
        ],
        "angular_velocity": [
            0.05935367941856384,
            -0.011849785223603249,
            -1.2681493759155273
        ],
        "forward_vector": [
            0.006338978186249733,
            0.9999785423278809,
            -0.001641511102207005
        ],
        "right_vector": [
            -0.9999799132347107,
            0.006338959094136953,
            -1.7149082850664854e-05
        ],
        "location": [
            984.4281616210938,
            5214.48486328125,
            371.6217956542969
        ],
        "rotation": [
            0.000982571393251419,
            -0.09405169636011124,
            89.63680267333984
        ],
        "velocity": [
            -0.0005984771996736526,
            0.33580100536346436,
            -0.001599225914105773
        ],
        "speed": 0.33580153867734425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.625320434570312,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05897045135498,
                "transform": {
                    "location": {
                        "x": 986.9482421875,
                        "y": 5236.9736328125,
                        "z": 371.606201171875
                    },
                    "rotation": {
                        "roll": 0.0009937442373484373,
                        "pitch": 0.027662264183163643,
                        "yaw": -89.85128784179688
                    }
                },
                "velocity": {
                    "x": 0.020715806633234024,
                    "y": -8.058941841125488,
                    "z": 0.005850705783814192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049798011779785,
                "transform": {
                    "location": {
                        "x": 987.044677734375,
                        "y": 5185.2568359375,
                        "z": 371.6328430175781
                    },
                    "rotation": {
                        "roll": 0.0008278387831524014,
                        "pitch": -0.005313886795192957,
                        "yaw": -89.91424560546875
                    }
                },
                "velocity": {
                    "x": 0.013708109967410564,
                    "y": -8.049786567687988,
                    "z": -0.001567573519423604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.013519287109375,
                "transform": {
                    "location": {
                        "x": 987.1158447265625,
                        "y": 5144.650390625,
                        "z": 371.616943359375
                    },
                    "rotation": {
                        "roll": 1.0081032996822614e-05,
                        "pitch": -0.019588980823755264,
                        "yaw": -89.88542175292969
                    }
                },
                "velocity": {
                    "x": 0.015286441892385483,
                    "y": -8.013504028320312,
                    "z": -0.002070856047794223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.364877430722117e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0007669494370929897,
                        "pitch": 0.006058377679437399,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.759558654157445e-05,
                    "y": 8.42589361127466e-06,
                    "z": 8.134197560139e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002544824965298176,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0006713879993185401,
                        "pitch": -0.03604290634393692,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 1.0082874723593704e-05,
                    "y": -4.164906840742333e-06,
                    "z": 0.00025424855994060636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001736265840008855,
                "transform": {
                    "location": {
                        "x": 983.7813720703125,
                        "y": 5259.658203125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.000244140945142135,
                        "pitch": -0.039642415940761566,
                        "yaw": 90.82736206054688
                    }
                },
                "velocity": {
                    "x": -6.332084740279242e-05,
                    "y": 5.082227261254957e-08,
                    "z": -0.00016166835848707706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.552904486656189,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.9581484356598,
            0.7557275048013902
        ],
        "target_point_next": [
            42.9576447900873,
            0.8858518017006409
        ]
    },
    "400": {
        "acceleration": [
            -0.012160846963524818,
            -0.4431310296058655,
            -0.0036010751500725746
        ],
        "angular_velocity": [
            0.05318335443735123,
            -0.01721685752272606,
            1.4288216829299927
        ],
        "forward_vector": [
            0.005738773848861456,
            0.9999826550483704,
            -0.0013374085538089275
        ],
        "right_vector": [
            -0.999983549118042,
            0.005738762207329273,
            -1.2614879778993782e-05
        ],
        "location": [
            984.4281005859375,
            5214.5546875,
            371.6216735839844
        ],
        "rotation": [
            0.0007227800088003278,
            -0.07662788778543472,
            89.67118835449219
        ],
        "velocity": [
            -0.0014053296763449907,
            0.23081724345684052,
            -0.001241226214915514
        ],
        "speed": 0.2308215215886803,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.558229446411133,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03038215637207,
                "transform": {
                    "location": {
                        "x": 986.9531860351562,
                        "y": 5234.9619140625,
                        "z": 371.6072082519531
                    },
                    "rotation": {
                        "roll": 9.144299838226289e-05,
                        "pitch": 0.027723737061023712,
                        "yaw": -89.86297607421875
                    }
                },
                "velocity": {
                    "x": 0.017577648162841797,
                    "y": -8.030362129211426,
                    "z": 0.003836412448436022
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04959487915039,
                "transform": {
                    "location": {
                        "x": 987.0482788085938,
                        "y": 5183.2451171875,
                        "z": 371.6324768066406
                    },
                    "rotation": {
                        "roll": -9.155242150882259e-05,
                        "pitch": -0.006837018765509129,
                        "yaw": -89.88082122802734
                    }
                },
                "velocity": {
                    "x": 0.014130698516964912,
                    "y": -8.049582481384277,
                    "z": -0.002081918762996793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0598754882812,
                        "y": 5142.58642578125,
                        "z": 371.62054443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019358399731572717,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.005518792662769556,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 6.401119662768906e-06,
                    "y": -2.5091924271691823e-06,
                    "z": -0.0001934618630912155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00032962270779535174,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": 0.00017514200590085238,
                        "pitch": -0.03432852774858475,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 4.949176286572765e-07,
                    "y": -1.610540721230791e-06,
                    "z": 0.00032961840042844415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16599424183368683,
                "transform": {
                    "location": {
                        "x": 983.7813110351562,
                        "y": 5259.6708984375,
                        "z": 371.5985107421875
                    },
                    "rotation": {
                        "roll": -0.0013427726225927472,
                        "pitch": -0.03637758642435074,
                        "yaw": 90.83147430419922
                    }
                },
                "velocity": {
                    "x": -0.001945691998116672,
                    "y": 0.16598282754421234,
                    "z": -5.593299647443928e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5430945158004761,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.8887828350335,
            0.7387797344440923
        ],
        "target_point_next": [
            42.88835577435334,
            0.859119617135831
        ]
    },
    "405": {
        "acceleration": [
            0.0023040175437927246,
            -0.2476140856742859,
            0.0038402550853788853
        ],
        "angular_velocity": [
            0.07474483549594879,
            -0.033197902143001556,
            -1.3040785789489746
        ],
        "forward_vector": [
            0.005743067245930433,
            0.9999828934669495,
            -0.0011159178102388978
        ],
        "right_vector": [
            -0.9999834895133972,
            0.005743043962866068,
            -2.358358869969379e-05
        ],
        "location": [
            984.4279174804688,
            5214.6015625,
            371.62164306640625
        ],
        "rotation": [
            0.001351240905933082,
            -0.06393739581108093,
            89.67094421386719
        ],
        "velocity": [
            -0.00018402902060188353,
            0.15117351710796356,
            -0.0013004780048504472
        ],
        "speed": 0.15117362912053206,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.513169288635254,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069892883300781,
                "transform": {
                    "location": {
                        "x": 986.9578857421875,
                        "y": 5232.94873046875,
                        "z": 371.608154296875
                    },
                    "rotation": {
                        "roll": 0.0004082313971593976,
                        "pitch": 0.02600935846567154,
                        "yaw": -89.86962890625
                    }
                },
                "velocity": {
                    "x": 0.016224322840571404,
                    "y": -8.069875717163086,
                    "z": 0.0025664709974080324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04999828338623,
                "transform": {
                    "location": {
                        "x": 987.0517578125,
                        "y": 5181.232421875,
                        "z": 371.63214111328125
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": -0.012116755358874798,
                        "yaw": -89.9137191772461
                    }
                },
                "velocity": {
                    "x": 0.014579860493540764,
                    "y": -8.0499849319458,
                    "z": -0.002127265790477395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0435180664062,
                        "y": 5140.50341796875,
                        "z": 371.62109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.941112506960053e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.0054095094092190266,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -6.268352535698796e-06,
                    "y": 5.566377694776747e-06,
                    "z": 2.8191088858875446e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006158552132546902,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0003967296506743878,
                        "pitch": -0.03430120646953583,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -1.874995064099494e-06,
                    "y": 1.3282149211590877e-06,
                    "z": 0.0006158509058877826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004237699322402477,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.67529296875,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.001464845729060471,
                        "pitch": -0.04071475565433502,
                        "yaw": 90.82781219482422
                    }
                },
                "velocity": {
                    "x": 3.894863402820192e-05,
                    "y": 1.93508344636939e-06,
                    "z": 0.00042197181028313935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.533586859703064,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.84190965646347,
            0.7383277572820957
        ],
        "target_point_next": [
            42.84148259578332,
            0.8586676399738343
        ]
    },
    "410": {
        "acceleration": [
            0.002504240721464157,
            -0.18080994486808777,
            -0.0004861829802393913
        ],
        "angular_velocity": [
            0.04792432859539986,
            -0.0004668140609283,
            1.4305340051651
        ],
        "forward_vector": [
            0.005381392780691385,
            0.9999850988388062,
            -0.0009092090767808259
        ],
        "right_vector": [
            -0.9999855160713196,
            0.0053813825361430645,
            -1.4000396731717046e-05
        ],
        "location": [
            984.4279174804688,
            5214.63134765625,
            371.62158203125
        ],
        "rotation": [
            0.0008021639660000801,
            -0.05209384858608246,
            89.69166564941406
        ],
        "velocity": [
            -0.0002954067604150623,
            0.09427113085985184,
            -0.001602601958438754
        ],
        "speed": 0.09427159370006115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.484579086303711,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021244049072266,
                "transform": {
                    "location": {
                        "x": 986.9619140625,
                        "y": 5230.9384765625,
                        "z": 371.6090087890625
                    },
                    "rotation": {
                        "roll": 0.0008161668083630502,
                        "pitch": 0.024670641869306564,
                        "yaw": -89.88461303710938
                    }
                },
                "velocity": {
                    "x": 0.014801623299717903,
                    "y": -8.02122974395752,
                    "z": 0.00201383582316339
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04985237121582,
                "transform": {
                    "location": {
                        "x": 987.0556030273438,
                        "y": 5179.2197265625,
                        "z": 371.6317138671875
                    },
                    "rotation": {
                        "roll": -0.0008850088925100863,
                        "pitch": -0.012547057121992111,
                        "yaw": -89.87409973144531
                    }
                },
                "velocity": {
                    "x": 0.01591678149998188,
                    "y": -8.049836158752441,
                    "z": -0.0026219843421131372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.03125,
                        "y": 5138.42041015625,
                        "z": 371.62127685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028474463033489883,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0002316527970833704,
                        "pitch": 0.006092528346925974,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -4.3985972297377884e-05,
                    "y": -2.2107153085926257e-07,
                    "z": 0.00028132664738222957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004650656774174422,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.00018310446466784924,
                        "pitch": -0.034362681210041046,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -1.4235462913347874e-05,
                    "y": -4.992820379356999e-08,
                    "z": 0.0004648477479349822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003628315753303468,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0005798341589979827,
                        "pitch": -0.040222980082035065,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": -0.0001352923281956464,
                    "y": 8.326023426263873e-09,
                    "z": 0.00033666411763988435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5419808626174927,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.8123926451768,
            0.7283699299694351
        ],
        "target_point_next": [
            42.81200844493902,
            0.8428696591454188
        ]
    },
    "415": {
        "acceleration": [
            0.004528895951807499,
            -0.05460590124130249,
            -0.004132080357521772
        ],
        "angular_velocity": [
            0.05122777819633484,
            0.025695709511637688,
            -1.3699841499328613
        ],
        "forward_vector": [
            0.005499647930264473,
            0.999984622001648,
            -0.0007030963315628469
        ],
        "right_vector": [
            -0.999984860420227,
            0.005499642342329025,
            -9.691283594293054e-06
        ],
        "location": [
            984.4279174804688,
            5214.650390625,
            371.62152099609375
        ],
        "rotation": [
            0.0005552698276005685,
            -0.04028445482254028,
            89.68489074707031
        ],
        "velocity": [
            0.0001420876506017521,
            0.06563132256269455,
            -0.0012235832400619984
        ],
        "speed": 0.06563147636789006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.466302871704102,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.7723083496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.017225736752152443,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074995040893555,
                "transform": {
                    "location": {
                        "x": 986.9655151367188,
                        "y": 5228.92578125,
                        "z": 371.6098327636719
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": 0.023892000317573547,
                        "yaw": -89.89679718017578
                    }
                },
                "velocity": {
                    "x": 0.01462161261588335,
                    "y": -8.074981689453125,
                    "z": 0.0022484015207737684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049360275268555,
                "transform": {
                    "location": {
                        "x": 987.0592041015625,
                        "y": 5177.20751953125,
                        "z": 371.63128662109375
                    },
                    "rotation": {
                        "roll": 0.0007008722750470042,
                        "pitch": -0.012267018668353558,
                        "yaw": -89.91289520263672
                    }
                },
                "velocity": {
                    "x": 0.013790263794362545,
                    "y": -8.049348831176758,
                    "z": -0.0015843199798837304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0332641601562,
                        "y": 5136.3369140625,
                        "z": 371.62017822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.034820303320884705,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562688551843166e-06,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0007049976848065853,
                        "pitch": 0.005955924745649099,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.6703597793821245e-06,
                    "y": -7.106910970833269e-07,
                    "z": -7.341599030041834e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006745709106326103,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": -0.034485623240470886,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -8.735421488381689e-07,
                    "y": 1.6004498775146203e-06,
                    "z": 0.000674568465910852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005908562452532351,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0008239734452217817,
                        "pitch": -0.039949774742126465,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": -2.795715772663243e-05,
                    "y": 1.4979206071075168e-06,
                    "z": 0.0005901925615034997
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5447086691856384,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.793253873902202,
            0.7317938381368579
        ],
        "target_point_next": [
            42.792854466132226,
            0.8483992286423346
        ]
    },
    "420": {
        "acceleration": [
            -0.0023555620573461056,
            -0.017107725143432617,
            0.002473831409588456
        ],
        "angular_velocity": [
            0.032394565641880035,
            -0.007753818295896053,
            1.4163646697998047
        ],
        "forward_vector": [
            0.005166344344615936,
            0.9999865293502808,
            -0.0005316733731888235
        ],
        "right_vector": [
            -0.9999866485595703,
            0.005166337825357914,
            -1.2734001757053193e-05
        ],
        "location": [
            984.4279174804688,
            5214.6650390625,
            371.6214904785156
        ],
        "rotation": [
            0.0007296046824194491,
            -0.030462641268968582,
            89.70398712158203
        ],
        "velocity": [
            -0.00019297070684842765,
            0.05270179733633995,
            -0.0009432124788872898
        ],
        "speed": 0.05270215062190869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.45224666595459,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.01959967613220215,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.6035461425781
                    },
                    "rotation": {
                        "roll": -6.103565101511776e-05,
                        "pitch": 0.018407359719276428,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 1.858053838077467e-05,
                    "y": 1.135266120400047e-05,
                    "z": -0.019599664956331253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0203275680542,
                "transform": {
                    "location": {
                        "x": 986.9691772460938,
                        "y": 5226.9140625,
                        "z": 371.6106262207031
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.02275818958878517,
                        "yaw": -89.89724731445312
                    }
                },
                "velocity": {
                    "x": 0.014355402439832687,
                    "y": -8.020315170288086,
                    "z": 0.0019199179951101542
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049853324890137,
                "transform": {
                    "location": {
                        "x": 987.0628051757812,
                        "y": 5175.19482421875,
                        "z": 371.63079833984375
                    },
                    "rotation": {
                        "roll": 0.00016758516721893102,
                        "pitch": -0.011905019171535969,
                        "yaw": -89.88003540039062
                    }
                },
                "velocity": {
                    "x": 0.01416231319308281,
                    "y": -8.049840927124023,
                    "z": -0.0014017963549122214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4857,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0355224609375,
                        "y": 5134.25341796875,
                        "z": 371.6191711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.034820303320884705,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.437377982772887e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00014652263780590147,
                        "pitch": 0.0058534718118608,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.5783774870214984e-05,
                    "y": 3.59215761136511e-07,
                    "z": 8.288351818919182e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00025904615176841617,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.00033569149672985077,
                        "pitch": -0.034451473504304886,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -2.234899056929862e-06,
                    "y": 1.2172944252597517e-06,
                    "z": 0.00025903366622515023
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.671070438344032e-05,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0011596683179959655,
                        "pitch": -0.039888303726911545,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": 6.942655454622582e-05,
                    "y": 9.450130278310098e-08,
                    "z": -6.732685142196715e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5466887950897217,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.778849435973274,
            0.7227365618536202
        ],
        "target_point_next": [
            42.77848821731756,
            0.8339786154406774
        ]
    },
    "425": {
        "acceleration": [
            0.009099336341023445,
            -0.0048270076513290405,
            0.004986381158232689
        ],
        "angular_velocity": [
            0.01878168433904648,
            -0.011955484747886658,
            -1.4185309410095215
        ],
        "forward_vector": [
            0.00537042785435915,
            0.9999854564666748,
            -0.0004436969175003469
        ],
        "right_vector": [
            -0.9999855756759644,
            0.005370423197746277,
            -1.1322873433528002e-05
        ],
        "location": [
            984.4278564453125,
            5214.67724609375,
            371.6214294433594
        ],
        "rotation": [
            0.0006487529026344419,
            -0.02542196214199066,
            89.69229888916016
        ],
        "velocity": [
            3.965847645304166e-05,
            0.04607020318508148,
            -0.0008715629228390753
        ],
        "speed": 0.046070220254622686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.44051742553711,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0648268535733223,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.62225341796875
                    },
                    "rotation": {
                        "roll": 0.0001244166778633371,
                        "pitch": 0.01845517009496689,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -8.458420779788867e-05,
                    "y": -2.1057523554190993e-05,
                    "z": 0.06482680141925812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073217391967773,
                "transform": {
                    "location": {
                        "x": 986.9727783203125,
                        "y": 5224.90234375,
                        "z": 371.6114501953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.022799169644713402,
                        "yaw": -89.89788818359375
                    }
                },
                "velocity": {
                    "x": 0.014462913386523724,
                    "y": -8.073204040527344,
                    "z": 0.0020628070924431086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04986572265625,
                "transform": {
                    "location": {
                        "x": 987.066162109375,
                        "y": 5173.1826171875,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012116755358874798,
                        "yaw": -89.9161605834961
                    }
                },
                "velocity": {
                    "x": 0.013240613974630833,
                    "y": -8.049854278564453,
                    "z": -0.0018701934022828937
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001358056179014966,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0010870433179661632,
                        "pitch": 0.005457320716232061,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.3837940286975936e-06,
                    "y": 8.510821317031514e-06,
                    "z": 0.00013553160533774644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004022705543320626,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": -0.034362681210041046,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 4.3163536247448064e-06,
                    "y": 1.3332720527614583e-06,
                    "z": 0.00040224517579190433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.000976560462731868,
                        "pitch": -0.039888303726911545,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5478246808052063,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.766487037416663,
            0.7283623126332335
        ],
        "target_point_next": [
            42.766101553127825,
            0.8430413282682869
        ]
    },
    "430": {
        "acceleration": [
            -0.011458481661975384,
            -0.003237426280975342,
            0.00037860823795199394
        ],
        "angular_velocity": [
            0.008450329303741455,
            0.05459524691104889,
            1.4025242328643799
        ],
        "forward_vector": [
            0.005112104583531618,
            0.9999868869781494,
            -0.00039041039417497814
        ],
        "right_vector": [
            -0.9999869465827942,
            0.005112106446176767,
            3.1957749797584256e-06
        ],
        "location": [
            984.4277954101562,
            5214.68798828125,
            371.6214294433594
        ],
        "rotation": [
            -0.00018310443556401879,
            -0.022368868812918663,
            89.70709991455078
        ],
        "velocity": [
            -0.0005921645206399262,
            0.04323743283748627,
            -0.0009621334029361606
        ],
        "speed": 0.04324148768481076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.430193901062012,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.30921685695648193,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.7041015625,
                        "z": 371.62945556640625
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.007786415051668882,
                        "yaw": 90.10218048095703
                    }
                },
                "velocity": {
                    "x": -0.0005017464864067733,
                    "y": 0.3091476857662201,
                    "z": 0.006520623806864023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021821022033691,
                "transform": {
                    "location": {
                        "x": 986.9764404296875,
                        "y": 5222.890625,
                        "z": 371.6121826171875
                    },
                    "rotation": {
                        "roll": 0.0009144725045189261,
                        "pitch": 0.02063400112092495,
                        "yaw": -89.8939208984375
                    }
                },
                "velocity": {
                    "x": 0.015100769698619843,
                    "y": -8.021806716918945,
                    "z": 0.0017341232160106301
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048778533935547,
                "transform": {
                    "location": {
                        "x": 987.0696411132812,
                        "y": 5171.17041015625,
                        "z": 371.6299133300781
                    },
                    "rotation": {
                        "roll": -0.00018310609448235482,
                        "pitch": -0.012055283412337303,
                        "yaw": -89.88347625732422
                    }
                },
                "velocity": {
                    "x": 0.01379368081688881,
                    "y": -8.048766136169434,
                    "z": -0.00248095509596169
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001167528607766144,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0005561907892115414,
                        "pitch": 0.005962754599750042,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -8.787545993982349e-06,
                    "y": 5.412252903624903e-06,
                    "z": 0.00011629582149907947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007319276919588447,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": 6.56171832815744e-05,
                        "pitch": -0.034424152225255966,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 1.212112806570076e-06,
                    "y": -1.1518643532326678e-06,
                    "z": 0.0007319257711060345
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.200180385145359e-05,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.000549315067473799,
                        "pitch": -0.039642415940761566,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": -2.05866285796219e-06,
                    "y": 2.730037067522062e-06,
                    "z": 5.188927025301382e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5511398315429688,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.755934543530973,
            0.7212583590417616
        ],
        "target_point_next": [
            42.755578453062206,
            0.8317603779480783
        ]
    },
    "435": {
        "acceleration": [
            0.036256663501262665,
            1.3977470397949219,
            -0.0016559590585529804
        ],
        "angular_velocity": [
            0.4807665944099426,
            -0.042944230139255524,
            0.03379438817501068
        ],
        "forward_vector": [
            0.0051271249540150166,
            0.9999867677688599,
            -0.0002471208281349391
        ],
        "right_vector": [
            -0.9999868273735046,
            0.005127118434756994,
            -2.799000321829226e-05
        ],
        "location": [
            984.4277954101562,
            5214.69970703125,
            371.62139892578125
        ],
        "rotation": [
            0.00160370918456465,
            -0.014158980920910835,
            89.70623779296875
        ],
        "velocity": [
            0.0017542227869853377,
            0.11552245914936066,
            -0.0012668895069509745
        ],
        "speed": 0.11553577742631102,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.418951988220215,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1043553352355957,
                "transform": {
                    "location": {
                        "x": 984.0068359375,
                        "y": 5150.07568359375,
                        "z": 371.6307678222656
                    },
                    "rotation": {
                        "roll": -0.00012206992687424645,
                        "pitch": -0.12896762788295746,
                        "yaw": 90.10868835449219
                    }
                },
                "velocity": {
                    "x": -0.0033700030762702227,
                    "y": 2.1043519973754883,
                    "z": -0.0015748023288324475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073040962219238,
                "transform": {
                    "location": {
                        "x": 986.9801635742188,
                        "y": 5220.87841796875,
                        "z": 371.6129150390625
                    },
                    "rotation": {
                        "roll": 0.0013205636059865355,
                        "pitch": 0.021460453048348427,
                        "yaw": -89.8969955444336
                    }
                },
                "velocity": {
                    "x": 0.014563579112291336,
                    "y": -8.073027610778809,
                    "z": 0.002677011536434293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050938606262207,
                "transform": {
                    "location": {
                        "x": 987.0731811523438,
                        "y": 5169.1572265625,
                        "z": 371.6294860839844
                    },
                    "rotation": {
                        "roll": -0.0010681153507903218,
                        "pitch": -0.011870868504047394,
                        "yaw": -89.91154479980469
                    }
                },
                "velocity": {
                    "x": 0.014797338284552097,
                    "y": -8.050925254821777,
                    "z": -0.0017586039612069726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5131708096305374e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.000686116109136492,
                        "pitch": 0.005996905732899904,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 9.361856427858584e-06,
                    "y": 1.1762491340050474e-05,
                    "z": -1.7228020396942156e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003670824517030269,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0003662089293356985,
                        "pitch": -0.034362681210041046,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": 1.5623710396539536e-06,
                    "y": 1.2298439742153278e-06,
                    "z": 0.0003670770674943924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.171693995478563e-05,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": -1.1537033515196526e-06,
                    "y": 1.4255940641305642e-06,
                    "z": -2.163936551369261e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.530124843120575,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.744207519967063,
            0.7215107854329367
        ],
        "target_point_next": [
            42.743850137465486,
            0.8321997203376936
        ]
    },
    "440": {
        "acceleration": [
            0.05777692422270775,
            1.0089802742004395,
            -0.0013187387958168983
        ],
        "angular_velocity": [
            0.02256500907242298,
            -0.09908173978328705,
            1.070961356163025
        ],
        "forward_vector": [
            0.005008031614124775,
            0.999986469745636,
            0.0014071459881961346
        ],
        "right_vector": [
            -0.9999874830245972,
            0.0050080702640116215,
            -2.3690225134487264e-05
        ],
        "location": [
            984.4282836914062,
            5214.79443359375,
            371.62103271484375
        ],
        "rotation": [
            0.0013573513133451343,
            0.0806235522031784,
            89.71305847167969
        ],
        "velocity": [
            0.004604591056704521,
            0.4766329824924469,
            -0.0018953322432935238
        ],
        "speed": 0.4766552236768676,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.328256607055664,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1417603492736816,
                "transform": {
                    "location": {
                        "x": 984.005859375,
                        "y": 5150.64453125,
                        "z": 371.62982177734375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.015163019299507141,
                        "yaw": 90.10771942138672
                    }
                },
                "velocity": {
                    "x": -0.003667058888822794,
                    "y": 2.141757011413574,
                    "z": -0.0009040260338224471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020710945129395,
                "transform": {
                    "location": {
                        "x": 986.9837036132812,
                        "y": 5218.8671875,
                        "z": 371.61358642578125
                    },
                    "rotation": {
                        "roll": 0.00018669127894099802,
                        "pitch": 0.019472869113087654,
                        "yaw": -89.89686584472656
                    }
                },
                "velocity": {
                    "x": 0.014396126382052898,
                    "y": -8.020698547363281,
                    "z": 0.0018332862528041005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048991203308105,
                "transform": {
                    "location": {
                        "x": 987.0768432617188,
                        "y": 5167.14501953125,
                        "z": 371.6290588378906
                    },
                    "rotation": {
                        "roll": 4.498153032272967e-07,
                        "pitch": -0.012267018668353558,
                        "yaw": -89.88066864013672
                    }
                },
                "velocity": {
                    "x": 0.01430180761963129,
                    "y": -8.048978805541992,
                    "z": -0.0019268321339040995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.327955932443729e-06,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0006416368996724486,
                        "pitch": 0.005887622945010662,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -7.610098009536159e-07,
                    "y": -3.358290996402502e-07,
                    "z": -5.262622835289221e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008555281674489379,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0004577644867822528,
                        "pitch": -0.03438999876379967,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -6.766898422938539e-06,
                    "y": 1.70896760209871e-06,
                    "z": 0.0008554997039027512
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.430635504424572e-05,
                "transform": {
                    "location": {
                        "x": 983.78125,
                        "y": 5259.6767578125,
                        "z": 371.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0008544941665604711,
                        "pitch": -0.039826832711696625,
                        "yaw": 90.82711791992188
                    }
                },
                "velocity": {
                    "x": 1.8872253349400125e-05,
                    "y": 2.9893590181018226e-07,
                    "z": 1.5314944903366268e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5581578016281128,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.649564321829217,
            0.7183804530059854
        ],
        "target_point_next": [
            42.649219839221395,
            0.8271887834053627
        ]
    },
    "445": {
        "acceleration": [
            0.027155913412570953,
            0.25177836418151855,
            -0.009021377190947533
        ],
        "angular_velocity": [
            -0.08833195269107819,
            0.027360079810023308,
            -1.8002567291259766
        ],
        "forward_vector": [
            0.006735105533152819,
            0.9999764561653137,
            0.0012822146527469158
        ],
        "right_vector": [
            -0.9999772310256958,
            0.0067354291677474976,
            -0.00024830628535710275
        ],
        "location": [
            984.4310913085938,
            5214.9375,
            371.6210021972656
        ],
        "rotation": [
            0.014226914383471012,
            0.0734655112028122,
            89.61410522460938
        ],
        "velocity": [
            0.01942288875579834,
            0.65782231092453,
            -0.0017312240088358521
        ],
        "speed": 0.6581089889658924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.1920166015625,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021050656214356422,
                "transform": {
                    "location": {
                        "x": 984.00537109375,
                        "y": 5151.017578125,
                        "z": 371.6282043457031
                    },
                    "rotation": {
                        "roll": 0.0004448851977940649,
                        "pitch": 0.1902070939540863,
                        "yaw": 90.13170623779297
                    }
                },
                "velocity": {
                    "x": -0.00011943242134293541,
                    "y": 0.0019236129010096192,
                    "z": 0.0008466109284199774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074227333068848,
                "transform": {
                    "location": {
                        "x": 986.9873046875,
                        "y": 5216.85498046875,
                        "z": 371.6142578125
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.019677773118019104,
                        "yaw": -89.89685821533203
                    }
                },
                "velocity": {
                    "x": 0.01454867236316204,
                    "y": -8.074213981628418,
                    "z": 0.0024479865096509457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049983978271484,
                "transform": {
                    "location": {
                        "x": 987.0804443359375,
                        "y": 5165.1328125,
                        "z": 371.6285705566406
                    },
                    "rotation": {
                        "roll": -0.00042724530794657767,
                        "pitch": -0.011993811465799809,
                        "yaw": -89.9104232788086
                    }
                },
                "velocity": {
                    "x": 0.014975075609982014,
                    "y": -8.049969673156738,
                    "z": -0.0027941034641116858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012137582234572619,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0004923862288706005,
                        "pitch": 0.005969584919512272,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.5841127353487536e-06,
                    "y": 9.218117043019447e-07,
                    "z": -0.00012134481221437454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005871744942851365,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0004577644867822528,
                        "pitch": -0.03430120646953583,
                        "yaw": 90.46971893310547
                    }
                },
                "velocity": {
                    "x": -2.313747063453775e-05,
                    "y": -1.5691621229052544e-06,
                    "z": 0.0005867163417860866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5119534134864807,
                "transform": {
                    "location": {
                        "x": 983.7807006835938,
                        "y": 5259.72607421875,
                        "z": 371.5984802246094
                    },
                    "rotation": {
                        "roll": -0.0008544940501451492,
                        "pitch": -0.03052411414682865,
                        "yaw": 90.83135986328125
                    }
                },
                "velocity": {
                    "x": -0.006733160465955734,
                    "y": 0.5119087100028992,
                    "z": -0.0006547164521180093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5471418499946594,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.505210906456238,
            0.7659329173135673
        ],
        "target_point_next": [
            42.504656263396896,
            0.9021834154867755
        ]
    },
    "450": {
        "acceleration": [
            0.32978391647338867,
            0.8441674709320068,
            0.011603737249970436
        ],
        "angular_velocity": [
            -0.04399159178137779,
            -0.19237153232097626,
            -2.0693678855895996
        ],
        "forward_vector": [
            0.012621011584997177,
            0.9999194145202637,
            0.001376985921524465
        ],
        "right_vector": [
            -0.9999200701713562,
            0.012622106820344925,
            -0.0007896040333434939
        ],
        "location": [
            984.4408569335938,
            5215.13427734375,
            371.6208801269531
        ],
        "rotation": [
            0.04524102434515953,
            0.07889550924301147,
            89.27684783935547
        ],
        "velocity": [
            0.07026363909244537,
            0.8902022242546082,
            -0.001451358781196177
        ],
        "speed": 0.8929708724512604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.006684303283691,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9020379781723022,
                "transform": {
                    "location": {
                        "x": 984.00537109375,
                        "y": 5151.1494140625,
                        "z": 371.629638671875
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": 0.02303822711110115,
                        "yaw": 90.1444320678711
                    }
                },
                "velocity": {
                    "x": -0.0016817019786685705,
                    "y": 0.9020357131958008,
                    "z": 0.001141357352025807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020328521728516,
                "transform": {
                    "location": {
                        "x": 986.990966796875,
                        "y": 5214.84375,
                        "z": 371.6148986816406
                    },
                    "rotation": {
                        "roll": 0.00022303670994006097,
                        "pitch": 0.019233811646699905,
                        "yaw": -89.89696502685547
                    }
                },
                "velocity": {
                    "x": 0.014419338665902615,
                    "y": -8.020315170288086,
                    "z": 0.0027309702709317207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049683570861816,
                "transform": {
                    "location": {
                        "x": 987.0841064453125,
                        "y": 5163.1201171875,
                        "z": 371.6281433105469
                    },
                    "rotation": {
                        "roll": 0.0004610527539625764,
                        "pitch": -0.012328490614891052,
                        "yaw": -89.8807601928711
                    }
                },
                "velocity": {
                    "x": 0.014011364430189133,
                    "y": -8.049671173095703,
                    "z": -0.0018717765342444181
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.370388367329724e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 3.213115269318223e-05,
                        "pitch": 0.0064340378157794476,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.2795737347914837e-05,
                    "y": 9.952672144208918e-07,
                    "z": 3.116456718998961e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004269942583050579,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": -0.03384358435869217,
                        "yaw": 90.4697265625
                    }
                },
                "velocity": {
                    "x": 1.0152860340895131e-05,
                    "y": 1.48198103033792e-06,
                    "z": 0.00042687097447924316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5090992450714111,
                "transform": {
                    "location": {
                        "x": 983.7799682617188,
                        "y": 5259.77880859375,
                        "z": 371.5984802246094
                    },
                    "rotation": {
                        "roll": -0.00015258704661391675,
                        "pitch": -0.03332449123263359,
                        "yaw": 90.81653594970703
                    }
                },
                "velocity": {
                    "x": -0.005351250059902668,
                    "y": 0.5090667605400085,
                    "z": -0.002113456605002284
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5747734904289246,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.303359664171186,
            0.9291813909111961
        ],
        "target_point_next": [
            42.30172616247743,
            1.1595838949227564
        ]
    },
    "455": {
        "acceleration": [
            0.06284400820732117,
            0.9479761123657227,
            0.002861213870346546
        ],
        "angular_velocity": [
            0.05456538498401642,
            0.11993984878063202,
            -3.3384294509887695
        ],
        "forward_vector": [
            0.026002388447523117,
            0.9996609091758728,
            0.0013713832013309002
        ],
        "right_vector": [
            -0.9996610879898071,
            0.026004046201705933,
            -0.0012049616780132055
        ],
        "location": [
            984.464111328125,
            5215.38525390625,
            371.6208190917969
        ],
        "rotation": [
            0.06903930753469467,
            0.07857449352741241,
            88.51000213623047
        ],
        "velocity": [
            0.12698574364185333,
            1.1139932870864868,
            -0.0016250705812126398
        ],
        "speed": 1.1212075734501754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.77425479888916,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5816004276275635,
                "transform": {
                    "location": {
                        "x": 984.0043334960938,
                        "y": 5151.470703125,
                        "z": 371.63031005859375
                    },
                    "rotation": {
                        "roll": 0.00019261770648881793,
                        "pitch": -0.04571445286273956,
                        "yaw": 90.11632537841797
                    }
                },
                "velocity": {
                    "x": -0.002325804438441992,
                    "y": 1.581598162651062,
                    "z": 0.001335906912572682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07287883758545,
                "transform": {
                    "location": {
                        "x": 986.9947509765625,
                        "y": 5212.83154296875,
                        "z": 371.6155700683594
                    },
                    "rotation": {
                        "roll": 0.00034926930675283074,
                        "pitch": 0.019698264077305794,
                        "yaw": -89.89311218261719
                    }
                },
                "velocity": {
                    "x": 0.01502901315689087,
                    "y": -8.072864532470703,
                    "z": 0.0017372131114825606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049453735351562,
                "transform": {
                    "location": {
                        "x": 987.087646484375,
                        "y": 5161.10791015625,
                        "z": 371.6276550292969
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": -0.012451434507966042,
                        "yaw": -89.91159057617188
                    }
                },
                "velocity": {
                    "x": 0.014541493728756905,
                    "y": -8.049440383911133,
                    "z": -0.002474336652085185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.903322279569693e-06,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.000497033994179219,
                        "pitch": 0.005976415239274502,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 3.6736760193889495e-06,
                    "y": -7.446936365340662e-07,
                    "z": 9.16653334570583e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011503743007779121,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.1787109375,
                        "z": 371.6033020019531
                    },
                    "rotation": {
                        "roll": -0.0012817378155887127,
                        "pitch": -0.03387090563774109,
                        "yaw": 90.4697265625
                    }
                },
                "velocity": {
                    "x": 1.4472705515800044e-05,
                    "y": 1.774383690644754e-06,
                    "z": 0.0011502818670123816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4467240571975708,
                "transform": {
                    "location": {
                        "x": 983.779296875,
                        "y": 5259.8505859375,
                        "z": 371.5984191894531
                    },
                    "rotation": {
                        "roll": -0.0014953614445403218,
                        "pitch": -0.03848128393292427,
                        "yaw": 90.82524871826172
                    }
                },
                "velocity": {
                    "x": -0.004676945507526398,
                    "y": 0.44669708609580994,
                    "z": -0.0014832495944574475
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.652412474155426,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            26.0370632648556,
            1.2980241770606227
        ],
        "target_point_next": [
            42.03091035632455,
            1.742626406803872
        ]
    },
    "460": {
        "acceleration": [
            0.33680200576782227,
            0.8622145652770996,
            -0.012232206761837006
        ],
        "angular_velocity": [
            -0.04003322869539261,
            -0.06950448453426361,
            -4.623575210571289
        ],
        "forward_vector": [
            0.04390738531947136,
            0.9990346431732178,
            0.001384138478897512
        ],
        "right_vector": [
            -0.9990348219871521,
            0.04390905052423477,
            -0.0011952539207413793
        ],
        "location": [
            984.4996948242188,
            5215.69189453125,
            371.6206970214844
        ],
        "rotation": [
            0.06848308444023132,
            0.07930532097816467,
            87.48348236083984
        ],
        "velocity": [
            0.18488092720508575,
            1.3248149156570435,
            -0.002112283604219556
        ],
        "speed": 1.3376529886303068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.493907928466797,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4306638240814209,
                "transform": {
                    "location": {
                        "x": 984.005126953125,
                        "y": 5151.61767578125,
                        "z": 371.62921142578125
                    },
                    "rotation": {
                        "roll": -0.00042724423110485077,
                        "pitch": 0.09506940096616745,
                        "yaw": 90.26740264892578
                    }
                },
                "velocity": {
                    "x": 0.001449701958335936,
                    "y": 0.4306599795818329,
                    "z": 0.0011069488245993853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020344734191895,
                "transform": {
                    "location": {
                        "x": 986.9984130859375,
                        "y": 5210.8203125,
                        "z": 371.6162414550781
                    },
                    "rotation": {
                        "roll": 0.00014064837887417525,
                        "pitch": 0.019500188529491425,
                        "yaw": -89.89302825927734
                    }
                },
                "velocity": {
                    "x": 0.014962681569159031,
                    "y": -8.020330429077148,
                    "z": 0.002247028285637498
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049991607666016,
                "transform": {
                    "location": {
                        "x": 987.0912475585938,
                        "y": 5159.09521484375,
                        "z": 371.6272277832031
                    },
                    "rotation": {
                        "roll": -0.0004272457445040345,
                        "pitch": -0.011993811465799809,
                        "yaw": -89.88142395019531
                    }
                },
                "velocity": {
                    "x": 0.01397802121937275,
                    "y": -8.049979209899902,
                    "z": -0.001820573816075921
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00032242207089439034,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.006085698027163744,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 3.576636572688585e-06,
                    "y": 9.925496669893619e-06,
                    "z": 0.000322249426972121
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08253978192806244,
                "transform": {
                    "location": {
                        "x": 983.7742919921875,
                        "y": 5249.181640625,
                        "z": 371.603271484375
                    },
                    "rotation": {
                        "roll": 6.475840928032994e-05,
                        "pitch": -0.03292834013700485,
                        "yaw": 90.46953582763672
                    }
                },
                "velocity": {
                    "x": -0.0005573045928031206,
                    "y": 0.08253765106201172,
                    "z": 0.0002014732308452949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2209385633468628,
                "transform": {
                    "location": {
                        "x": 983.7770385742188,
                        "y": 5260.05419921875,
                        "z": 371.59814453125
                    },
                    "rotation": {
                        "roll": -0.0007019028416834772,
                        "pitch": -0.024014944210648537,
                        "yaw": 90.80370330810547
                    }
                },
                "velocity": {
                    "x": -0.012298068962991238,
                    "y": 1.2208753824234009,
                    "z": -0.0017518710810691118
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7233407497406006,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            25.701723692029777,
            1.7863491527259376
        ],
        "target_point_next": [
            41.68503910830017,
            2.51740608073879
        ]
    },
    "465": {
        "acceleration": [
            0.19468426704406738,
            0.5678200721740723,
            0.0002313614822924137
        ],
        "angular_velocity": [
            -0.04644334688782692,
            0.054713521152734756,
            -5.725801944732666
        ],
        "forward_vector": [
            0.06644503027200699,
            0.9977893829345703,
            0.0012090201489627361
        ],
        "right_vector": [
            -0.9977887868881226,
            0.06644686311483383,
            -0.0015513058751821518
        ],
        "location": [
            984.5504760742188,
            5216.046875,
            371.62060546875
        ],
        "rotation": [
            0.08888337761163712,
            0.06927177309989929,
            86.19017028808594
        ],
        "velocity": [
            0.2577889859676361,
            1.498708963394165,
            -0.001302957534790039
        ],
        "speed": 1.5207181587145708,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.174840927124023,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2394413948059082,
                "transform": {
                    "location": {
                        "x": 984.0050659179688,
                        "y": 5151.8330078125,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -0.0006408689660020173,
                        "pitch": -0.03850860521197319,
                        "yaw": 90.2551498413086
                    }
                },
                "velocity": {
                    "x": -0.0010879363398998976,
                    "y": 1.2394400835037231,
                    "z": 0.001414718572050333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074127197265625,
                "transform": {
                    "location": {
                        "x": 987.0022583007812,
                        "y": 5208.80810546875,
                        "z": 371.6169128417969
                    },
                    "rotation": {
                        "roll": 0.0005900143296457827,
                        "pitch": 0.020094415172934532,
                        "yaw": -89.89263153076172
                    }
                },
                "velocity": {
                    "x": 0.015065851621329784,
                    "y": -8.074112892150879,
                    "z": 0.001909713726490736
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049567222595215,
                "transform": {
                    "location": {
                        "x": 987.0946655273438,
                        "y": 5157.0830078125,
                        "z": 371.6267395019531
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": -0.011932339519262314,
                        "yaw": -89.91374969482422
                    }
                },
                "velocity": {
                    "x": 0.014458717778325081,
                    "y": -8.049553871154785,
                    "z": -0.002003040164709091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.006010565906763077,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.487000048160553,
                "transform": {
                    "location": {
                        "x": 983.7738647460938,
                        "y": 5249.24853515625,
                        "z": 371.6031799316406
                    },
                    "rotation": {
                        "roll": -0.0011291515547782183,
                        "pitch": -0.02294943481683731,
                        "yaw": 90.48540496826172
                    }
                },
                "velocity": {
                    "x": -0.0033966973423957825,
                    "y": 0.486987441778183,
                    "z": -0.0008597183041274548
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7303099036216736,
                "transform": {
                    "location": {
                        "x": 983.7731323242188,
                        "y": 5260.41162109375,
                        "z": 371.5979919433594
                    },
                    "rotation": {
                        "roll": -0.0008850115700624883,
                        "pitch": -0.03695815056562424,
                        "yaw": 90.7660903930664
                    }
                },
                "velocity": {
                    "x": -0.00752825615927577,
                    "y": 0.7302708029747009,
                    "z": -0.0006606292445212603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8131747841835022,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            25.297287657197312,
            2.3930736887791104
        ],
        "target_point_next": [
            41.260031214908395,
            3.484693603738429
        ]
    },
    "470": {
        "acceleration": [
            0.5039161443710327,
            0.6040644645690918,
            -0.010038567706942558
        ],
        "angular_velocity": [
            -0.03931243345141411,
            -0.15187741816043854,
            -7.2250657081604
        ],
        "forward_vector": [
            0.09526141732931137,
            0.995451807975769,
            0.0009567735251039267
        ],
        "right_vector": [
            -0.9954504370689392,
            0.0952630490064621,
            -0.0018274035537615418
        ],
        "location": [
            984.6213989257812,
            5216.43994140625,
            371.6205749511719
        ],
        "rotation": [
            0.10470262169837952,
            0.05481909587979317,
            84.53363037109375
        ],
        "velocity": [
            0.35256022214889526,
            1.638920545578003,
            -0.0022631168831139803
        ],
        "speed": 1.676412617752377,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.830292701721191,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9606192708015442,
                "transform": {
                    "location": {
                        "x": 984.0051879882812,
                        "y": 5151.9775390625,
                        "z": 371.63006591796875
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.004214226268231869,
                        "yaw": 90.28216552734375
                    }
                },
                "velocity": {
                    "x": -0.0016574835171923041,
                    "y": 0.960617184638977,
                    "z": 0.0011230659438297153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019903182983398,
                "transform": {
                    "location": {
                        "x": 987.0059814453125,
                        "y": 5206.796875,
                        "z": 371.6175842285156
                    },
                    "rotation": {
                        "roll": -0.0005798332276754081,
                        "pitch": 0.01813415065407753,
                        "yaw": -89.89309692382812
                    }
                },
                "velocity": {
                    "x": 0.014915312640368938,
                    "y": -8.019888877868652,
                    "z": 0.002062625950202346
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049833297729492,
                "transform": {
                    "location": {
                        "x": 987.0982055664062,
                        "y": 5155.0703125,
                        "z": 371.6263122558594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": -0.012178226374089718,
                        "yaw": -89.88448333740234
                    }
                },
                "velocity": {
                    "x": 0.013574089854955673,
                    "y": -8.049821853637695,
                    "z": -0.0017396449111402035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001176123259938322,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.006119849160313606,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 3.295941496617161e-05,
                    "y": 2.2833855837234296e-06,
                    "z": 0.00011287657980574295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.017914891242981,
                "transform": {
                    "location": {
                        "x": 983.7723388671875,
                        "y": 5249.42919921875,
                        "z": 371.60302734375
                    },
                    "rotation": {
                        "roll": -0.0008239741437137127,
                        "pitch": -0.017512604594230652,
                        "yaw": 90.43901824951172
                    }
                },
                "velocity": {
                    "x": -0.006447033025324345,
                    "y": 1.0178924798965454,
                    "z": -0.002002572873607278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5121148824691772,
                "transform": {
                    "location": {
                        "x": 983.7724609375,
                        "y": 5260.470703125,
                        "z": 371.5981140136719
                    },
                    "rotation": {
                        "roll": -0.0006713881157338619,
                        "pitch": -0.047394681721925735,
                        "yaw": 90.76710510253906
                    }
                },
                "velocity": {
                    "x": -0.0053382921032607555,
                    "y": 0.5120846629142761,
                    "z": -0.001569881453178823
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9478412866592407,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            24.819498907172797,
            3.1565426097816296
        ],
        "target_point_next": [
            40.74401353768549,
            4.709169322990403
        ]
    },
    "475": {
        "acceleration": [
            0.08390665054321289,
            -0.22701740264892578,
            -0.0031908019445836544
        ],
        "angular_velocity": [
            -0.19991429150104523,
            0.2346002757549286,
            -8.21259880065918
        ],
        "forward_vector": [
            0.12924161553382874,
            0.99161297082901,
            0.0005905627622269094
        ],
        "right_vector": [
            -0.9916105270385742,
            0.12924262881278992,
            -0.002218065317720175
        ],
        "location": [
            984.7150268554688,
            5216.86279296875,
            371.62054443359375
        ],
        "rotation": [
            0.12708590924739838,
            0.03383675590157509,
            82.57422637939453
        ],
        "velocity": [
            0.4436485171318054,
            1.6968542337417603,
            -0.0017045973800122738
        ],
        "speed": 1.753892327744376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.471613883972168,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7360055446624756,
                "transform": {
                    "location": {
                        "x": 984.00390625,
                        "y": 5152.13427734375,
                        "z": 371.6298828125
                    },
                    "rotation": {
                        "roll": -0.00173950067255646,
                        "pitch": 0.03149399906396866,
                        "yaw": 90.14827728271484
                    }
                },
                "velocity": {
                    "x": 0.0021840266417711973,
                    "y": 0.7360010147094727,
                    "z": 0.0013647841988131404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073373794555664,
                "transform": {
                    "location": {
                        "x": 987.009765625,
                        "y": 5204.78466796875,
                        "z": 371.61822509765625
                    },
                    "rotation": {
                        "roll": -0.0005493158241733909,
                        "pitch": 0.019930491223931313,
                        "yaw": -89.89302825927734
                    }
                },
                "velocity": {
                    "x": 0.015039896592497826,
                    "y": -8.073359489440918,
                    "z": 0.002367429668083787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050704956054688,
                "transform": {
                    "location": {
                        "x": 987.1016235351562,
                        "y": 5153.05810546875,
                        "z": 371.6257629394531
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.016330981627106667,
                        "yaw": -89.9137191772461
                    }
                },
                "velocity": {
                    "x": 0.014459761790931225,
                    "y": -8.050691604614258,
                    "z": -0.0015940284356474876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.756223153090104e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.006270113401114941,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -6.566783213202143e-06,
                    "y": 6.991708687564824e-06,
                    "z": -9.708956349641085e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5504084825515747,
                "transform": {
                    "location": {
                        "x": 983.7705078125,
                        "y": 5249.751953125,
                        "z": 371.6028137207031
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": -0.0143160754814744,
                        "yaw": 90.47432708740234
                    }
                },
                "velocity": {
                    "x": -0.010206785053014755,
                    "y": 1.5503736734390259,
                    "z": -0.0019349574577063322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.253645420074463,
                "transform": {
                    "location": {
                        "x": 983.7698974609375,
                        "y": 5260.69873046875,
                        "z": 371.59771728515625
                    },
                    "rotation": {
                        "roll": -0.0006713863112963736,
                        "pitch": -0.024807246401906013,
                        "yaw": 90.70697021484375
                    }
                },
                "velocity": {
                    "x": -0.01164467167109251,
                    "y": 1.2535901069641113,
                    "z": -0.00177990912925452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0008505582809448,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            24.265657573040826,
            4.041484974282019
        ],
        "target_point_next": [
            40.12777624957696,
            6.137673663180472
        ]
    },
    "480": {
        "acceleration": [
            0.327991247177124,
            -0.384061336517334,
            0.00592841999605298
        ],
        "angular_velocity": [
            -0.1743614375591278,
            -0.028775451704859734,
            -8.32457447052002
        ],
        "forward_vector": [
            0.16494880616664886,
            0.9863020777702332,
            -0.00041282176971435547
        ],
        "right_vector": [
            -0.9863005876541138,
            0.16494780778884888,
            -0.001815805328078568
        ],
        "location": [
            984.8248291015625,
            5217.27587890625,
            371.6205749511719
        ],
        "rotation": [
            0.1040380522608757,
            -0.023652944713830948,
            80.5057373046875
        ],
        "velocity": [
            0.4920586049556732,
            1.5995409488677979,
            -0.001275615650229156
        ],
        "speed": 1.6735151382093376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.13573169708252,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6285126805305481,
                "transform": {
                    "location": {
                        "x": 984.004638671875,
                        "y": 5152.2431640625,
                        "z": 371.6300354003906
                    },
                    "rotation": {
                        "roll": 0.00041445958777330816,
                        "pitch": 0.019732415676116943,
                        "yaw": 90.25042724609375
                    }
                },
                "velocity": {
                    "x": 0.00025279654073528945,
                    "y": 0.6285098791122437,
                    "z": 0.0018572902772575617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021116256713867,
                "transform": {
                    "location": {
                        "x": 987.0134887695312,
                        "y": 5202.7734375,
                        "z": 371.618896484375
                    },
                    "rotation": {
                        "roll": -6.103565101511776e-05,
                        "pitch": 0.019616302102804184,
                        "yaw": -89.89301300048828
                    }
                },
                "velocity": {
                    "x": 0.014982905238866806,
                    "y": -8.021102905273438,
                    "z": 0.0015472412342205644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05009937286377,
                "transform": {
                    "location": {
                        "x": 987.1053466796875,
                        "y": 5151.04541015625,
                        "z": 371.6251525878906
                    },
                    "rotation": {
                        "roll": -0.0010375984711572528,
                        "pitch": -0.01779264211654663,
                        "yaw": -89.87567138671875
                    }
                },
                "velocity": {
                    "x": 0.014688259921967983,
                    "y": -8.05008602142334,
                    "z": -0.001358899986371398
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033745786640793085,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": 0.0057510188780725,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.7438043364090845e-05,
                    "y": -2.924623004219029e-06,
                    "z": 0.00033536198316141963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.137258291244507,
                "transform": {
                    "location": {
                        "x": 983.7681274414062,
                        "y": 5250.2138671875,
                        "z": 371.6025390625
                    },
                    "rotation": {
                        "roll": -0.0008239741437137127,
                        "pitch": -0.015477207489311695,
                        "yaw": 90.5619888305664
                    }
                },
                "velocity": {
                    "x": -0.015251209028065205,
                    "y": 2.1372032165527344,
                    "z": -0.0018073939718306065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0972814559936523,
                "transform": {
                    "location": {
                        "x": 983.7655029296875,
                        "y": 5261.12158203125,
                        "z": 371.5973815917969
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": -0.02078426443040371,
                        "yaw": 90.65812683105469
                    }
                },
                "velocity": {
                    "x": -0.020398374646902084,
                    "y": 2.097181558609009,
                    "z": -0.0016131686279550195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0005595684051514,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            23.678434713568347,
            4.954850244113675
        ],
        "target_point_next": [
            39.454558486633175,
            7.622196233092428
        ]
    },
    "485": {
        "acceleration": [
            -0.08885741233825684,
            -0.30137062072753906,
            0.003964805509895086
        ],
        "angular_velocity": [
            0.01448716688901186,
            0.263203889131546,
            -7.484380722045898
        ],
        "forward_vector": [
            0.19882524013519287,
            0.9800346493721008,
            -0.0007840393809601665
        ],
        "right_vector": [
            -0.9800341129302979,
            0.1988239586353302,
            -0.0014738304307684302
        ],
        "location": [
            984.9432373046875,
            5217.6650390625,
            371.62054443359375
        ],
        "rotation": [
            0.0844443216919899,
            -0.044922150671482086,
            78.53172302246094
        ],
        "velocity": [
            0.5137910842895508,
            1.5142192840576172,
            -0.0015697383787482977
        ],
        "speed": 1.5990126073634927,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.834070682525635,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6079078316688538,
                "transform": {
                    "location": {
                        "x": 984.0050048828125,
                        "y": 5152.3427734375,
                        "z": 371.6300964355469
                    },
                    "rotation": {
                        "roll": 0.00038028525887057185,
                        "pitch": 0.012219207361340523,
                        "yaw": 90.28585815429688
                    }
                },
                "velocity": {
                    "x": -0.0027801916003227234,
                    "y": 0.6079004406929016,
                    "z": 0.0011145782191306353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073244094848633,
                "transform": {
                    "location": {
                        "x": 987.0172729492188,
                        "y": 5200.76123046875,
                        "z": 371.61956787109375
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": 0.019930491223931313,
                        "yaw": -89.89307403564453
                    }
                },
                "velocity": {
                    "x": 0.01504925824701786,
                    "y": -8.073229789733887,
                    "z": 0.0017900752136483788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04977798461914,
                "transform": {
                    "location": {
                        "x": 987.1090698242188,
                        "y": 5149.033203125,
                        "z": 371.6244812011719
                    },
                    "rotation": {
                        "roll": 4.991824607714079e-05,
                        "pitch": -0.017512604594230652,
                        "yaw": -89.90950775146484
                    }
                },
                "velocity": {
                    "x": 0.014046799391508102,
                    "y": -8.049764633178711,
                    "z": -0.002007656032219529
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004227934987284243,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0008808117127045989,
                        "pitch": 0.00574418855831027,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.587623410159722e-05,
                    "y": 1.3776006824173237e-07,
                    "z": -0.0004224953008815646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8087012767791748,
                "transform": {
                    "location": {
                        "x": 983.766357421875,
                        "y": 5250.72314453125,
                        "z": 371.6024475097656
                    },
                    "rotation": {
                        "roll": -0.0014343266375362873,
                        "pitch": -0.03857690468430519,
                        "yaw": 90.76483154296875
                    }
                },
                "velocity": {
                    "x": -0.012954389676451683,
                    "y": 1.8086544275283813,
                    "z": -0.0012878418201580644
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16746823489665985,
                "transform": {
                    "location": {
                        "x": 983.7615966796875,
                        "y": 5261.53857421875,
                        "z": 371.5975341796875
                    },
                    "rotation": {
                        "roll": -0.001800536410883069,
                        "pitch": -0.06741396337747574,
                        "yaw": 90.6868667602539
                    }
                },
                "velocity": {
                    "x": -0.002351967850700021,
                    "y": 0.16744595766067505,
                    "z": -0.001389036187902093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9991264343261719,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            23.088770419031714,
            5.806225608629053
        ],
        "target_point_next": [
            38.76365000112012,
            9.015425822858498
        ]
    },
    "490": {
        "acceleration": [
            0.17992258071899414,
            -0.09823083877563477,
            0.002824591938406229
        ],
        "angular_velocity": [
            0.018999001011252403,
            -0.06636617332696915,
            -6.451053142547607
        ],
        "forward_vector": [
            0.22833921015262604,
            0.9735813736915588,
            -0.0007046460523270071
        ],
        "right_vector": [
            -0.9735813736915588,
            0.22833861410617828,
            -0.0008451920584775507
        ],
        "location": [
            985.0667724609375,
            5218.03955078125,
            371.62042236328125
        ],
        "rotation": [
            0.04842595383524895,
            -0.04037324711680412,
            76.8006820678711
        ],
        "velocity": [
            0.5255095958709717,
            1.4763219356536865,
            -0.0014711188850924373
        ],
        "speed": 1.5670631107408277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.557617664337158,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4122563600540161,
                "transform": {
                    "location": {
                        "x": 984.0045776367188,
                        "y": 5152.45361328125,
                        "z": 371.6299133300781
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": 0.04086501896381378,
                        "yaw": 90.25945281982422
                    }
                },
                "velocity": {
                    "x": -0.00029393675504252315,
                    "y": 0.412253737449646,
                    "z": 0.0014457416255027056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021027565002441,
                "transform": {
                    "location": {
                        "x": 987.02099609375,
                        "y": 5198.74951171875,
                        "z": 371.6202392578125
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": 0.019063057377934456,
                        "yaw": -89.89306640625
                    }
                },
                "velocity": {
                    "x": 0.014985150657594204,
                    "y": -8.021013259887695,
                    "z": 0.001807365333661437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.093505859375,
                        "y": 5146.99267578125,
                        "z": 371.6240539550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004268977208994329,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0006645878893323243,
                        "pitch": 0.0059422641061246395,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.7922465960728005e-05,
                    "y": -8.811463885649573e-06,
                    "z": -0.0004258924163877964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2089663743972778,
                "transform": {
                    "location": {
                        "x": 983.7646484375,
                        "y": 5251.1767578125,
                        "z": 371.6022644042969
                    },
                    "rotation": {
                        "roll": 9.432699880562723e-05,
                        "pitch": -0.04391128197312355,
                        "yaw": 90.94168853759766
                    }
                },
                "velocity": {
                    "x": -0.00935911014676094,
                    "y": 1.2089290618896484,
                    "z": -0.0016449927352368832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7054008841514587,
                "transform": {
                    "location": {
                        "x": 983.7606811523438,
                        "y": 5261.62744140625,
                        "z": 371.5972595214844
                    },
                    "rotation": {
                        "roll": -0.0011291492264717817,
                        "pitch": -0.04568713158369064,
                        "yaw": 90.69438171386719
                    }
                },
                "velocity": {
                    "x": -0.008921963162720203,
                    "y": 0.7053419351577759,
                    "z": -0.0018823527498170733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0018483400344849,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            22.510019308686307,
            6.5357766781440105
        ],
        "target_point_next": [
            38.080805238689514,
            10.21700493105045
        ]
    },
    "495": {
        "acceleration": [
            -0.04190564155578613,
            0.025417804718017578,
            0.006191253196448088
        ],
        "angular_velocity": [
            0.07051099836826324,
            0.07576023042201996,
            -5.191220760345459
        ],
        "forward_vector": [
            0.25253382325172424,
            0.967587947845459,
            -0.0004943608655594289
        ],
        "right_vector": [
            -0.967587947845459,
            0.25253352522850037,
            -0.0005893760244362056
        ],
        "location": [
            985.1930541992188,
            5218.40869140625,
            371.6202697753906
        ],
        "rotation": [
            0.03376876562833786,
            -0.0283247921615839,
            75.37249755859375
        ],
        "velocity": [
            0.5319169163703918,
            1.4702898263931274,
            -0.0018301199888810515
        ],
        "speed": 1.5635497368219917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.298040390014648,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3825714588165283,
                "transform": {
                    "location": {
                        "x": 984.0056762695312,
                        "y": 5152.546875,
                        "z": 371.6300048828125
                    },
                    "rotation": {
                        "roll": 0.0006131579866632819,
                        "pitch": 0.03346109390258789,
                        "yaw": 90.3541030883789
                    }
                },
                "velocity": {
                    "x": -0.001995415659621358,
                    "y": 0.38256263732910156,
                    "z": 0.001662940951064229
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073558807373047,
                "transform": {
                    "location": {
                        "x": 987.0244140625,
                        "y": 5196.73779296875,
                        "z": 371.6208801269531
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": 0.019807547330856323,
                        "yaw": -89.90093231201172
                    }
                },
                "velocity": {
                    "x": 0.013975318521261215,
                    "y": -8.073546409606934,
                    "z": 0.0016150950687006116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0494995117188,
                        "y": 5144.90966796875,
                        "z": 371.6239318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2485091146081686e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00033718618215061724,
                        "pitch": 0.005955924745649099,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.787188375601545e-05,
                    "y": -1.6083551599876955e-05,
                    "z": 4.6654044126626104e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010561709059402347,
                "transform": {
                    "location": {
                        "x": 983.7648315429688,
                        "y": 5251.19873046875,
                        "z": 371.60247802734375
                    },
                    "rotation": {
                        "roll": -0.0016174319898709655,
                        "pitch": -0.07135498523712158,
                        "yaw": 90.97211456298828
                    }
                },
                "velocity": {
                    "x": 2.7549091100809164e-05,
                    "y": -8.296295709442347e-05,
                    "z": -0.001052547013387084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.434144377708435,
                "transform": {
                    "location": {
                        "x": 983.7581787109375,
                        "y": 5261.900390625,
                        "z": 371.59686279296875
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.024076415225863457,
                        "yaw": 90.74378967285156
                    }
                },
                "velocity": {
                    "x": -0.016468007117509842,
                    "y": 1.4340484142303467,
                    "z": -0.0019906710367649794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9930489659309387,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            21.95106350980452,
            7.12375103487576
        ],
        "target_point_next": [
            37.425262063882315,
            11.191919546252738
        ]
    },
    "500": {
        "acceleration": [
            0.16402959823608398,
            0.8860278129577637,
            -0.007216644007712603
        ],
        "angular_velocity": [
            0.2407921701669693,
            -0.04039052128791809,
            -2.967679262161255
        ],
        "forward_vector": [
            0.26960039138793945,
            0.9629722833633423,
            0.00013244152069091797
        ],
        "right_vector": [
            -0.9629722833633423,
            0.26960036158561707,
            0.0002402171230642125
        ],
        "location": [
            985.3214721679688,
            5218.7900390625,
            371.6199951171875
        ],
        "rotation": [
            -0.013763427734375,
            0.0075883399695158005,
            74.35951232910156
        ],
        "velocity": [
            0.534017026424408,
            1.6014269590377808,
            -0.0016920851776376367
        ],
        "speed": 1.6881180319053999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.04142951965332,
        "front_vehicle_info": {
            "id": 4844,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                981.4846801757812,
                5224.6943359375,
                371.62591552734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3725755512714386,
                "transform": {
                    "location": {
                        "x": 984.00537109375,
                        "y": 5152.6318359375,
                        "z": 371.6300354003906
                    },
                    "rotation": {
                        "roll": 0.0005224761553108692,
                        "pitch": 0.03084513172507286,
                        "yaw": 90.32219696044922
                    }
                },
                "velocity": {
                    "x": -0.00010352346725994721,
                    "y": 0.3725723922252655,
                    "z": 0.001528615946881473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021600723266602,
                "transform": {
                    "location": {
                        "x": 987.0279541015625,
                        "y": 5194.72607421875,
                        "z": 371.62158203125
                    },
                    "rotation": {
                        "roll": 3.9982289308682084e-05,
                        "pitch": 0.018905961886048317,
                        "yaw": -89.90145111083984
                    }
                },
                "velocity": {
                    "x": 0.013792269863188267,
                    "y": -8.021588325500488,
                    "z": 0.0022883606143295765
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0240478515625,
                        "y": 5142.82666015625,
                        "z": 371.62353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004964244435541332,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0008279482135549188,
                        "pitch": 0.00574418855831027,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.117601073019614e-06,
                    "y": -1.0625463801261503e-05,
                    "z": -0.0004963094834238291
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18293432891368866,
                "transform": {
                    "location": {
                        "x": 983.7646484375,
                        "y": 5251.21044921875,
                        "z": 371.6021423339844
                    },
                    "rotation": {
                        "roll": -0.00021362352708820254,
                        "pitch": -0.03363185003399849,
                        "yaw": 90.96540832519531
                    }
                },
                "velocity": {
                    "x": -0.0012726496206596494,
                    "y": 0.18292388319969177,
                    "z": -0.0014841270167380571
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2761662006378174,
                "transform": {
                    "location": {
                        "x": 983.753173828125,
                        "y": 5262.37060546875,
                        "z": 371.5965270996094
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.021207736805081367,
                        "yaw": 90.70735931396484
                    }
                },
                "velocity": {
                    "x": -0.022297408431768417,
                    "y": 2.2760560512542725,
                    "z": -0.0017984866863116622
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9692086577415466,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            21.419841472345226,
            7.531567619115528
        ],
        "target_point_next": [
            36.81969940614781,
            11.872672495374587
        ]
    },
    "505": {
        "acceleration": [
            0.2298283576965332,
            1.3569283485412598,
            0.0019889837130904198
        ],
        "angular_velocity": [
            0.25078073143959045,
            -0.0338108167052269,
            -1.523213505744934
        ],
        "forward_vector": [
            0.2786548435688019,
            0.960390567779541,
            0.001240014680661261
        ],
        "right_vector": [
            -0.9603913426399231,
            0.278654545545578,
            0.0003994738217443228
        ],
        "location": [
            985.4593505859375,
            5219.22607421875,
            371.61956787109375
        ],
        "rotation": [
            -0.02288818173110485,
            0.07104762643575668,
            73.82005310058594
        ],
        "velocity": [
            0.5913640856742859,
            1.8894366025924683,
            -0.002025346737354994
        ],
        "speed": 1.9798187182268867,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3587822914123535,
                "transform": {
                    "location": {
                        "x": 984.0054321289062,
                        "y": 5152.71630859375,
                        "z": 371.6300964355469
                    },
                    "rotation": {
                        "roll": 0.00011037693184334785,
                        "pitch": 0.029998188838362694,
                        "yaw": 90.33071899414062
                    }
                },
                "velocity": {
                    "x": 0.001261192257516086,
                    "y": 0.35877883434295654,
                    "z": 0.0009445285541005433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073278427124023,
                "transform": {
                    "location": {
                        "x": 987.0313720703125,
                        "y": 5192.71435546875,
                        "z": 371.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0006408697227016091,
                        "pitch": 0.014363886788487434,
                        "yaw": -89.9017562866211
                    }
                },
                "velocity": {
                    "x": 0.013827385380864143,
                    "y": -8.07326602935791,
                    "z": 0.002314720069989562
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4858,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0255737304688,
                        "y": 5140.7431640625,
                        "z": 371.62255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010895199375227094,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0006313163903541863,
                        "pitch": 0.005634905770421028,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 7.030935648799641e-06,
                    "y": 1.4093543541093823e-05,
                    "z": 0.00010780758020700887
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6403523683547974,
                "transform": {
                    "location": {
                        "x": 983.7638549804688,
                        "y": 5251.30615234375,
                        "z": 371.6018981933594
                    },
                    "rotation": {
                        "roll": -0.0006408697227016091,
                        "pitch": -0.019322603940963745,
                        "yaw": 90.96187591552734
                    }
                },
                "velocity": {
                    "x": -0.004862454254180193,
                    "y": 0.6403324604034424,
                    "z": -0.0013728904305025935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0207390785217285,
                "transform": {
                    "location": {
                        "x": 983.7474975585938,
                        "y": 5262.92236328125,
                        "z": 371.5962829589844
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04101528227329254,
                        "yaw": 90.66551971435547
                    }
                },
                "velocity": {
                    "x": -0.01932261325418949,
                    "y": 2.020646095275879,
                    "z": -0.0012994956923648715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29260849952697754,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            20.890795602543502,
            7.743820991174994
        ],
        "target_point_next": [
            36.24909836295105,
            12.22972694734932
        ]
    },
    "510": {
        "acceleration": [
            0.4578375816345215,
            1.9080543518066406,
            -0.010609814897179604
        ],
        "angular_velocity": [
            0.22979788482189178,
            -0.04667384922504425,
            -0.3132748305797577
        ],
        "forward_vector": [
            0.28187140822410583,
            0.959449291229248,
            0.002362010534852743
        ],
        "right_vector": [
            -0.959452211856842,
            0.2818710207939148,
            0.0005017378716729581
        ],
        "location": [
            985.6181640625,
            5219.7529296875,
            371.619140625
        ],
        "rotation": [
            -0.028747543692588806,
            0.1353333592414856,
            73.6280288696289
        ],
        "velocity": [
            0.6891072988510132,
            2.3160598278045654,
            -0.001976137049496174
        ],
        "speed": 2.4164026972547132,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.33405929803848267,
                "transform": {
                    "location": {
                        "x": 984.0048217773438,
                        "y": 5152.79931640625,
                        "z": 371.63006591796875
                    },
                    "rotation": {
                        "roll": 0.00014724260836374015,
                        "pitch": 0.03050362318754196,
                        "yaw": 90.28424072265625
                    }
                },
                "velocity": {
                    "x": -0.000954348361119628,
                    "y": 0.3340560793876648,
                    "z": 0.001115026418119669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021428108215332,
                "transform": {
                    "location": {
                        "x": 987.0347290039062,
                        "y": 5190.70263671875,
                        "z": 371.62255859375
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.01041603833436966,
                        "yaw": -89.9049072265625
                    }
                },
                "velocity": {
                    "x": 0.013268211856484413,
                    "y": -8.021416664123535,
                    "z": 0.002162017859518528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6724333262536675e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0005185978370718658,
                        "pitch": 0.005737358704209328,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.110081368300598e-05,
                    "y": 3.998723059339682e-06,
                    "z": 5.2501578466035426e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2022995948791504,
                "transform": {
                    "location": {
                        "x": 983.760986328125,
                        "y": 5251.53662109375,
                        "z": 371.6017150878906
                    },
                    "rotation": {
                        "roll": 2.4881164790713228e-05,
                        "pitch": -0.016269510611891747,
                        "yaw": 90.84581756591797
                    }
                },
                "velocity": {
                    "x": -0.008474045433104038,
                    "y": 1.2022688388824463,
                    "z": -0.0015031337970867753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2444968223571777,
                "transform": {
                    "location": {
                        "x": 983.7421875,
                        "y": 5263.45166015625,
                        "z": 371.59588623046875
                    },
                    "rotation": {
                        "roll": -0.0003967263619415462,
                        "pitch": -0.03893890604376793,
                        "yaw": 90.63418579101562
                    }
                },
                "velocity": {
                    "x": -0.021249093115329742,
                    "y": 2.2443950176239014,
                    "z": -0.002414827235043049
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5012445449829102,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            20.31446581987749,
            7.817664953852663
        ],
        "target_point_next": [
            35.65764698346077,
            12.355021861728172
        ]
    },
    "515": {
        "acceleration": [
            0.5457627773284912,
            1.99066162109375,
            0.0034849182702600956
        ],
        "angular_velocity": [
            0.11902425438165665,
            -0.09493698179721832,
            0.4444446861743927
        ],
        "forward_vector": [
            0.28084316849708557,
            0.959748387336731,
            0.003180856117978692
        ],
        "right_vector": [
            -0.9597535729408264,
            0.280843049287796,
            0.0004996065399609506
        ],
        "location": [
            985.8052978515625,
            5220.39501953125,
            371.6187744140625
        ],
        "rotation": [
            -0.02862548828125,
            0.18224993348121643,
            73.68938446044922
        ],
        "velocity": [
            0.8087360858917236,
            2.8073086738586426,
            -0.0018661784706637263
        ],
        "speed": 2.92147840090346,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5164199471473694,
                "transform": {
                    "location": {
                        "x": 984.0045776367188,
                        "y": 5152.86474609375,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 0.0004527678538579494,
                        "pitch": -0.0020763773936778307,
                        "yaw": 90.26316833496094
                    }
                },
                "velocity": {
                    "x": -0.0032872436568140984,
                    "y": 0.5164074897766113,
                    "z": 0.0014385032700374722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073968887329102,
                "transform": {
                    "location": {
                        "x": 987.0380859375,
                        "y": 5188.69091796875,
                        "z": 371.6228332519531
                    },
                    "rotation": {
                        "roll": 0.0004886311362497509,
                        "pitch": 0.00898169819265604,
                        "yaw": -89.9055404663086
                    }
                },
                "velocity": {
                    "x": 0.013377870433032513,
                    "y": -8.073958396911621,
                    "z": 0.0008760547498241067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011888515291502699,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00019327091285958886,
                        "pitch": 0.0056963772512972355,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.512129256298067e-05,
                    "y": -3.475269750197185e-06,
                    "z": 0.00011786835239036009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7307215929031372,
                "transform": {
                    "location": {
                        "x": 983.7573852539062,
                        "y": 5251.90673828125,
                        "z": 371.60150146484375
                    },
                    "rotation": {
                        "roll": 0.0002670610847417265,
                        "pitch": -0.015190339647233486,
                        "yaw": 90.76620483398438
                    }
                },
                "velocity": {
                    "x": -0.012835249304771423,
                    "y": 1.7306731939315796,
                    "z": -0.0016673755599185824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.751826286315918,
                "transform": {
                    "location": {
                        "x": 983.7376098632812,
                        "y": 5264.06689453125,
                        "z": 371.5953674316406
                    },
                    "rotation": {
                        "roll": 8.40716966195032e-05,
                        "pitch": -0.029964039102196693,
                        "yaw": 90.54961395263672
                    }
                },
                "velocity": {
                    "x": -0.016036340966820717,
                    "y": 2.7517788410186768,
                    "z": -0.002231111517176032
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6289461851119995,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            19.654023369554306,
            7.795179236464047
        ],
        "target_point_next": [
            35.00205513449004,
            12.316101362591215
        ]
    },
    "520": {
        "acceleration": [
            0.18826842308044434,
            2.2075653076171875,
            -0.006287193391472101
        ],
        "angular_velocity": [
            0.13218970596790314,
            0.2325821816921234,
            2.8880088329315186
        ],
        "forward_vector": [
            0.2745573818683624,
            0.9615636467933655,
            0.003686419455334544
        ],
        "right_vector": [
            -0.961570680141449,
            0.27455416321754456,
            0.0013661920092999935
        ],
        "location": [
            986.0208129882812,
            5221.16796875,
            371.6183776855469
        ],
        "rotation": [
            -0.0782775953412056,
            0.2112167626619339,
            74.06424713134766
        ],
        "velocity": [
            0.8841931223869324,
            3.355754852294922,
            -0.0022356128320097923
        ],
        "speed": 3.4702864588355333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011834579054266214,
                "transform": {
                    "location": {
                        "x": 984.0045166015625,
                        "y": 5152.9052734375,
                        "z": 371.63018798828125
                    },
                    "rotation": {
                        "roll": 0.0007534261094406247,
                        "pitch": 0.024288151413202286,
                        "yaw": 90.2714614868164
                    }
                },
                "velocity": {
                    "x": -7.34724453650415e-05,
                    "y": 0.0005815884796902537,
                    "z": 0.001028070691972971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021037101745605,
                "transform": {
                    "location": {
                        "x": 987.0413818359375,
                        "y": 5186.67919921875,
                        "z": 371.6229553222656
                    },
                    "rotation": {
                        "roll": -9.155242150882259e-05,
                        "pitch": -0.004910905845463276,
                        "yaw": -89.9055404663086
                    }
                },
                "velocity": {
                    "x": 0.0132046639919281,
                    "y": -8.021026611328125,
                    "z": -0.0003230571746826172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0106104532023892e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.005443660542368889,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.4229163753043395e-05,
                    "y": 2.6456875275471248e-05,
                    "z": -1.9855053778883303e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0713882446289062,
                "transform": {
                    "location": {
                        "x": 983.7529296875,
                        "y": 5252.3974609375,
                        "z": 371.6012878417969
                    },
                    "rotation": {
                        "roll": 0.0002997120900545269,
                        "pitch": -0.021112114191055298,
                        "yaw": 90.66802978515625
                    }
                },
                "velocity": {
                    "x": -0.01442599855363369,
                    "y": 2.0713374614715576,
                    "z": -0.0016052532009780407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.310593366622925,
                "transform": {
                    "location": {
                        "x": 983.7324829101562,
                        "y": 5264.83349609375,
                        "z": 371.5948486328125
                    },
                    "rotation": {
                        "roll": -0.0007934559253044426,
                        "pitch": -0.02865264192223549,
                        "yaw": 90.45919036865234
                    }
                },
                "velocity": {
                    "x": -0.018101796507835388,
                    "y": 3.3105430603027344,
                    "z": -0.0018427085597068071
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7566677927970886,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            18.90218530406392,
            7.661440662692918
        ],
        "target_point_next": [
            34.27946626471383,
            12.081853107840548
        ]
    },
    "525": {
        "acceleration": [
            -0.41716694831848145,
            1.0303306579589844,
            0.0017713569104671478
        ],
        "angular_velocity": [
            -0.23303952813148499,
            0.37400779128074646,
            5.314151287078857
        ],
        "forward_vector": [
            0.25761497020721436,
            0.9662429094314575,
            0.003034348599612713
        ],
        "right_vector": [
            -0.9662463665008545,
            0.25760823488235474,
            0.002444235375151038
        ],
        "location": [
            986.2443237304688,
            5222.05908203125,
            371.6181945800781
        ],
        "rotation": [
            -0.1400451511144638,
            0.17385563254356384,
            75.07134246826172
        ],
        "velocity": [
            0.854788064956665,
            3.71891450881958,
            -0.002000522566959262
        ],
        "speed": 3.81588623518851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13915155827999115,
                "transform": {
                    "location": {
                        "x": 984.0043334960938,
                        "y": 5152.94384765625,
                        "z": 371.6300964355469
                    },
                    "rotation": {
                        "roll": 0.0007846447406336665,
                        "pitch": 0.03068803809583187,
                        "yaw": 90.2667236328125
                    }
                },
                "velocity": {
                    "x": -0.00026203462039120495,
                    "y": 0.13914786279201508,
                    "z": 0.0009795284131541848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07300853729248,
                "transform": {
                    "location": {
                        "x": 987.044921875,
                        "y": 5184.6669921875,
                        "z": 371.6227722167969
                    },
                    "rotation": {
                        "roll": 0.0005211145617067814,
                        "pitch": -0.005279736127704382,
                        "yaw": -89.90096282958984
                    }
                },
                "velocity": {
                    "x": 0.013984639197587967,
                    "y": -8.072996139526367,
                    "z": -0.001529645873233676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.253954491810873e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.00015258806524798274,
                        "pitch": 0.00646135862916708,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.8511916500283405e-06,
                    "y": -2.6977562583851977e-07,
                    "z": 3.2309711968991905e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6333655118942261,
                "transform": {
                    "location": {
                        "x": 983.7509155273438,
                        "y": 5252.63427734375,
                        "z": 371.6016845703125
                    },
                    "rotation": {
                        "roll": -0.0009155296138487756,
                        "pitch": -0.0771811306476593,
                        "yaw": 90.63699340820312
                    }
                },
                "velocity": {
                    "x": -0.004196062684059143,
                    "y": 0.6333492994308472,
                    "z": -0.001707429881207645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.739898443222046,
                "transform": {
                    "location": {
                        "x": 983.7271118164062,
                        "y": 5265.728515625,
                        "z": 371.59417724609375
                    },
                    "rotation": {
                        "roll": 0.0001862844219431281,
                        "pitch": -0.03070169873535633,
                        "yaw": 90.39663696289062
                    }
                },
                "velocity": {
                    "x": -0.02044687047600746,
                    "y": 3.739841938018799,
                    "z": -0.00211924547329545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8971061110496521,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            18.115309102313297,
            7.314429067118119
        ],
        "target_point_next": [
            33.56790901122869,
            11.463883487035314
        ]
    },
    "530": {
        "acceleration": [
            -0.3752458095550537,
            1.0366058349609375,
            -0.015572549775242805
        ],
        "angular_velocity": [
            -0.1306539922952652,
            0.0851360410451889,
            7.314034461975098
        ],
        "forward_vector": [
            0.22915023565292358,
            0.9733890295028687,
            0.0019770844373852015
        ],
        "right_vector": [
            -0.9733865261077881,
            0.22914250195026398,
            0.0035169559996575117
        ],
        "location": [
            986.4478759765625,
            5223.0205078125,
            371.6180725097656
        ],
        "rotation": [
            -0.2015075534582138,
            0.11327867954969406,
            76.7529296875
        ],
        "velocity": [
            0.7456589341163635,
            3.973870038986206,
            -0.002475795801728964
        ],
        "speed": 4.043222765663522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24152988195419312,
                "transform": {
                    "location": {
                        "x": 984.0045166015625,
                        "y": 5152.98974609375,
                        "z": 371.63018798828125
                    },
                    "rotation": {
                        "roll": 0.0003601674106903374,
                        "pitch": 0.022095661610364914,
                        "yaw": 90.2764892578125
                    }
                },
                "velocity": {
                    "x": -0.0004610795876942575,
                    "y": 0.24152414500713348,
                    "z": 0.001599540701135993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020951271057129,
                "transform": {
                    "location": {
                        "x": 987.0485229492188,
                        "y": 5182.6552734375,
                        "z": 371.6224670410156
                    },
                    "rotation": {
                        "roll": 0.00024824467254802585,
                        "pitch": -0.008421623148024082,
                        "yaw": -89.89776611328125
                    }
                },
                "velocity": {
                    "x": 0.014026712626218796,
                    "y": -8.020938873291016,
                    "z": -0.0014620685251429677
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002439165546093136,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 2.8024242055835202e-05,
                        "pitch": 0.006379396189004183,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.283752110088244e-05,
                    "y": -6.0725815274054185e-06,
                    "z": 0.0002427691506454721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2611968517303467,
                "transform": {
                    "location": {
                        "x": 983.7491455078125,
                        "y": 5252.87255859375,
                        "z": 371.6009826660156
                    },
                    "rotation": {
                        "roll": 0.00010620728426147252,
                        "pitch": -0.024383774027228355,
                        "yaw": 90.61917114257812
                    }
                },
                "velocity": {
                    "x": -0.008974744006991386,
                    "y": 1.2611640691757202,
                    "z": -0.0014690208481624722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.898914098739624,
                "transform": {
                    "location": {
                        "x": 983.721435546875,
                        "y": 5266.7041015625,
                        "z": 371.593505859375
                    },
                    "rotation": {
                        "roll": -0.0008239750750362873,
                        "pitch": -0.03689667955040932,
                        "yaw": 90.35816192626953
                    }
                },
                "velocity": {
                    "x": -0.020974788814783096,
                    "y": 3.8988571166992188,
                    "z": -0.0021921538282185793
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0012526512145996,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            17.339662994867805,
            6.757508157574982
        ],
        "target_point_next": [
            32.907374290085826,
            10.451717268700625
        ]
    },
    "535": {
        "acceleration": [
            -1.0573172569274902,
            -0.5032157897949219,
            0.0012413016520440578
        ],
        "angular_velocity": [
            -0.41929274797439575,
            0.3024463355541229,
            10.130086898803711
        ],
        "forward_vector": [
            0.19177860021591187,
            0.9814376831054688,
            0.0010375973070040345
        ],
        "right_vector": [
            -0.9814277291297913,
            0.19177153706550598,
            0.00483627850189805
        ],
        "location": [
            986.6187133789062,
            5224.03662109375,
            371.6178894042969
        ],
        "rotation": [
            -0.2770995795726776,
            0.05944996327161789,
            78.94339752197266
        ],
        "velocity": [
            0.5421010255813599,
            4.088913917541504,
            -0.0014784431550651789
        ],
        "speed": 4.124692782135534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.46095260977745056,
                "transform": {
                    "location": {
                        "x": 984.0048217773438,
                        "y": 5153.03759765625,
                        "z": 371.63043212890625
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.0026569433975964785,
                        "yaw": 90.31465911865234
                    }
                },
                "velocity": {
                    "x": 0.0033353082835674286,
                    "y": 0.4609382152557373,
                    "z": 0.0014594363747164607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073050498962402,
                "transform": {
                    "location": {
                        "x": 987.0521850585938,
                        "y": 5180.6435546875,
                        "z": 371.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0006103509804233909,
                        "pitch": -0.012232868000864983,
                        "yaw": -89.8955078125
                    }
                },
                "velocity": {
                    "x": 0.014837799593806267,
                    "y": -8.073037147521973,
                    "z": -0.0019041632767766714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045416122884489596,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": 0.005689547397196293,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.8467451556934975e-05,
                    "y": -6.935792953299824e-06,
                    "z": -0.000453215092420578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7438023090362549,
                "transform": {
                    "location": {
                        "x": 983.7463989257812,
                        "y": 5253.2490234375,
                        "z": 371.6007080078125
                    },
                    "rotation": {
                        "roll": -0.0011291499249637127,
                        "pitch": -0.01815464161336422,
                        "yaw": 90.60456848144531
                    }
                },
                "velocity": {
                    "x": -0.01184158306568861,
                    "y": 1.743761420249939,
                    "z": -0.0015924167819321156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.095981597900391,
                "transform": {
                    "location": {
                        "x": 983.7160034179688,
                        "y": 5267.6962890625,
                        "z": 371.59283447265625
                    },
                    "rotation": {
                        "roll": 6.277405191212893e-05,
                        "pitch": -0.037750452756881714,
                        "yaw": 90.33396911621094
                    }
                },
                "velocity": {
                    "x": -0.021587807685136795,
                    "y": 4.095924377441406,
                    "z": -0.0023316096048802137
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0003105401992798,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            16.555262883945915,
            6.062610976033948
        ],
        "target_point_next": [
            32.25279866939838,
            9.159090621118285
        ]
    },
    "540": {
        "acceleration": [
            -1.0187065601348877,
            -0.09516716003417969,
            -0.013744162395596504
        ],
        "angular_velocity": [
            -0.11411519348621368,
            0.1619608998298645,
            11.152205467224121
        ],
        "forward_vector": [
            0.14619602262973785,
            0.9892553091049194,
            -0.0007723568705841899
        ],
        "right_vector": [
            -0.9892412424087524,
            0.1461980640888214,
            0.005284217186272144
        ],
        "location": [
            986.731201171875,
            5225.03369140625,
            371.6178894042969
        ],
        "rotation": [
            -0.3027648329734802,
            -0.04425279423594475,
            81.59345245361328
        ],
        "velocity": [
            0.2991567552089691,
            3.95190691947937,
            -0.001988315489143133
        ],
        "speed": 3.9632137293383614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015883025480434299,
                "transform": {
                    "location": {
                        "x": 984.0048828125,
                        "y": 5153.07470703125,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 0.00045998976565897465,
                        "pitch": 0.021733660250902176,
                        "yaw": 90.31774139404297
                    }
                },
                "velocity": {
                    "x": -2.3946427063492592e-06,
                    "y": 0.0005423719412647188,
                    "z": 0.0014928268501535058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022883415222168,
                "transform": {
                    "location": {
                        "x": 987.0557861328125,
                        "y": 5178.6318359375,
                        "z": 371.62164306640625
                    },
                    "rotation": {
                        "roll": 0.00044234393863007426,
                        "pitch": -0.013059320859611034,
                        "yaw": -89.89669799804688
                    }
                },
                "velocity": {
                    "x": 0.013045438565313816,
                    "y": -8.022872924804688,
                    "z": -0.00159959786105901
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004800045571755618,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00015258806524798274,
                        "pitch": 0.005600754637271166,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.350891711306758e-05,
                    "y": -3.862515768560115e-06,
                    "z": -0.00047881793580017984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.141630172729492,
                "transform": {
                    "location": {
                        "x": 983.7427368164062,
                        "y": 5253.7529296875,
                        "z": 371.6003723144531
                    },
                    "rotation": {
                        "roll": 0.0013526767725124955,
                        "pitch": -0.021084792912006378,
                        "yaw": 90.53970336914062
                    }
                },
                "velocity": {
                    "x": -0.010004137642681599,
                    "y": 2.1416056156158447,
                    "z": -0.002140483818948269
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.000301361083984,
                "transform": {
                    "location": {
                        "x": 983.71044921875,
                        "y": 5268.7353515625,
                        "z": 371.5921325683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.042572565376758575,
                        "yaw": 90.31490325927734
                    }
                },
                "velocity": {
                    "x": -0.016271846368908882,
                    "y": 4.000267505645752,
                    "z": -0.0023953437339514494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998067021369934,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            15.815060893516057,
            5.256205788254899
        ],
        "target_point_next": [
            31.63897543377177,
            7.6235977183471935
        ]
    },
    "545": {
        "acceleration": [
            -1.0154907703399658,
            0.44417381286621094,
            0.012345883995294571
        ],
        "angular_velocity": [
            0.18939577043056488,
            0.1126900315284729,
            13.611863136291504
        ],
        "forward_vector": [
            0.0912560299038887,
            0.995827317237854,
            -0.0005332230939529836
        ],
        "right_vector": [
            -0.9958062767982483,
            0.09125756472349167,
            0.006466640159487724
        ],
        "location": [
            986.7804565429688,
            5226.025390625,
            371.6174621582031
        ],
        "rotation": [
            -0.37051382660865784,
            -0.030551433563232422,
            84.76412963867188
        ],
        "velocity": [
            0.022553162649273872,
            4.015194416046143,
            -0.0014141941210255027
        ],
        "speed": 4.015257755586011,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14097712934017181,
                "transform": {
                    "location": {
                        "x": 984.0050048828125,
                        "y": 5153.11279296875,
                        "z": 371.63018798828125
                    },
                    "rotation": {
                        "roll": 0.00040916938451118767,
                        "pitch": 0.02855701930820942,
                        "yaw": 90.31829071044922
                    }
                },
                "velocity": {
                    "x": -0.0001850761764217168,
                    "y": 0.1409667581319809,
                    "z": 0.0017007732531055808
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072866439819336,
                "transform": {
                    "location": {
                        "x": 987.059326171875,
                        "y": 5176.61962890625,
                        "z": 371.62115478515625
                    },
                    "rotation": {
                        "roll": 0.0005442706751637161,
                        "pitch": -0.012055283412337303,
                        "yaw": -89.89803314208984
                    }
                },
                "velocity": {
                    "x": 0.014302556402981281,
                    "y": -8.072853088378906,
                    "z": -0.002003364497795701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.815151133807376e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.005928603932261467,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.4723474123456981e-05,
                    "y": 9.86992972684675e-07,
                    "z": -9.703589603304863e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2323046773672104,
                "transform": {
                    "location": {
                        "x": 983.7410888671875,
                        "y": 5253.9541015625,
                        "z": 371.6009826660156
                    },
                    "rotation": {
                        "roll": -0.0010070840362459421,
                        "pitch": -0.09347113221883774,
                        "yaw": 90.47106170654297
                    }
                },
                "velocity": {
                    "x": -0.001866435050033033,
                    "y": 0.2322925478219986,
                    "z": -0.0014679622836411
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.876248836517334,
                "transform": {
                    "location": {
                        "x": 983.7064819335938,
                        "y": 5269.7265625,
                        "z": 371.5914001464844
                    },
                    "rotation": {
                        "roll": 0.0001128549047280103,
                        "pitch": -0.045229509472846985,
                        "yaw": 90.26644134521484
                    }
                },
                "velocity": {
                    "x": -0.013716135174036026,
                    "y": 3.8762240409851074,
                    "z": -0.002148113213479519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0004957914352417,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            15.08951688732816,
            4.331977542619833
        ],
        "target_point_next": [
            31.020149319741694,
            5.820522547420239
        ]
    },
    "550": {
        "acceleration": [
            -1.1304082870483398,
            1.003570556640625,
            -0.006901740562170744
        ],
        "angular_velocity": [
            0.24615706503391266,
            0.06851156800985336,
            14.46300983428955
        ],
        "forward_vector": [
            0.030193818733096123,
            0.9995440244674683,
            0.00040102002094499767
        ],
        "right_vector": [
            -0.9995211362838745,
            0.03019040636718273,
            0.006783019285649061
        ],
        "location": [
            986.7657470703125,
            5227.05322265625,
            371.6168518066406
        ],
        "rotation": [
            -0.3886413872241974,
            0.02297675423324108,
            88.26976013183594
        ],
        "velocity": [
            -0.23759587109088898,
            4.218827724456787,
            -0.0018437671242281795
        ],
        "speed": 4.225512887994151,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.26622238755226135,
                "transform": {
                    "location": {
                        "x": 984.0048217773438,
                        "y": 5153.15478515625,
                        "z": 371.6302795410156
                    },
                    "rotation": {
                        "roll": 0.00034129852429032326,
                        "pitch": 0.01779947243630886,
                        "yaw": 90.30608367919922
                    }
                },
                "velocity": {
                    "x": 0.0006310956086963415,
                    "y": 0.26621609926223755,
                    "z": 0.0017166422912850976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02121353149414,
                "transform": {
                    "location": {
                        "x": 987.0629272460938,
                        "y": 5174.60791015625,
                        "z": 371.6207275390625
                    },
                    "rotation": {
                        "roll": 0.00029597512912005186,
                        "pitch": -0.013182264752686024,
                        "yaw": -89.89891815185547
                    }
                },
                "velocity": {
                    "x": 0.01418345421552658,
                    "y": -8.021201133728027,
                    "z": -0.0016600036760792136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004865711962338537,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.006113018840551376,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -4.038484985358082e-05,
                    "y": -8.974528100225143e-06,
                    "z": -0.0004848092794418335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7650756239891052,
                "transform": {
                    "location": {
                        "x": 983.7399291992188,
                        "y": 5254.0888671875,
                        "z": 371.6003112792969
                    },
                    "rotation": {
                        "roll": 0.0007646494195796549,
                        "pitch": -0.03094075433909893,
                        "yaw": 90.40279388427734
                    }
                },
                "velocity": {
                    "x": -0.002745475387200713,
                    "y": 0.7650687098503113,
                    "z": -0.0017600440187379718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0489277839660645,
                "transform": {
                    "location": {
                        "x": 983.7026977539062,
                        "y": 5270.71044921875,
                        "z": 371.5906677246094
                    },
                    "rotation": {
                        "roll": 7.577743235742673e-05,
                        "pitch": -0.03927358612418175,
                        "yaw": 90.23638916015625
                    }
                },
                "velocity": {
                    "x": -0.014116215519607067,
                    "y": 4.04890251159668,
                    "z": -0.0026421737857162952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0002093315124512,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            14.299250546820366,
            3.355449860332863
        ],
        "target_point_next": [
            30.291093406277973,
            3.8670922025966696
        ]
    },
    "555": {
        "acceleration": [
            -1.2481176853179932,
            0.7911777496337891,
            -0.004727744963020086
        ],
        "angular_velocity": [
            0.0565648078918457,
            0.17649973928928375,
            15.29991340637207
        ],
        "forward_vector": [
            -0.034970562905073166,
            0.9993877410888672,
            0.001077651628293097
        ],
        "right_vector": [
            -0.9993604421615601,
            -0.03497762233018875,
            0.00743014644831419
        ],
        "location": [
            986.6814575195312,
            5228.138671875,
            371.6162414550781
        ],
        "rotation": [
            -0.42572021484375,
            0.06174490600824356,
            92.00407409667969
        ],
        "velocity": [
            -0.5382339954376221,
            4.446972370147705,
            -0.0021466445177793503
        ],
        "speed": 4.479426201501911,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4490402340888977,
                "transform": {
                    "location": {
                        "x": 984.0045776367188,
                        "y": 5153.20751953125,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 0.0007190343458205462,
                        "pitch": -0.0031760376878082752,
                        "yaw": 90.30654907226562
                    }
                },
                "velocity": {
                    "x": -0.002902673091739416,
                    "y": 0.44902917742729187,
                    "z": 0.0012300490634515882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073685646057129,
                "transform": {
                    "location": {
                        "x": 987.0667114257812,
                        "y": 5172.59619140625,
                        "z": 371.6202697753906
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": -0.012424113228917122,
                        "yaw": -89.89449310302734
                    }
                },
                "velocity": {
                    "x": 0.014854484237730503,
                    "y": -8.073671340942383,
                    "z": -0.002072725212201476
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002662277838680893,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0006446397164836526,
                        "pitch": 0.005962754599750042,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.0368605671828846e-06,
                    "y": -2.2214708224055357e-06,
                    "z": -0.0002662164915818721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3709360361099243,
                "transform": {
                    "location": {
                        "x": 983.739013671875,
                        "y": 5254.361328125,
                        "z": 371.6000061035156
                    },
                    "rotation": {
                        "roll": 0.0003422690206207335,
                        "pitch": -0.018707886338233948,
                        "yaw": 90.43385314941406
                    }
                },
                "velocity": {
                    "x": -0.006090257782489061,
                    "y": 1.3709216117858887,
                    "z": -0.0015433119842782617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2831315994262695,
                "transform": {
                    "location": {
                        "x": 983.6990356445312,
                        "y": 5271.7568359375,
                        "z": 371.58978271484375
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": -0.03689667955040932,
                        "yaw": 90.2162857055664
                    }
                },
                "velocity": {
                    "x": -0.014863316901028156,
                    "y": 4.28310489654541,
                    "z": -0.0026182173751294613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0002397298812866,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            13.399696810148694,
            2.370741697885481
        ],
        "target_point_next": [
            29.39090904768852,
            1.8397547847332827
        ]
    },
    "560": {
        "acceleration": [
            -0.9972822666168213,
            -0.8413982391357422,
            0.0005802162922918797
        ],
        "angular_velocity": [
            -0.39949318766593933,
            -0.13810409605503082,
            15.190817832946777
        ],
        "forward_vector": [
            -0.10243253409862518,
            0.9947396516799927,
            0.0007407664670608938
        ],
        "right_vector": [
            -0.9947094321250916,
            -0.10243520140647888,
            0.007761436980217695
        ],
        "location": [
            986.5193481445312,
            5229.2685546875,
            371.6158752441406
        ],
        "rotation": [
            -0.4447021782398224,
            0.042442794889211655,
            95.87926483154297
        ],
        "velocity": [
            -0.8440386056900024,
            4.499118328094482,
            -0.0018309020670130849
        ],
        "speed": 4.577604930320092,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14364923536777496,
                "transform": {
                    "location": {
                        "x": 984.0044555664062,
                        "y": 5153.22705078125,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 0.0005616130074486136,
                        "pitch": 0.027409547939896584,
                        "yaw": 90.29971313476562
                    }
                },
                "velocity": {
                    "x": -0.00020201929146423936,
                    "y": 0.14364437758922577,
                    "z": 0.001164350425824523
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020734786987305,
                "transform": {
                    "location": {
                        "x": 987.0703735351562,
                        "y": 5170.58447265625,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -6.103564373916015e-05,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.89424896240234
                    }
                },
                "velocity": {
                    "x": 0.014807531610131264,
                    "y": -8.020721435546875,
                    "z": -0.0017260932363569736
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.244583634426817e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0005935152294114232,
                        "pitch": 0.005935434252023697,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.281647928408347e-05,
                    "y": 7.284986622835277e-06,
                    "z": -9.126280201599002e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8769335746765137,
                "transform": {
                    "location": {
                        "x": 983.7373046875,
                        "y": 5254.77294921875,
                        "z": 371.5997314453125
                    },
                    "rotation": {
                        "roll": 0.0003836211690213531,
                        "pitch": -0.018769359216094017,
                        "yaw": 90.4446029663086
                    }
                },
                "velocity": {
                    "x": -0.007942866533994675,
                    "y": 1.8769158124923706,
                    "z": -0.0018551158718764782
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2527313232421875,
                "transform": {
                    "location": {
                        "x": 983.6953125,
                        "y": 5272.8310546875,
                        "z": 371.5890808105469
                    },
                    "rotation": {
                        "roll": -6.103649502620101e-05,
                        "pitch": -0.04361075535416603,
                        "yaw": 90.2052001953125
                    }
                },
                "velocity": {
                    "x": -0.014985468238592148,
                    "y": 4.252704620361328,
                    "z": -0.0015802383422851562
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0000003576278687,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            12.388737847364672,
            1.4142064723044467
        ],
        "target_point_next": [
            28.307502542861393,
            -0.196304781114649
        ]
    },
    "565": {
        "acceleration": [
            -0.5560541152954102,
            -0.9963130950927734,
            0.0044851284474134445
        ],
        "angular_velocity": [
            -0.2220946103334427,
            -0.41990724205970764,
            12.42216682434082
        ],
        "forward_vector": [
            -0.16157257556915283,
            0.9868601560592651,
            -0.0011692044790834188
        ],
        "right_vector": [
            -0.9868416786193848,
            -0.16156192123889923,
            0.006426158826798201
        ],
        "location": [
            986.2986450195312,
            5230.35693359375,
            371.6158142089844
        ],
        "rotation": [
            -0.3681945502758026,
            -0.06699049472808838,
            99.2981948852539
        ],
        "velocity": [
            -1.0120176076889038,
            4.226413249969482,
            -0.001659173984080553
        ],
        "speed": 4.345888700575519,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2643647789955139,
                "transform": {
                    "location": {
                        "x": 984.0043334960938,
                        "y": 5153.265625,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": -0.00012206962855998427,
                        "pitch": 0.014568792656064034,
                        "yaw": 90.2908706665039
                    }
                },
                "velocity": {
                    "x": -0.0046652620658278465,
                    "y": 0.26432135701179504,
                    "z": 0.0010968303540721536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07382869720459,
                "transform": {
                    "location": {
                        "x": 987.0740966796875,
                        "y": 5168.572265625,
                        "z": 371.6194152832031
                    },
                    "rotation": {
                        "roll": 0.0002779091300908476,
                        "pitch": -0.012389962561428547,
                        "yaw": -89.89427947998047
                    }
                },
                "velocity": {
                    "x": 0.01488781813532114,
                    "y": -8.07381534576416,
                    "z": -0.0016906070522964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.432957161450759e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00030916318064555526,
                        "pitch": 0.005983245559036732,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.2009140593581833e-05,
                    "y": -7.971469244694163e-07,
                    "z": -6.044216934242286e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4302899837493896,
                "transform": {
                    "location": {
                        "x": 983.7345581054688,
                        "y": 5255.31298828125,
                        "z": 371.5993347167969
                    },
                    "rotation": {
                        "roll": 0.001137135666795075,
                        "pitch": -0.019534340128302574,
                        "yaw": 90.38933563232422
                    }
                },
                "velocity": {
                    "x": -0.00974939577281475,
                    "y": 2.430269718170166,
                    "z": -0.0020021151285618544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2119956016540527,
                "transform": {
                    "location": {
                        "x": 983.6931762695312,
                        "y": 5273.794921875,
                        "z": 371.5885314941406
                    },
                    "rotation": {
                        "roll": 0.0031026252545416355,
                        "pitch": -0.06451113522052765,
                        "yaw": 90.14598846435547
                    }
                },
                "velocity": {
                    "x": 0.04013370722532272,
                    "y": 3.2117443084716797,
                    "z": -0.001878604874946177
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9992539286613464,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            11.341287764344623,
            0.6309239332520156
        ],
        "target_point_next": [
            27.13567564129096,
            -1.9260523123460982
        ]
    },
    "570": {
        "acceleration": [
            -0.15374422073364258,
            -0.7167530059814453,
            -0.01066550798714161
        ],
        "angular_velocity": [
            0.058269139379262924,
            -0.43030208349227905,
            9.494403839111328
        ],
        "forward_vector": [
            -0.2089730054140091,
            0.9779199957847595,
            -0.0017039766535162926
        ],
        "right_vector": [
            -0.9779118299484253,
            -0.20896290242671967,
            0.004797924309968948
        ],
        "location": [
            986.041748046875,
            5231.38818359375,
            371.6155090332031
        ],
        "rotation": [
            -0.2749022841453552,
            -0.09763071686029434,
            102.06219482421875
        ],
        "velocity": [
            -1.1102373600006104,
            4.023618221282959,
            -0.0023043821565806866
        ],
        "speed": 4.173982580962859,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1439865231513977,
                "transform": {
                    "location": {
                        "x": 984.0042114257812,
                        "y": 5153.28125,
                        "z": 371.6302795410156
                    },
                    "rotation": {
                        "roll": 8.391161100007594e-05,
                        "pitch": 0.021651698276400566,
                        "yaw": 90.28752136230469
                    }
                },
                "velocity": {
                    "x": -0.0002893456839956343,
                    "y": 0.14398111402988434,
                    "z": 0.0012149333488196135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021918296813965,
                "transform": {
                    "location": {
                        "x": 987.07763671875,
                        "y": 5166.560546875,
                        "z": 371.6189270019531
                    },
                    "rotation": {
                        "roll": 0.00018348336743656546,
                        "pitch": -0.013120792806148529,
                        "yaw": -89.89855194091797
                    }
                },
                "velocity": {
                    "x": 0.014224804006516933,
                    "y": -8.021904945373535,
                    "z": -0.0014227580977603793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006123786442913115,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.000681682548020035,
                        "pitch": 0.00584664149209857,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.5039127649506554e-05,
                    "y": -1.0275553904648405e-05,
                    "z": -0.0006117802113294601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9805610179901123,
                "transform": {
                    "location": {
                        "x": 983.7313842773438,
                        "y": 5255.99169921875,
                        "z": 371.59893798828125
                    },
                    "rotation": {
                        "roll": 9.392760694026947e-05,
                        "pitch": -0.018680566921830177,
                        "yaw": 90.3348388671875
                    }
                },
                "velocity": {
                    "x": -0.011613225564360619,
                    "y": 2.9805378913879395,
                    "z": -0.0018681620713323355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7628840208053589,
                "transform": {
                    "location": {
                        "x": 983.7010498046875,
                        "y": 5274.376953125,
                        "z": 371.5883483886719
                    },
                    "rotation": {
                        "roll": 0.001084487303160131,
                        "pitch": -0.09149038046598434,
                        "yaw": 89.68019104003906
                    }
                },
                "velocity": {
                    "x": 0.01955716870725155,
                    "y": 0.762631893157959,
                    "z": -0.0014614963438361883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9879118800163269,
        "expert_target_speed": 5.284829773050832,
        "target_point": [
            10.296352210021674,
            0.047569497766498436
        ],
        "target_point_next": [
            25.949063216824868,
            -3.2680683089736227
        ]
    },
    "575": {
        "acceleration": [
            0.9274458885192871,
            -0.9432125091552734,
            0.01632881350815296
        ],
        "angular_velocity": [
            0.08417557924985886,
            -0.8948878645896912,
            0.07106109708547592
        ],
        "forward_vector": [
            -0.22713224589824677,
            0.9738616943359375,
            -0.0020580277778208256
        ],
        "right_vector": [
            -0.9738636612892151,
            -0.2271331548690796,
            -0.00021094972908031195
        ],
        "location": [
            985.794189453125,
            5232.37060546875,
            371.6151428222656
        ],
        "rotation": [
            0.012086555361747742,
            -0.11791638284921646,
            103.12832641601562
        ],
        "velocity": [
            -0.9064590334892273,
            3.8235487937927246,
            -0.0014402198139578104
        ],
        "speed": 3.929528388739293,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.20236165821552277,
                "transform": {
                    "location": {
                        "x": 984.0042114257812,
                        "y": 5153.314453125,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 6.336600790746161e-07,
                        "pitch": 0.012164566665887833,
                        "yaw": 90.29462432861328
                    }
                },
                "velocity": {
                    "x": -0.0005586481420323253,
                    "y": 0.20235492289066315,
                    "z": 0.001553545007482171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072940826416016,
                "transform": {
                    "location": {
                        "x": 987.0811767578125,
                        "y": 5164.548828125,
                        "z": 371.61846923828125
                    },
                    "rotation": {
                        "roll": -0.00015258826897479594,
                        "pitch": -0.012608528137207031,
                        "yaw": -89.90018463134766
                    }
                },
                "velocity": {
                    "x": 0.012524709105491638,
                    "y": -8.072930335998535,
                    "z": -0.0021683787927031517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025718886172398925,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.006010565906763077,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 4.75008855573833e-05,
                    "y": -5.195662424739567e-07,
                    "z": 0.0002527637407183647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6576364040374756,
                "transform": {
                    "location": {
                        "x": 983.727783203125,
                        "y": 5256.8212890625,
                        "z": 371.5982971191406
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": -0.01571626402437687,
                        "yaw": 90.28756713867188
                    }
                },
                "velocity": {
                    "x": -0.013499841094017029,
                    "y": 3.6576108932495117,
                    "z": -0.002089967718347907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00135068129748106,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.5881652832031
                    },
                    "rotation": {
                        "roll": -0.0003051742969546467,
                        "pitch": -0.07342453300952911,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": -0.00012917560525238514,
                    "y": -4.3541240302147344e-05,
                    "z": -0.0013437848538160324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0002366304397583,
        "expert_target_speed": 5.05143911969958,
        "target_point": [
            9.28248107168734,
            -0.16196639132055735
        ],
        "target_point_next": [
            24.87078977656466,
            -3.7682730407097167
        ]
    },
    "580": {
        "acceleration": [
            0.30423879623413086,
            -0.6348419189453125,
            -0.0035120011307299137
        ],
        "angular_velocity": [
            0.05885804444551468,
            0.08257576823234558,
            -1.2650539875030518
        ],
        "forward_vector": [
            -0.22389869391918182,
            0.9746100306510925,
            -0.0021582823246717453
        ],
        "right_vector": [
            -0.9746111631393433,
            -0.2239014208316803,
            -0.0011126782046630979
        ],
        "location": [
            985.5826416015625,
            5233.298828125,
            371.61480712890625
        ],
        "rotation": [
            0.06375192850828171,
            -0.12366056442260742,
            102.93815612792969
        ],
        "velocity": [
            -0.8007895350456238,
            3.627739667892456,
            -0.001912670093588531
        ],
        "speed": 3.715071867062474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14219719171524048,
                "transform": {
                    "location": {
                        "x": 984.0042724609375,
                        "y": 5153.330078125,
                        "z": 371.63031005859375
                    },
                    "rotation": {
                        "roll": 0.00043027105857618153,
                        "pitch": 0.02081158570945263,
                        "yaw": 90.30223846435547
                    }
                },
                "velocity": {
                    "x": -0.00017556121747475117,
                    "y": 0.14219222962856293,
                    "z": 0.0011738777393475175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.075439453125,
                        "y": 5162.5224609375,
                        "z": 371.61907958984375
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.191530024399981e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.00039672874845564365,
                        "pitch": 0.006078868173062801,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 3.1061652407515794e-05,
                    "y": 1.0011717677116394e-06,
                    "z": 2.812585989886429e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.531379222869873,
                "transform": {
                    "location": {
                        "x": 983.7236328125,
                        "y": 5257.8447265625,
                        "z": 371.5975646972656
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.01040920801460743,
                        "yaw": 90.24954223632812
                    }
                },
                "velocity": {
                    "x": -0.016404133290052414,
                    "y": 4.531348705291748,
                    "z": -0.0025600336957722902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016931888239923865,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.5879211425781
                    },
                    "rotation": {
                        "roll": 0.0010049284901469946,
                        "pitch": -0.04877437651157379,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": -0.00013623219274450094,
                    "y": -2.4424493858532514e-06,
                    "z": -0.00010051719436887652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0011868476867676,
        "expert_target_speed": 4.845268284981151,
        "target_point": [
            8.330944894986693,
            -0.12950553940763143
        ],
        "target_point_next": [
            23.931137140200146,
            -3.6840544334818714
        ]
    },
    "585": {
        "acceleration": [
            0.2928507328033447,
            -0.8124876022338867,
            -0.0037796027027070522
        ],
        "angular_velocity": [
            0.012291236780583858,
            0.05668957158923149,
            -1.301113247871399
        ],
        "forward_vector": [
            -0.21855482459068298,
            0.975822389125824,
            -0.00209641270339489
        ],
        "right_vector": [
            -0.9758238792419434,
            -0.21855679154396057,
            -0.0007611343171447515
        ],
        "location": [
            985.3900756835938,
            5234.17919921875,
            371.61431884765625
        ],
        "rotation": [
            0.04360988363623619,
            -0.12011569738388062,
            102.62419128417969
        ],
        "velocity": [
            -0.7325167059898376,
            3.4264841079711914,
            -0.0021145439241081476
        ],
        "speed": 3.5039083987360935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011376539478078485,
                "transform": {
                    "location": {
                        "x": 984.0045166015625,
                        "y": 5153.3505859375,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 0.00038729223888367414,
                        "pitch": 0.01826392486691475,
                        "yaw": 90.34578704833984
                    }
                },
                "velocity": {
                    "x": -4.181426265859045e-05,
                    "y": 0.00026571747730486095,
                    "z": 0.0011053968919441104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0325317382812,
                        "y": 5160.439453125,
                        "z": 371.623779296875
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036780271329917014,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0006535674328915775,
                        "pitch": 0.005921773612499237,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.1165469377137924e-07,
                    "y": 7.579262273793574e-06,
                    "z": -0.00036772454041056335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.190920829772949,
                "transform": {
                    "location": {
                        "x": 983.7190551757812,
                        "y": 5259.09423828125,
                        "z": 371.59710693359375
                    },
                    "rotation": {
                        "roll": 0.00022094143787398934,
                        "pitch": -0.013059320859611034,
                        "yaw": 90.2072982788086
                    }
                },
                "velocity": {
                    "x": -0.015703292563557625,
                    "y": 5.190896511077881,
                    "z": -0.002224998315796256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013302864681463689,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0003439474676270038,
                        "pitch": -0.045345623046159744,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": -1.9771186998696066e-06,
                    "y": 6.294855552368972e-07,
                    "z": 0.00013301246508490294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9163131713867188,
        "expert_target_speed": 4.641074248676384,
        "target_point": [
            23.04979162029944,
            -3.54836247650781
        ],
        "target_point_next": [
            23.04979162029944,
            -3.54836247650781
        ]
    },
    "590": {
        "acceleration": [
            0.2089834213256836,
            -0.38312435150146484,
            -0.006382372230291367
        ],
        "angular_velocity": [
            0.07442053407430649,
            0.06675830483436584,
            -1.824390172958374
        ],
        "forward_vector": [
            -0.2112618088722229,
            0.9774277806282043,
            -0.0018497693818062544
        ],
        "right_vector": [
            -0.9774288535118103,
            -0.21126358211040497,
            -0.0008050386095419526
        ],
        "location": [
            985.2153930664062,
            5235.0166015625,
            371.6138916015625
        ],
        "rotation": [
            0.046125397086143494,
            -0.10598403960466385,
            102.19632720947266
        ],
        "velocity": [
            -0.6627662777900696,
            3.291285991668701,
            -0.0022735882084816694
        ],
        "speed": 3.3573535139943678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.47492027282715,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7145385742188,
                5260.447265625,
                371.59619140625
            ],
            "velocity": [
                -0.015453157015144825,
                5.817025661468506,
                -0.0045317839831113815
            ],
            "speed_kmh": 20.941372629503288,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2182604819536209,
                "transform": {
                    "location": {
                        "x": 984.0044555664062,
                        "y": 5153.37353515625,
                        "z": 371.63043212890625
                    },
                    "rotation": {
                        "roll": -0.00033569353399798274,
                        "pitch": 0.008148415014147758,
                        "yaw": 90.33423614501953
                    }
                },
                "velocity": {
                    "x": 0.0026979839894920588,
                    "y": 0.2182430475950241,
                    "z": 0.0005763816880062222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9990234375,
                        "y": 5158.35595703125,
                        "z": 371.62744140625
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010636913066264242,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -9.15528362384066e-05,
                        "pitch": 0.005832981318235397,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -5.0232632929692045e-05,
                    "y": 5.497869551618351e-06,
                    "z": -9.359939576825127e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.817048072814941,
                "transform": {
                    "location": {
                        "x": 983.7145385742188,
                        "y": 5260.447265625,
                        "z": 371.59619140625
                    },
                    "rotation": {
                        "roll": -0.0011596689000725746,
                        "pitch": -0.021699510514736176,
                        "yaw": 90.14102172851562
                    }
                },
                "velocity": {
                    "x": -0.015453157015144825,
                    "y": 5.817025661468506,
                    "z": -0.0045317839831113815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019389275985304266,
                "transform": {
                    "location": {
                        "x": 983.7012329101562,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0019276413368061185,
                        "pitch": -0.045045096427202225,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": 1.4594487538488465e-06,
                    "y": 2.7154572990184533e-07,
                    "z": 0.0001938870846061036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7519766092300415,
        "expert_target_speed": 4.498371306967488,
        "target_point": [
            22.220240606685177,
            -3.369969075278898
        ],
        "target_point_next": [
            22.220240606685177,
            -3.369969075278898
        ]
    },
    "595": {
        "acceleration": [
            0.20292162895202637,
            -0.30886173248291016,
            0.010085678659379482
        ],
        "angular_velocity": [
            0.0894072949886322,
            -0.032095443457365036,
            -1.8767197132110596
        ],
        "forward_vector": [
            -0.2036348283290863,
            0.9790458083152771,
            -0.0014584058662876487
        ],
        "right_vector": [
            -0.9790464639663696,
            -0.20363600552082062,
            -0.000694422225933522
        ],
        "location": [
            985.0538330078125,
            5235.82666015625,
            371.61346435546875
        ],
        "rotation": [
            0.03978750854730606,
            -0.0835605263710022,
            101.7496109008789
        ],
        "velocity": [
            -0.6169305443763733,
            3.204063653945923,
            -0.0017737578600645065
        ],
        "speed": 3.2629169764371615,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.12495994567871,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7092895507812,
                5261.9169921875,
                371.5953674316406
            ],
            "velocity": [
                -0.00869328435510397,
                5.023837089538574,
                -0.005506982561200857
            ],
            "speed_kmh": 18.085851465426252,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1437808871269226,
                "transform": {
                    "location": {
                        "x": 984.0044555664062,
                        "y": 5153.3876953125,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 4.1397182940272614e-05,
                        "pitch": 0.019329434260725975,
                        "yaw": 90.32598876953125
                    }
                },
                "velocity": {
                    "x": -0.00014991829812061042,
                    "y": 0.14377930760383606,
                    "z": 0.0006566619849763811
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4859,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9996948242188,
                        "y": 5156.2724609375,
                        "z": 371.6272888183594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": -0.013182264752686024,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8793334960938,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.10466766357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025372824165970087,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.005867131985723972,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -7.976712367963046e-06,
                    "y": -1.340840299235424e-05,
                    "z": -0.00025324811576865613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.023847579956055,
                "transform": {
                    "location": {
                        "x": 983.7092895507812,
                        "y": 5261.9169921875,
                        "z": 371.5953674316406
                    },
                    "rotation": {
                        "roll": 0.0003338389506097883,
                        "pitch": -0.04656822606921196,
                        "yaw": 89.94491577148438
                    }
                },
                "velocity": {
                    "x": -0.00869328435510397,
                    "y": 5.023837089538574,
                    "z": -0.005506982561200857
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007011819398030639,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0013237830717116594,
                        "pitch": -0.045045096427202225,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": -1.8914570318884216e-05,
                    "y": 4.539503606793005e-06,
                    "z": 0.000700912089087069
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6299764513969421,
        "expert_target_speed": 4.405850132908883,
        "target_point": [
            21.419856722704907,
            -3.1898307143794318
        ],
        "target_point_next": [
            21.419856722704907,
            -3.1898307143794318
        ]
    },
    "600": {
        "acceleration": [
            0.09095311164855957,
            0.2244281768798828,
            -0.009331894107162952
        ],
        "angular_velocity": [
            0.14903368055820465,
            0.005712045356631279,
            -2.0292792320251465
        ],
        "forward_vector": [
            -0.19523532688617706,
            0.9807559251785278,
            -0.0009651181753724813
        ],
        "right_vector": [
            -0.9807560443878174,
            -0.19523604214191437,
            -0.0007108697318471968
        ],
        "location": [
            984.9025268554688,
            5236.625,
            371.6129455566406
        ],
        "rotation": [
            0.04072985798120499,
            -0.055297207087278366,
            101.25847625732422
        ],
        "velocity": [
            -0.5833091139793396,
            3.1995980739593506,
            -0.0018052863888442516
        ],
        "speed": 3.252334139865667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.964033126831055,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.707763671875,
                5262.5615234375,
                371.5958251953125
            ],
            "velocity": [
                0.0007977927452884614,
                0.14351023733615875,
                -0.00020763397333212197
            ],
            "speed_kmh": 0.5166453781445631,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010620009852573276,
                "transform": {
                    "location": {
                        "x": 984.0044555664062,
                        "y": 5153.4013671875,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": 0.01813415065407753,
                        "yaw": 90.32892608642578
                    }
                },
                "velocity": {
                    "x": 6.0004017541359644e-06,
                    "y": 0.0001744845212670043,
                    "z": 0.0010475520975887775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2501240134006366e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0005301727796904743,
                        "pitch": 0.0061949812807142735,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 5.1623996114358306e-05,
                    "y": -4.3868843135896896e-07,
                    "z": 9.547288755129557e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.14351260662078857,
                "transform": {
                    "location": {
                        "x": 983.707763671875,
                        "y": 5262.5615234375,
                        "z": 371.5958251953125
                    },
                    "rotation": {
                        "roll": 0.003027970204129815,
                        "pitch": -0.18264608085155487,
                        "yaw": 89.67325592041016
                    }
                },
                "velocity": {
                    "x": 0.0007977927452884614,
                    "y": 0.14351023733615875,
                    "z": -0.00020763397333212197
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010671821655705571,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0015931354137137532,
                        "pitch": -0.044922150671482086,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": 3.284112153778551e-06,
                    "y": 1.6025220475057722e-06,
                    "z": -0.0001066556287696585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5215548276901245,
        "expert_target_speed": 4.394483887129968,
        "target_point": [
            20.633894297984746,
            -2.998643228000191
        ],
        "target_point_next": [
            20.633894297984746,
            -2.998643228000191
        ]
    },
    "605": {
        "acceleration": [
            0.043196678161621094,
            0.3508186340332031,
            -0.012384988367557526
        ],
        "angular_velocity": [
            0.12541788816452026,
            0.0573057122528553,
            -2.0090572834014893
        ],
        "forward_vector": [
            -0.18663007020950317,
            0.9824302196502686,
            -0.00029993054340593517
        ],
        "right_vector": [
            -0.9824299812316895,
            -0.1866302341222763,
            -0.0006777080125175416
        ],
        "location": [
            984.756591796875,
            5237.43408203125,
            371.61236572265625
        ],
        "rotation": [
            0.03882981464266777,
            -0.017184754833579063,
            100.75618743896484
        ],
        "velocity": [
            -0.5704903602600098,
            3.282367467880249,
            -0.002263612812384963
        ],
        "speed": 3.3315755199827293,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.249353408813477,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7073974609375,
                5262.66162109375,
                371.5947265625
            ],
            "velocity": [
                -0.0008310798439197242,
                0.7814141511917114,
                0.0008891773177310824
            ],
            "speed_kmh": 2.8130943565554696,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.18006379902362823,
                "transform": {
                    "location": {
                        "x": 984.0043334960938,
                        "y": 5153.41748046875,
                        "z": 371.63043212890625
                    },
                    "rotation": {
                        "roll": -0.00024414047948084772,
                        "pitch": 0.0069667925126850605,
                        "yaw": 90.32158660888672
                    }
                },
                "velocity": {
                    "x": -0.0005693404818885028,
                    "y": 0.1800602674484253,
                    "z": 0.000973072019405663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018361432012170553,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.00015258806524798274,
                        "pitch": 0.00637256633490324,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.440694490564056e-05,
                    "y": -1.4723655112902634e-05,
                    "z": -0.00017975982336793095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7814151048660278,
                "transform": {
                    "location": {
                        "x": 983.7073974609375,
                        "y": 5262.66162109375,
                        "z": 371.5947265625
                    },
                    "rotation": {
                        "roll": 2.2911829091754043e-06,
                        "pitch": -0.06661482900381088,
                        "yaw": 89.63912963867188
                    }
                },
                "velocity": {
                    "x": -0.0008310798439197242,
                    "y": 0.7814141511917114,
                    "z": 0.0008891773177310824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002867289003916085,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0010345687624067068,
                        "pitch": -0.045106567442417145,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": 6.082923846406629e-06,
                    "y": 5.2052737373742275e-06,
                    "z": -0.00028661711257882416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4231410324573517,
        "expert_target_speed": 4.470077635463656,
        "target_point": [
            19.837285912622264,
            -2.8100170270577562
        ],
        "target_point_next": [
            19.837285912622264,
            -2.8100170270577562
        ]
    },
    "610": {
        "acceleration": [
            0.08745908737182617,
            0.5989837646484375,
            -0.0015119556337594986
        ],
        "angular_velocity": [
            0.07462567090988159,
            -0.0633254274725914,
            -2.4411962032318115
        ],
        "forward_vector": [
            -0.17708829045295715,
            0.9841949939727783,
            0.00016164778207894415
        ],
        "right_vector": [
            -0.9841946363449097,
            -0.17708809673786163,
            -0.0008771148859523237
        ],
        "location": [
            984.614501953125,
            5238.27099609375,
            371.6119079589844
        ],
        "rotation": [
            0.05025498941540718,
            0.00926173571497202,
            100.20021057128906
        ],
        "velocity": [
            -0.5499729514122009,
            3.408740997314453,
            -0.0016969394637271762
        ],
        "speed": 3.452822821121492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.678295135498047,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7076416015625,
                5262.9326171875,
                371.59423828125
            ],
            "velocity": [
                -0.0026724066119641066,
                1.3608098030090332,
                -0.0018703651148825884
            ],
            "speed_kmh": 4.8989293648151,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.07690052688121796,
                "transform": {
                    "location": {
                        "x": 984.0042114257812,
                        "y": 5153.42822265625,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -0.00036621050094254315,
                        "pitch": 0.013667208142578602,
                        "yaw": 90.30191802978516
                    }
                },
                "velocity": {
                    "x": -0.00010970261791953817,
                    "y": 0.07688989490270615,
                    "z": 0.0012740897946059704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.844415161642246e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.00042384315747767687,
                        "pitch": 0.006058377679437399,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 4.580280801746994e-05,
                    "y": -4.3544102368286985e-07,
                    "z": -1.57717786350986e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3608137369155884,
                "transform": {
                    "location": {
                        "x": 983.7076416015625,
                        "y": 5262.9326171875,
                        "z": 371.59423828125
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.02075694315135479,
                        "yaw": 89.7092056274414
                    }
                },
                "velocity": {
                    "x": -0.0026724066119641066,
                    "y": 1.3608098030090332,
                    "z": -0.0018703651148825884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005594562389887869,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0009141467162407935,
                        "pitch": -0.045133888721466064,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 2.2095935037214076e-06,
                    "y": -2.2628623810305726e-06,
                    "z": -0.0005594472750090063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33308324217796326,
        "expert_target_speed": 4.5860021742008,
        "target_point": [
            19.014769872904903,
            -2.609030334214952
        ],
        "target_point_next": [
            19.014769872904903,
            -2.609030334214952
        ]
    },
    "615": {
        "acceleration": [
            0.09689807891845703,
            0.6863021850585938,
            0.0077432626858353615
        ],
        "angular_velocity": [
            0.0914461612701416,
            -0.027687162160873413,
            -2.8222718238830566
        ],
        "forward_vector": [
            -0.16576550900936127,
            0.9861650466918945,
            0.0005028247251175344
        ],
        "right_vector": [
            -0.9861646890640259,
            -0.16576488316059113,
            -0.001082153059542179
        ],
        "location": [
            984.4777221679688,
            5239.142578125,
            371.61138916015625
        ],
        "rotation": [
            0.06200282648205757,
            0.02880973555147648,
            99.54170989990234
        ],
        "velocity": [
            -0.5269418358802795,
            3.569045305252075,
            -0.001647901488468051
        ],
        "speed": 3.6077350359114178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.198781967163086,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.707763671875,
                5263.3291015625,
                371.59393310546875
            ],
            "velocity": [
                -0.0032906767446547747,
                1.8303742408752441,
                -0.0017260074382647872
            ],
            "speed_kmh": 6.58936084566015,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10907625406980515,
                "transform": {
                    "location": {
                        "x": 984.0040283203125,
                        "y": 5153.44189453125,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 0.00047631151392124593,
                        "pitch": 0.019267963245511055,
                        "yaw": 90.28520202636719
                    }
                },
                "velocity": {
                    "x": 0.00011538239778019488,
                    "y": 0.10906282812356949,
                    "z": 0.0017077159136533737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.563591836718842e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -9.15528362384066e-05,
                        "pitch": 0.0061949812807142735,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -4.134852861170657e-05,
                    "y": 6.20721129962476e-06,
                    "z": -7.473472942365333e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8303779363632202,
                "transform": {
                    "location": {
                        "x": 983.707763671875,
                        "y": 5263.3291015625,
                        "z": 371.59393310546875
                    },
                    "rotation": {
                        "roll": -0.00024413925711996853,
                        "pitch": -0.022642076015472412,
                        "yaw": 89.79996490478516
                    }
                },
                "velocity": {
                    "x": -0.0032906767446547747,
                    "y": 1.8303742408752441,
                    "z": -0.0017260074382647872
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.765463356510736e-05,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.00017708637460600585,
                        "pitch": -0.045468565076589584,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": -1.0268637197441421e-05,
                    "y": 5.980860464660509e-07,
                    "z": 5.672965562553145e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22266092896461487,
        "expert_target_speed": 4.733678837674952,
        "target_point": [
            18.16130167761212,
            -2.380735870144882
        ],
        "target_point_next": [
            18.16130167761212,
            -2.380735870144882
        ]
    },
    "620": {
        "acceleration": [
            0.21350562572479248,
            0.8398962020874023,
            0.007414626888930798
        ],
        "angular_velocity": [
            0.0623677559196949,
            -0.1018558070063591,
            -4.14362907409668
        ],
        "forward_vector": [
            -0.15008047223091125,
            0.9886735081672668,
            0.0007985829142853618
        ],
        "right_vector": [
            -0.9886724948883057,
            -0.1500788778066635,
            -0.0017731644911691546
        ],
        "location": [
            984.3508911132812,
            5240.06005859375,
            371.61083984375
        ],
        "rotation": [
            0.10159493237733841,
            0.04575543478131294,
            98.631591796875
        ],
        "velocity": [
            -0.4661601185798645,
            3.7694969177246094,
            -0.0020895099733024836
        ],
        "speed": 3.7982117198610355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.788490295410156,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7076416015625,
                5263.83984375,
                371.5936279296875
            ],
            "velocity": [
                -0.0038583078421652317,
                2.0122523307800293,
                -0.0015896129189059138
            ],
            "speed_kmh": 7.244123967434042,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1755618304014206,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.45654296875,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 2.7325340852257796e-05,
                        "pitch": 0.007403924595564604,
                        "yaw": 90.27324676513672
                    }
                },
                "velocity": {
                    "x": -0.0011450160527601838,
                    "y": 0.17555415630340576,
                    "z": 0.0011771201388910413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045279625919647515,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 0.0011340604396536946,
                        "pitch": 0.005798830185085535,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 1.361970316793304e-05,
                    "y": -6.379578280757414e-06,
                    "z": -0.00045254643191583455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.012256622314453,
                "transform": {
                    "location": {
                        "x": 983.7076416015625,
                        "y": 5263.83984375,
                        "z": 371.5936279296875
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": -0.03094075433909893,
                        "yaw": 89.8779296875
                    }
                },
                "velocity": {
                    "x": -0.0038583078421652317,
                    "y": 2.0122523307800293,
                    "z": -0.0015896129189059138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.206566856941208e-05,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0008883217233233154,
                        "pitch": -0.045168038457632065,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 1.1359576092218049e-05,
                    "y": -2.290327074661036e-06,
                    "z": 5.0759710575221106e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15292441844940186,
        "expert_target_speed": 4.914628922459428,
        "target_point": [
            17.270702265034043,
            -2.0796606186446356
        ],
        "target_point_next": [
            17.270702265034043,
            -2.0796606186446356
        ]
    },
    "625": {
        "acceleration": [
            0.16734421253204346,
            0.6835699081420898,
            0.016446111723780632
        ],
        "angular_velocity": [
            -0.006419316865503788,
            0.004098313394933939,
            -3.8308770656585693
        ],
        "forward_vector": [
            -0.13359101116657257,
            0.9910361766815186,
            0.0008729694527573884
        ],
        "right_vector": [
            -0.9910354018211365,
            -0.1335894614458084,
            -0.0016288975020870566
        ],
        "location": [
            984.2339477539062,
            5241.0263671875,
            371.6103515625
        ],
        "rotation": [
            0.09332902729511261,
            0.050017472356557846,
            97.67715454101562
        ],
        "velocity": [
            -0.43463584780693054,
            3.9536361694335938,
            -0.0019105434184893966
        ],
        "speed": 3.9774548747223255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.92206573486328,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.9423828125,
                371.59417724609375
            ],
            "velocity": [
                -4.99822199344635e-05,
                -7.237846148200333e-05,
                -0.00191038369666785
            ],
            "speed_kmh": 0.006884667269598115,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005901995464228094,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.46337890625,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": 0.02014222741127014,
                        "yaw": 90.2773208618164
                    }
                },
                "velocity": {
                    "x": -2.0275163024052745e-06,
                    "y": 4.308439383748919e-05,
                    "z": 0.0005886213621124625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.362231291248463e-05,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00039672874845564365,
                        "pitch": 0.0057851700112223625,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -2.5295070372521877e-05,
                    "y": 4.2027676272482495e-07,
                    "z": 2.214594314864371e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0019124075770378113,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.9423828125,
                        "z": 371.59417724609375
                    },
                    "rotation": {
                        "roll": 0.0015361274126917124,
                        "pitch": -0.09329354763031006,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": -4.99822199344635e-05,
                    "y": -7.237846148200333e-05,
                    "z": -0.00191038369666785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002817660279106349,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.001230920199304819,
                        "pitch": -0.045017775148153305,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": -5.10683230459108e-06,
                    "y": 8.286302772830823e-07,
                    "z": 0.0002817185304593295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07332019507884979,
        "expert_target_speed": 5.08353672245124,
        "target_point": [
            16.32967831943906,
            -1.7784899924366773
        ],
        "target_point_next": [
            16.32967831943906,
            -1.7784899924366773
        ]
    },
    "630": {
        "acceleration": [
            0.18077850341796875,
            0.7240104675292969,
            -0.0050897616893053055
        ],
        "angular_velocity": [
            -0.00585337495431304,
            -0.01304253377020359,
            -3.524963617324829
        ],
        "forward_vector": [
            -0.11800882965326309,
            0.9930121898651123,
            0.0008405445842072368
        ],
        "right_vector": [
            -0.9930115938186646,
            -0.11800751090049744,
            -0.0014781734207645059
        ],
        "location": [
            984.1259155273438,
            5242.03759765625,
            371.60980224609375
        ],
        "rotation": [
            0.08469316363334656,
            0.04815966263413429,
            96.77720642089844
        ],
        "velocity": [
            -0.4009033143520355,
            4.1306562423706055,
            -0.0024671172723174095
        ],
        "speed": 4.150065597083219,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.90927505493164,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.59368896484375
            ],
            "velocity": [
                0.00012729293666779995,
                -3.614921297412366e-05,
                -0.00110083248000592
            ],
            "speed_kmh": 0.003991525721629197,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0922684445977211,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.46728515625,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": 9.965473145712167e-05,
                        "pitch": 0.016686150804162025,
                        "yaw": 90.27754211425781
                    }
                },
                "velocity": {
                    "x": -5.386406337493099e-05,
                    "y": 0.09226808696985245,
                    "z": 0.0002514648367650807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033386872382834554,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": 7.140661182347685e-05,
                        "pitch": 0.005634905770421028,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 6.867807769594947e-06,
                    "y": 5.898715699004242e-06,
                    "z": -0.00033374596387147903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001108757103793323,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.59368896484375
                    },
                    "rotation": {
                        "roll": 0.0009060425218194723,
                        "pitch": -0.04827577620744705,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": 0.00012729293666779995,
                    "y": -3.614921297412366e-05,
                    "z": -0.00110083248000592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023868987045716494,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0008545492310076952,
                        "pitch": -0.045045096427202225,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 2.493543979653623e-05,
                    "y": 7.21830872407736e-07,
                    "z": -0.00023738271556794643
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011797204613685608,
        "expert_target_speed": 5.245014534209029,
        "target_point": [
            15.338683972127464,
            -1.5097376783159895
        ],
        "target_point_next": [
            15.338683972127464,
            -1.5097376783159895
        ]
    },
    "635": {
        "acceleration": [
            0.2469158172607422,
            0.18279075622558594,
            -0.0019907020032405853
        ],
        "angular_velocity": [
            -0.1345662623643875,
            0.009057337418198586,
            -3.60461163520813
        ],
        "forward_vector": [
            -0.10250808298587799,
            0.9947319626808167,
            0.0006394385127350688
        ],
        "right_vector": [
            -0.9947309494018555,
            -0.10250693559646606,
            -0.0016152968164533377
        ],
        "location": [
            984.0289916992188,
            5243.08935546875,
            371.6092529296875
        ],
        "rotation": [
            0.09254974126815796,
            0.03663713112473488,
            95.88361358642578
        ],
        "velocity": [
            -0.3479860723018646,
            4.260843753814697,
            -0.0021443557925522327
        ],
        "speed": 4.275030269008372,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.855998992919922,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.5936584472656
            ],
            "velocity": [
                -3.7748090107925236e-05,
                2.4774810754024656e-06,
                0.0004117748758289963
            ],
            "speed_kmh": 0.0014886320147702904,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03224216029047966,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.47216796875,
                        "z": 371.63043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.013346188701689243,
                        "yaw": 90.2754898071289
                    }
                },
                "velocity": {
                    "x": -0.0004388756351545453,
                    "y": 0.03223804011940956,
                    "z": -0.0002699088945519179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002957466058433056,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00048828075523488224,
                        "pitch": 0.0057510188780725,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -1.4314981854113284e-05,
                    "y": -2.0193809291413345e-07,
                    "z": -0.0002953998919110745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00041350891115143895,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.5936584472656
                    },
                    "rotation": {
                        "roll": 0.00016830518143251538,
                        "pitch": -0.042695511132478714,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": -3.7748090107925236e-05,
                    "y": 2.4774810754024656e-06,
                    "z": 0.0004117748758289963
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003862875164486468,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0005230482202023268,
                        "pitch": -0.045434415340423584,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 9.734451396070654e-07,
                    "y": 1.762527972459793e-06,
                    "z": -0.00038628227775916457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04050944000482559,
        "expert_target_speed": 5.3604959759249216,
        "target_point": [
            14.30421025296629,
            -1.258945787689101
        ],
        "target_point_next": [
            14.30421025296629,
            -1.258945787689101
        ]
    },
    "640": {
        "acceleration": [
            0.25643348693847656,
            -0.2361011505126953,
            -0.0030349730513989925
        ],
        "angular_velocity": [
            -0.18641981482505798,
            0.0010030672419816256,
            -3.401197671890259
        ],
        "forward_vector": [
            -0.08719328790903091,
            0.9961913228034973,
            -0.0003839731216430664
        ],
        "right_vector": [
            -0.996190071105957,
            -0.08719378709793091,
            -0.0015691416338086128
        ],
        "location": [
            983.9476318359375,
            5244.14697265625,
            371.6089782714844
        ],
        "rotation": [
            0.08990523964166641,
            -0.022000038996338844,
            95.00215911865234
        ],
        "velocity": [
            -0.28085869550704956,
            4.196935176849365,
            -0.001765022287145257
        ],
        "speed": 4.206322204196622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.797359466552734,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.5936279296875
            ],
            "velocity": [
                -8.670240276842378e-07,
                2.6789680305228103e-06,
                0.00026372168213129044
            ],
            "speed_kmh": 0.000949452169819963,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003350218466948718,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.4833984375,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": 3.85031944460934e-06,
                        "pitch": 0.018625924363732338,
                        "yaw": 90.27881622314453
                    }
                },
                "velocity": {
                    "x": -3.314252171549015e-05,
                    "y": 9.704745025373995e-05,
                    "z": -0.0003189404378645122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003803651488851756,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00012207066174596548,
                        "pitch": 0.005710037890821695,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 2.426507990094251e-06,
                    "y": 1.5917436030576937e-05,
                    "z": 0.00038002419751137495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002637366997078061,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.5936279296875
                    },
                    "rotation": {
                        "roll": 0.0003522167098708451,
                        "pitch": -0.0415070578455925,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": -8.670240276842378e-07,
                    "y": 2.6789680305228103e-06,
                    "z": 0.00026372168213129044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.488870424916968e-05,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.00047788157826289535,
                        "pitch": -0.045284152030944824,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 1.5449197235284373e-05,
                    "y": -5.394173854256223e-07,
                    "z": -3.127703894278966e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08910597115755081,
        "expert_target_speed": 5.292824801002684,
        "target_point": [
            13.261201490668778,
            -1.027579016308992
        ],
        "target_point_next": [
            13.261201490668778,
            -1.027579016308992
        ]
    },
    "645": {
        "acceleration": [
            0.20035862922668457,
            -0.08742332458496094,
            0.0009010313078761101
        ],
        "angular_velocity": [
            -0.011797807179391384,
            0.03191467002034187,
            -2.9989020824432373
        ],
        "forward_vector": [
            -0.07340323179960251,
            0.9973021149635315,
            -0.0007244347361847758
        ],
        "right_vector": [
            -0.9973013401031494,
            -0.07340417057275772,
            -0.0013761356240138412
        ],
        "location": [
            983.8811645507812,
            5245.19091796875,
            371.6084289550781
        ],
        "rotation": [
            0.07884681224822998,
            -0.0415070578455925,
            94.20948028564453
        ],
        "velocity": [
            -0.2303037792444229,
            4.1679301261901855,
            -0.002495994558557868
        ],
        "speed": 4.174288127038909,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.752761840820312,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.5936279296875
            ],
            "velocity": [
                1.0349577905799379e-06,
                3.3865728710225085e-06,
                0.0009493144461885095
            ],
            "speed_kmh": 0.0034175557833798463,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09404689818620682,
                "transform": {
                    "location": {
                        "x": 984.0039672851562,
                        "y": 5153.48828125,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 0.017164263874292374,
                        "yaw": 90.27796936035156
                    }
                },
                "velocity": {
                    "x": -6.733689224347472e-05,
                    "y": 0.09404238313436508,
                    "z": -0.0009189510019496083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000248586293309927,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0002953385410364717,
                        "pitch": 0.006290603894740343,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 5.672526458511129e-05,
                    "y": 4.423230166139547e-06,
                    "z": 0.00024198723258450627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009493210236541927,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.5936279296875
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.04134996235370636,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": 1.0349577905799379e-06,
                    "y": 3.3865728710225085e-06,
                    "z": 0.0009493144461885095
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.435435741674155e-05,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0011664251796901226,
                        "pitch": -0.045106567442417145,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": -1.1997975889244117e-05,
                    "y": 3.063082658627536e-06,
                    "z": 5.292506466503255e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1188679113984108,
        "expert_target_speed": 5.25970836169561,
        "target_point": [
            12.228140809814384,
            -0.8336711767440655
        ],
        "target_point_next": [
            12.228140809814384,
            -0.8336711767440655
        ]
    },
    "650": {
        "acceleration": [
            0.22012799978256226,
            0.10036468505859375,
            -0.00787124503403902
        ],
        "angular_velocity": [
            0.030322955921292305,
            -0.03406982868909836,
            -3.0128493309020996
        ],
        "forward_vector": [
            -0.06033000722527504,
            0.9981783032417297,
            -0.000630021037068218
        ],
        "right_vector": [
            -0.9981774687767029,
            -0.060330830514431,
            -0.0013797379797324538
        ],
        "location": [
            983.8278198242188,
            5246.23291015625,
            371.6078186035156
        ],
        "rotation": [
            0.07905320078134537,
            -0.03609754890203476,
            93.45875549316406
        ],
        "velocity": [
            -0.17627549171447754,
            4.176420211791992,
            -0.0025000572204589844
        ],
        "speed": 4.180138614261954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.71037483215332,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.5936279296875
            ],
            "velocity": [
                -1.9090764908469282e-05,
                3.186357162121567e-06,
                -0.00010395728168077767
            ],
            "speed_kmh": 0.00038067726044787903,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001408132491633296,
                "transform": {
                    "location": {
                        "x": 984.00390625,
                        "y": 5153.4912109375,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": 0.00015055431867949665,
                        "pitch": 0.016973018646240234,
                        "yaw": 90.27739715576172
                    }
                },
                "velocity": {
                    "x": -1.1566506145754829e-05,
                    "y": 2.7396799850976095e-05,
                    "z": -0.0014078185195103288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.894914582109777e-06,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6371154785156
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.005962754599750042,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": 6.388573865478975e-07,
                    "y": -7.855321655370062e-07,
                    "z": 4.7890489440760575e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001057436820701696,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.5936279296875
                    },
                    "rotation": {
                        "roll": 0.00012902155867777765,
                        "pitch": -0.04091966152191162,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": -1.9090764908469282e-05,
                    "y": 3.186357162121567e-06,
                    "z": -0.00010395728168077767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.037496233242564e-05,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.00019721176067832857,
                        "pitch": -0.0455300398170948,
                        "yaw": 89.66423797607422
                    }
                },
                "velocity": {
                    "x": 7.748581083433237e-06,
                    "y": 5.099996997159906e-06,
                    "z": -1.8140799511456862e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13890120387077332,
        "expert_target_speed": 5.045693258715755,
        "target_point": [
            11.194702077149955,
            -0.6637607013372037
        ],
        "target_point_next": [
            11.194702077149955,
            -0.6637607013372037
        ]
    },
    "655": {
        "acceleration": [
            0.21021142601966858,
            0.027055740356445312,
            -0.011824609711766243
        ],
        "angular_velocity": [
            -0.0005198238650336862,
            0.030735915526747704,
            -3.005685329437256
        ],
        "forward_vector": [
            -0.04721974954009056,
            0.998884379863739,
            -0.0005352496518753469
        ],
        "right_vector": [
            -0.9988834857940674,
            -0.04722045361995697,
            -0.0013893514405936003
        ],
        "location": [
            983.7879638671875,
            5247.279296875,
            371.6072082519531
        ],
        "rotation": [
            0.07960400730371475,
            -0.03066754713654518,
            92.70649719238281
        ],
        "velocity": [
            -0.12214221805334091,
            4.191011428833008,
            -0.0025268078316003084
        ],
        "speed": 4.1927908984398305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.663774490356445,
        "front_vehicle_info": {
            "id": 4851,
            "type": "vehicle.chevrolet.impala",
            "location": [
                983.7075805664062,
                5263.94287109375,
                371.5936279296875
            ],
            "velocity": [
                -2.1004079826525412e-05,
                -1.219925479745143e-06,
                0.0006735100178048015
            ],
            "speed_kmh": 0.002425818812602382,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4860,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.08070135116577148,
                "transform": {
                    "location": {
                        "x": 984.00390625,
                        "y": 5153.494140625,
                        "z": 371.63043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.01570260338485241,
                        "yaw": 90.27640533447266
                    }
                },
                "velocity": {
                    "x": -3.461156666162424e-05,
                    "y": 0.080681711435318,
                    "z": -0.0017797851469367743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8792724609375,
                        "y": 5165.884765625,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4852,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026678768335841596,
                "transform": {
                    "location": {
                        "x": 983.8466186523438,
                        "y": 5184.052734375,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": 0.00010709480557125062,
                        "pitch": 0.0064408681355416775,
                        "yaw": 90.30326080322266
                    }
                },
                "velocity": {
                    "x": -3.5875818866770715e-05,
                    "y": -8.057651029957924e-06,
                    "z": -0.0002642416802700609
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4851,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006738385418429971,
                "transform": {
                    "location": {
                        "x": 983.7075805664062,
                        "y": 5263.94287109375,
                        "z": 371.5936279296875
                    },
                    "rotation": {
                        "roll": -0.00015258538769558072,
                        "pitch": -0.04080354794859886,
                        "yaw": 89.89051055908203
                    }
                },
                "velocity": {
                    "x": -2.1004079826525412e-05,
                    "y": -1.219925479745143e-06,
                    "z": 0.0006735100178048015
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4850,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002823411487042904,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5274.3857421875,
                        "z": 371.587890625
                    },
                    "rotation": {
                        "roll": 0.0010535469045862556,
                        "pitch": -0.045133888721466064,
                        "yaw": 89.66422271728516
                    }
                },
                "velocity": {
                    "x": 2.93469088319398e-06,
                    "y": 1.40612007726304e-06,
                    "z": -0.00028232240583747625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4846801757812,
                        "y": 5224.6943359375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -0.022464491426944733,
                        "yaw": 90.0987777709961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1464623510837555,
        "expert_target_speed": 5.005447003872518,
        "target_point": [
            10.155349557853777,
            -0.5071439078520721
        ],
        "target_point_next": [
            10.155349557853777,
            -0.5071439078520721
        ]
    }
}