{ "0": { "acceleration": [ -0.0029366009403020144, 0.006234955508261919, -0.6187146902084351 ], "angular_velocity": [ 0.019653374329209328, -0.022218827158212662, 4.0547718526795506e-05 ], "forward_vector": [ -0.9999594688415527, 0.006665686145424843, 0.006045542657375336 ], "right_vector": [ -0.006665302440524101, -0.9999777674674988, 8.362171502085403e-05 ], "location": [ 733.07958984375, 4286.78369140625, 369.4612121582031 ], "rotation": [ -0.004791258834302425, 0.346386194229126, 179.61807250976562 ], "velocity": [ 0.0007753425743430853, -0.0001567476720083505, 0.14286646246910095 ], "speed": 0.0007910284067396063, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": -1.0, "front_vehicle_info": null, "other_vehicles": [ { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.45299842953681946, "transform": { "location": { "x": 642.491943359375, "y": 4286.18115234375, "z": 369.8810729980469 }, "rotation": { "roll": -0.23165887594223022, "pitch": 0.43796536326408386, "yaw": 179.660888671875 } }, "velocity": { "x": 0.004485404584556818, "y": 0.012166882865130901, "z": 0.4528127908706665 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0034450942184776068, "expert_target_speed": 10.0, "target_point": [ 51.54336635730816, 0.03888316402752756 ], "target_point_next": [ 102.5433292621658, 0.07707386547628481 ] }, "5": { "acceleration": [ -0.0006183015648275614, -0.002611577045172453, -0.26527607440948486 ], "angular_velocity": [ 0.004087863024324179, 0.004299135413020849, 4.648445246857591e-05 ], "forward_vector": [ -0.9999598860740662, 0.006665688939392567, 0.005983077920973301 ], "right_vector": [ -0.0066656554117798805, -0.9999777674674988, 2.5565890609868802e-05 ], "location": [ 733.0796508789062, 4286.78369140625, 369.48199462890625 ], "rotation": [ -0.00146484375, 0.34280717372894287, 179.61807250976562 ], "velocity": [ 0.0002732719003688544, -0.00030699942726641893, 0.042706746608018875 ], "speed": 0.00041100630150049325, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 80.29515838623047, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 653.4404296875, 4297.00537109375, 370.13299560546875 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 653.4404296875, "y": 4297.00537109375, "z": 370.13299560546875 }, "rotation": { "roll": 1.0422190194203651e-10, "pitch": -0.30624517798423767, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 653.4212036132812, "y": 4293.75537109375, "z": 370.13299560546875 }, "rotation": { "roll": 1.0422190194203651e-10, "pitch": -0.30624517798423767, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.5045189261436462, "transform": { "location": { "x": 762.8302001953125, "y": 4285.6904296875, "z": 369.3014221191406 }, "rotation": { "roll": -0.0007324216421693563, "pitch": 0.383897602558136, "yaw": 176.17250061035156 } }, "velocity": { "x": -0.003318601753562689, "y": 0.00029535844805650413, "z": -0.5045079588890076 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6357187032699585, "transform": { "location": { "x": 747.9967651367188, "y": 4286.4599609375, "z": 369.4294738769531 }, "rotation": { "roll": 0.0007713203667663038, "pitch": 0.33871588110923767, "yaw": 177.8912353515625 } }, "velocity": { "x": -0.0036576269194483757, "y": 6.46749249426648e-05, "z": -0.6357081532478333 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.43485963344573975, "transform": { "location": { "x": 718.1520385742188, "y": 4286.8720703125, "z": 369.58782958984375 }, "rotation": { "roll": -0.00039672848652116954, "pitch": 0.33647558093070984, "yaw": 179.6615447998047 } }, "velocity": { "x": -0.002469983883202076, "y": -0.00010898907203227282, "z": -0.43485260009765625 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.23282060027122498, "transform": { "location": { "x": 703.15234375, "y": 4286.9609375, "z": 369.7037658691406 }, "rotation": { "roll": 0.001393489888869226, "pitch": 0.33289656043052673, "yaw": 179.66159057617188 } }, "velocity": { "x": -0.0013229140313342214, "y": 3.070899401791394e-05, "z": -0.23281683027744293 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.45631492137908936, "transform": { "location": { "x": 763.0471801757812, "y": 4288.93310546875, "z": 369.3104248046875 }, "rotation": { "roll": -0.0009155274019576609, "pitch": 0.3814045786857605, "yaw": 176.17250061035156 } }, "velocity": { "x": -0.00308401882648468, "y": 0.00024381028197240084, "z": -0.4563044309616089 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.45543402433395386, "transform": { "location": { "x": 748.1165161132812, "y": 4289.70751953125, "z": 369.40191650390625 }, "rotation": { "roll": -0.0011596676195040345, "pitch": 0.33302634954452515, "yaw": 177.8912811279297 } }, "velocity": { "x": -0.0026521566323935986, "y": 0.00014246904174797237, "z": -0.45542627573013306 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.2321363240480423, "transform": { "location": { "x": 718.1713256835938, "y": 4290.1220703125, "z": 369.61663818359375 }, "rotation": { "roll": 0.0024136954452842474, "pitch": 0.33435139060020447, "yaw": 179.66160583496094 } }, "velocity": { "x": -0.0013205118011683226, "y": 0.0002017271617660299, "z": -0.23213247954845428 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.5145211815834045, "transform": { "location": { "x": 703.1715698242188, "y": 4290.2109375, "z": 369.6522521972656 }, "rotation": { "roll": -0.00189208984375, "pitch": 0.3321520686149597, "yaw": 179.66162109375 } }, "velocity": { "x": -0.002972028451040387, "y": 0.00014319577894639224, "z": -0.5145125985145569 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.3239947259426117, "transform": { "location": { "x": 642.4929809570312, "y": 4286.181640625, "z": 370.003662109375 }, "rotation": { "roll": -0.0943298190832138, "pitch": 0.384498655796051, "yaw": 179.6613006591797 } }, "velocity": { "x": 0.00032208068296313286, "y": -0.009597599506378174, "z": 0.32385239005088806 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0012991840485483408, "expert_target_speed": 1.0383967594803196, "target_point": [ 51.54342740964375, 0.03885899304478729 ], "target_point_next": [ 102.54339033270632, 0.0770253758161602 ] }, "10": { "acceleration": [ -0.00010473275324329734, 5.523106665350497e-05, -0.07677817344665527 ], "angular_velocity": [ -0.0008193920366466045, 0.003153587458655238, 6.10691640758887e-05 ], "forward_vector": [ -0.9999599456787109, 0.006664735730737448, 0.005965673830360174 ], "right_vector": [ -0.0066648260690271854, -0.9999777674674988, 4.793602329300484e-06 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4877014160156 ], "rotation": [ -0.0002746580867096782, 0.3418099582195282, 179.61813354492188 ], "velocity": [ 8.369699207833037e-05, -0.00011219310545129701, 0.010707572102546692 ], "speed": 0.00013997313811501814, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 78.23189544677734, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 655.5183715820312, 4296.9931640625, 369.9817810058594 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 655.5183715820312, "y": 4296.9931640625, "z": 369.9817810058594 }, "rotation": { "roll": 1.0422190194203651e-10, "pitch": -0.30624517798423767, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 655.4991455078125, "y": 4293.7431640625, "z": 369.9817810058594 }, "rotation": { "roll": 1.0422190194203651e-10, "pitch": -0.30624517798423767, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.1025436520576477, "transform": { "location": { "x": 762.8301391601562, "y": 4285.6904296875, "z": 369.2929992675781 }, "rotation": { "roll": -0.0005187983624637127, "pitch": 0.3847103714942932, "yaw": 176.17250061035156 } }, "velocity": { "x": 0.000690049899276346, "y": -9.282471728511155e-05, "z": 0.10254128277301788 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.061174292117357254, "transform": { "location": { "x": 747.9963989257812, "y": 4286.4599609375, "z": 369.3731689453125 }, "rotation": { "roll": 0.000871284632012248, "pitch": 0.34060102701187134, "yaw": 177.89122009277344 } }, "velocity": { "x": 0.00037549142143689096, "y": -8.296708074340131e-06, "z": 0.06117313727736473 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0274041835218668, "transform": { "location": { "x": 718.15185546875, "y": 4286.8720703125, "z": 369.56365966796875 }, "rotation": { "roll": -0.0008850098238326609, "pitch": 0.33960381150245667, "yaw": 179.66160583496094 } }, "velocity": { "x": 0.0001842377969296649, "y": -0.00012511353997979313, "z": 0.027403278276324272 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.02493421360850334, "transform": { "location": { "x": 703.15234375, "y": 4286.9609375, "z": 369.6972961425781 }, "rotation": { "roll": 0.001135597936809063, "pitch": 0.3331014811992645, "yaw": 179.66162109375 } }, "velocity": { "x": 0.000176285466295667, "y": -4.4604203139897436e-05, "z": 0.024933550506830215 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.09441056847572327, "transform": { "location": { "x": 763.047119140625, "y": 4288.93310546875, "z": 369.30328369140625 }, "rotation": { "roll": -0.0006103515625, "pitch": 0.3812406361103058, "yaw": 176.1725311279297 } }, "velocity": { "x": 0.0006493785767816007, "y": -0.00010532941087149084, "z": 0.09440827369689941 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.09427197277545929, "transform": { "location": { "x": 748.116455078125, "y": 4289.70751953125, "z": 369.3948059082031 }, "rotation": { "roll": -0.00115966796875, "pitch": 0.3332790732383728, "yaw": 177.8912811279297 } }, "velocity": { "x": 0.0005661581526510417, "y": -8.152468217303976e-05, "z": 0.0942702367901802 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.024769581854343414, "transform": { "location": { "x": 718.1713256835938, "y": 4290.1220703125, "z": 369.610107421875 }, "rotation": { "roll": 0.0018934343243017793, "pitch": 0.3349592983722687, "yaw": 179.66162109375 } }, "velocity": { "x": 0.0001544644619571045, "y": 0.00035380563349463046, "z": 0.024766573682427406 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.1063017025589943, "transform": { "location": { "x": 703.17138671875, "y": 4290.2109375, "z": 369.6437683105469 }, "rotation": { "roll": -0.00299072265625, "pitch": 0.33179691433906555, "yaw": 179.66162109375 } }, "velocity": { "x": 0.0006267820717766881, "y": -0.00017751703853718936, "z": 0.10629970580339432 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.057063329964876175, "transform": { "location": { "x": 642.4939575195312, "y": 4286.181640625, "z": 370.02734375 }, "rotation": { "roll": 0.018715541809797287, "pitch": 0.2854540944099426, "yaw": 179.66146850585938 } }, "velocity": { "x": -0.0005597444251179695, "y": -0.0009280548547394574, "z": -0.057053036987781525 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.00040876411367207766, "expert_target_speed": 1.006148127366005, "target_point": [ 51.5434274281673, 0.03883441522333281 ], "target_point_next": [ 102.54339036942324, 0.07697647931731266 ] }, "15": { "acceleration": [ 0.00041993107879534364, 0.00045722973300144076, 0.01484257634729147 ], "angular_velocity": [ -0.008470996282994747, 0.0036361829843372107, 0.00013114226749166846 ], "forward_vector": [ -0.9999599456787109, 0.006664735730737448, 0.00596662750467658 ], "right_vector": [ -0.006664861459285021, -0.9999777674674988, -1.1326646927045658e-06 ], "location": [ 733.0796508789062, 4286.78369140625, 369.48883056640625 ], "rotation": [ 6.489806401077658e-05, 0.34186461567878723, 179.61813354492188 ], "velocity": [ 3.550272231223062e-05, 2.3336051526712254e-05, 0.0020782570354640484 ], "speed": 4.2485463307309324e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 76.16633605957031, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 657.6002807617188, 4296.98046875, 369.9375 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 657.6002807617188, "y": 4296.98046875, "z": 369.9375 }, "rotation": { "roll": 0.0, "pitch": -0.30904555320739746, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 657.5810546875, "y": 4293.73046875, "z": 369.9375 }, "rotation": { "roll": 0.0, "pitch": -0.30904555320739746, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.023524481803178787, "transform": { "location": { "x": 762.8301391601562, "y": 4285.6904296875, "z": 369.3082580566406 }, "rotation": { "roll": 7.595754595968174e-06, "pitch": 0.3843074142932892, "yaw": 176.1725311279297 } }, "velocity": { "x": 0.0001689358032308519, "y": 2.7320020308252424e-05, "z": 0.023523859679698944 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.1389744132757187, "transform": { "location": { "x": 747.9893798828125, "y": 4286.4599609375, "z": 369.4047546386719 }, "rotation": { "roll": -0.0006713866023346782, "pitch": 0.3541930913925171, "yaw": 177.89453125 } }, "velocity": { "x": -0.08124236017465591, "y": 0.0009029434877447784, "z": 0.1127508357167244 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.8802815675735474, "transform": { "location": { "x": 718.0856323242188, "y": 4286.87158203125, "z": 369.571044921875 }, "rotation": { "roll": -0.00921630673110485, "pitch": 0.5455613136291504, "yaw": 179.6595916748047 } }, "velocity": { "x": -0.87979656457901, "y": -0.005085095763206482, "z": 0.02877085655927658 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.9055242538452148, "transform": { "location": { "x": 703.0865478515625, "y": 4286.96044921875, "z": 369.70068359375 }, "rotation": { "roll": -0.0016479491023346782, "pitch": 0.4072636663913727, "yaw": 179.68353271484375 } }, "velocity": { "x": -0.9053999781608582, "y": -0.007333825808018446, "z": 0.013086671940982342 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.020953742787241936, "transform": { "location": { "x": 763.047119140625, "y": 4288.93310546875, "z": 369.3172302246094 }, "rotation": { "roll": -0.0003662094532046467, "pitch": 0.38114503026008606, "yaw": 176.1725311279297 } }, "velocity": { "x": 0.00015021853323560208, "y": -0.0001034343586070463, "z": 0.020952949300408363 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.020843490958213806, "transform": { "location": { "x": 748.116455078125, "y": 4289.70751953125, "z": 369.40875244140625 }, "rotation": { "roll": -0.0012512201210483909, "pitch": 0.3332858979701996, "yaw": 177.8913116455078 } }, "velocity": { "x": 0.00014303937496151775, "y": 6.13619340583682e-05, "z": 0.020842909812927246 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.9213072061538696, "transform": { "location": { "x": 718.1052856445312, "y": 4290.12158203125, "z": 369.6134948730469 }, "rotation": { "roll": -0.002807616489008069, "pitch": 0.40968838334083557, "yaw": 179.68809509277344 } }, "velocity": { "x": -0.9211761951446533, "y": -0.007747138384729624, "z": 0.013466023840010166 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.02309280075132847, "transform": { "location": { "x": 703.17138671875, "y": 4290.2109375, "z": 369.65948486328125 }, "rotation": { "roll": -0.0018310546875, "pitch": 0.33230918645858765, "yaw": 179.66168212890625 } }, "velocity": { "x": 0.00014444772386923432, "y": -3.2976691727526486e-05, "z": 0.023092325776815414 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.05881591513752937, "transform": { "location": { "x": 642.493896484375, "y": 4286.181640625, "z": 370.0079345703125 }, "rotation": { "roll": 0.006253334693610668, "pitch": 0.29145780205726624, "yaw": 179.66148376464844 } }, "velocity": { "x": -0.0001237491815118119, "y": 0.0006633757147938013, "z": -0.05881204456090927 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0021284702233970165, "expert_target_speed": 1.0027032417271002, "target_point": [ 51.5434274281673, 0.03883441522333281 ], "target_point_next": [ 102.54339036942324, 0.07697647931731266 ] }, "20": { "acceleration": [ 0.0003799945116043091, 0.0009141773916780949, 0.0006910413503646851 ], "angular_velocity": [ -0.014091109856963158, 0.004982638638466597, 0.00015832124336156994 ], "forward_vector": [ -0.9999600052833557, 0.006663782522082329, 0.005961739923804998 ], "right_vector": [ -0.006663918029516935, -0.9999777674674988, -2.8628874133573845e-06 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4891662597656 ], "rotation": [ 0.00016403428162448108, 0.34158456325531006, 179.61817932128906 ], "velocity": [ 3.8721933378838e-05, 4.169018939137459e-05, 0.001884699915535748 ], "speed": 5.6898682024137e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 74.10096740722656, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 659.6831665039062, 4296.96826171875, 369.9178466796875 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 659.6831665039062, "y": 4296.96826171875, "z": 369.9178466796875 }, "rotation": { "roll": 0.0, "pitch": -0.30904555320739746, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 659.6638793945312, "y": 4293.71826171875, "z": 369.9178466796875 }, "rotation": { "roll": 0.0, "pitch": -0.30904555320739746, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.9624414443969727, "transform": { "location": { "x": 762.6216430664062, "y": 4285.701171875, "z": 369.31097412109375 }, "rotation": { "roll": -0.00262451171875, "pitch": 0.4233282804489136, "yaw": 176.26351928710938 } }, "velocity": { "x": -1.9601579904556274, "y": 0.09399950504302979, "z": 0.01101123820990324 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.7023549675941467, "transform": { "location": { "x": 747.8656616210938, "y": 4286.46240234375, "z": 369.416015625 }, "rotation": { "roll": -0.007965087890625, "pitch": 0.4783249497413635, "yaw": 177.92434692382812 } }, "velocity": { "x": -0.7022427320480347, "y": 0.012511569075286388, "z": 0.0010335540864616632 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.8672748804092407, "transform": { "location": { "x": 717.7289428710938, "y": 4286.8701171875, "z": 369.5760192871094 }, "rotation": { "roll": -0.014770508743822575, "pitch": 0.7257280349731445, "yaw": 179.80140686035156 } }, "velocity": { "x": -1.8671436309814453, "y": -0.011976280249655247, "z": 0.018614167347550392 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.8437989950180054, "transform": { "location": { "x": 702.7273559570312, "y": 4286.958984375, "z": 369.7033996582031 }, "rotation": { "roll": -0.0011901853140443563, "pitch": 0.4365173578262329, "yaw": 179.8267822265625 } }, "velocity": { "x": -1.8436987400054932, "y": -0.015339852310717106, "z": 0.011584796942770481 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 2.1327996253967285, "transform": { "location": { "x": 762.8187255859375, "y": 4288.9443359375, "z": 369.3216857910156 }, "rotation": { "roll": 0.009196165949106216, "pitch": 0.19323286414146423, "yaw": 176.25099182128906 } }, "velocity": { "x": -2.1304445266723633, "y": 0.09921599179506302, "z": 0.013990955427289009 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 2.1806137561798096, "transform": { "location": { "x": 747.890625, "y": 4289.712890625, "z": 369.4130859375 }, "rotation": { "roll": 0.009538781829178333, "pitch": 0.14528495073318481, "yaw": 178.08070373535156 } }, "velocity": { "x": -2.1803085803985596, "y": 0.03475413843989372, "z": 0.011095733381807804 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.872437596321106, "transform": { "location": { "x": 717.7435913085938, "y": 4290.1201171875, "z": 369.6162109375 }, "rotation": { "roll": -0.00146484375, "pitch": 0.43943384289741516, "yaw": 179.81565856933594 } }, "velocity": { "x": -1.8723291158676147, "y": -0.016089793294668198, "z": 0.012134618125855923 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.1024563312530518, "transform": { "location": { "x": 703.0511474609375, "y": 4290.21044921875, "z": 369.66143798828125 }, "rotation": { "roll": -0.0027465815655887127, "pitch": 0.36385098099708557, "yaw": 179.70703125 } }, "velocity": { "x": -1.1024144887924194, "y": -0.00721356738358736, "z": 0.006342162843793631 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.006155104376375675, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0027160644531 }, "rotation": { "roll": -0.0016174311749637127, "pitch": 0.3038546144962311, "yaw": 179.66148376464844 } }, "velocity": { "x": 6.35122851235792e-05, "y": -2.5314999220427126e-05, "z": 0.006154724396765232 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0010557518107816577, "expert_target_speed": 1.018147908530713, "target_point": [ 51.54342746517924, 0.03878525958039736 ], "target_point_next": [ 102.5433904427871, 0.07687868631956518 ] }, "25": { "acceleration": [ 0.0004894457524642348, 0.0036346372216939926, 0.012393210083246231 ], "angular_velocity": [ -0.02077454701066017, 0.00230020540766418, 0.0002057477249763906 ], "forward_vector": [ -0.9999600052833557, 0.006663782522082329, 0.00596507778391242 ], "right_vector": [ -0.006663931533694267, -0.9999777674674988, -5.181709184398642e-06 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4892578125 ], "rotation": [ 0.00029689533403143287, 0.3417758047580719, 179.61817932128906 ], "velocity": [ 2.8435624699341133e-05, 6.533139094244689e-05, 0.001609891070984304 ], "speed": 7.125149398094478e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 72.03668975830078, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 661.7659912109375, 4296.9560546875, 369.90142822265625 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 661.7659912109375, "y": 4296.9560546875, "z": 369.90142822265625 }, "rotation": { "roll": 0.0, "pitch": -0.3118595778942108, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 661.7467651367188, "y": 4293.7060546875, "z": 369.90142822265625 }, "rotation": { "roll": 0.0, "pitch": -0.3118595778942108, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.954958200454712, "transform": { "location": { "x": 761.99169921875, "y": 4285.73388671875, "z": 369.3148498535156 }, "rotation": { "roll": 0.000642845465335995, "pitch": 0.410419225692749, "yaw": 176.56158447265625 } }, "velocity": { "x": -2.951572895050049, "y": 0.14024300873279572, "z": 0.018084602430462837 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6119256019592285, "transform": { "location": { "x": 747.5776977539062, "y": 4286.4697265625, "z": 369.41259765625 }, "rotation": { "roll": -0.009582518599927425, "pitch": 0.5344759225845337, "yaw": 178.0966796875 } }, "velocity": { "x": -1.611609935760498, "y": 0.030400477349758148, "z": -0.009663152508437634 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.9849061965942383, "transform": { "location": { "x": 717.1282348632812, "y": 4286.86669921875, "z": 369.5803527832031 }, "rotation": { "roll": -0.014343264512717724, "pitch": 0.7958126068115234, "yaw": 179.9939422607422 } }, "velocity": { "x": -2.984772205352783, "y": -0.021640010178089142, "z": 0.01820565201342106 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.9991533756256104, "transform": { "location": { "x": 702.122314453125, "y": 4286.95556640625, "z": 369.7068176269531 }, "rotation": { "roll": -3.0517578125e-05, "pitch": 0.45056024193763733, "yaw": -179.98480224609375 } }, "velocity": { "x": -2.9989874362945557, "y": -0.02612335793673992, "z": 0.017652425915002823 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 3.3427064418792725, "transform": { "location": { "x": 762.1182861328125, "y": 4288.97900390625, "z": 369.32562255859375 }, "rotation": { "roll": 0.007742029149085283, "pitch": 0.23228788375854492, "yaw": 176.57057189941406 } }, "velocity": { "x": -3.3390941619873047, "y": 0.15403757989406586, "z": 0.020218972116708755 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 3.3360886573791504, "transform": { "location": { "x": 747.1873779296875, "y": 4289.7265625, "z": 369.41650390625 }, "rotation": { "roll": 0.006681015249341726, "pitch": 0.18753649294376373, "yaw": 178.37228393554688 } }, "velocity": { "x": -3.3356075286865234, "y": 0.053618915379047394, "z": 0.018295086920261383 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.9810941219329834, "transform": { "location": { "x": 717.1384887695312, "y": 4290.11669921875, "z": 369.6197509765625 }, "rotation": { "roll": -0.0022583005484193563, "pitch": 0.4510451853275299, "yaw": 179.99435424804688 } }, "velocity": { "x": -2.9809346199035645, "y": -0.02512659691274166, "z": 0.017862863838672638 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.7386195659637451, "transform": { "location": { "x": 702.6842041015625, "y": 4290.208984375, "z": 369.6632995605469 }, "rotation": { "roll": -0.0016174311749637127, "pitch": 0.35850977897644043, "yaw": 179.81295776367188 } }, "velocity": { "x": -1.7385467290878296, "y": -0.013371847569942474, "z": 0.008636074140667915 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.002762067597359419, "expert_target_speed": 1.0394745845129474, "target_point": [ 51.54342746517924, 0.03878525958039736 ], "target_point_next": [ 102.5433904427871, 0.07687868631956518 ] }, "30": { "acceleration": [ -7.828473462723196e-05, 8.13469523563981e-05, -0.0070547498762607574 ], "angular_velocity": [ -0.004642189480364323, -0.00895640067756176, 0.00010746746556833386 ], "forward_vector": [ -0.9999600648880005, 0.006663544103503227, 0.00595899811014533 ], "right_vector": [ -0.006663765292614698, -0.9999778270721436, -1.7302825654041953e-05 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4893798828125 ], "rotation": [ 0.0009913964895531535, 0.3414274752140045, 179.61819458007812 ], "velocity": [ -7.941051990201231e-06, 1.765052365954034e-05, 0.0016536731272935867 ], "speed": 1.935461940124559e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 69.9734878540039, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 663.848876953125, 4296.94384765625, 369.8895568847656 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 663.848876953125, "y": 4296.94384765625, "z": 369.8895568847656 }, "rotation": { "roll": 0.0, "pitch": -0.3118595778942108, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 663.8296508789062, "y": 4293.69384765625, "z": 369.8895568847656 }, "rotation": { "roll": 0.0, "pitch": -0.3118595778942108, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 3.7215301990509033, "transform": { "location": { "x": 761.1531982421875, "y": 4285.77587890625, "z": 369.3203430175781 }, "rotation": { "roll": 0.0018736777128651738, "pitch": 0.39598703384399414, "yaw": 176.84603881835938 } }, "velocity": { "x": -3.7173964977264404, "y": 0.17370493710041046, "z": 0.024015702307224274 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.12589955329895, "transform": { "location": { "x": 747.0094604492188, "y": 4286.48193359375, "z": 369.4127502441406 }, "rotation": { "roll": -0.013244626112282276, "pitch": 0.6452479362487793, "yaw": 178.36044311523438 } }, "velocity": { "x": -3.1253464221954346, "y": 0.055956415832042694, "z": 0.01808849349617958 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.384318828582764, "transform": { "location": { "x": 716.195068359375, "y": 4286.8603515625, "z": 369.5854187011719 }, "rotation": { "roll": -0.013763426803052425, "pitch": 0.9122331738471985, "yaw": -179.8003692626953 } }, "velocity": { "x": -4.384103775024414, "y": -0.03520318120718002, "z": 0.025385074317455292 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.374879837036133, "transform": { "location": { "x": 701.1904296875, "y": 4286.94921875, "z": 369.71197509765625 }, "rotation": { "roll": 0.0004474956658668816, "pitch": 0.4760231673717499, "yaw": -179.7861785888672 } }, "velocity": { "x": -4.374629974365234, "y": -0.039465732872486115, "z": 0.024999350309371948 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.465246200561523, "transform": { "location": { "x": 761.137939453125, "y": 4289.02685546875, "z": 369.3317565917969 }, "rotation": { "roll": 0.006022654939442873, "pitch": 0.25584521889686584, "yaw": 176.87184143066406 } }, "velocity": { "x": -4.460405349731445, "y": 0.20574620366096497, "z": 0.029574546962976456 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.471312999725342, "transform": { "location": { "x": 746.2045288085938, "y": 4289.7451171875, "z": 369.4219055175781 }, "rotation": { "roll": 0.006520191207528114, "pitch": 0.2156495451927185, "yaw": 178.64529418945312 } }, "velocity": { "x": -4.470666885375977, "y": 0.07140378654003143, "z": 0.026057662442326546 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.370018482208252, "transform": { "location": { "x": 716.2079467773438, "y": 4290.1103515625, "z": 369.6249084472656 }, "rotation": { "roll": -0.0015563966007903218, "pitch": 0.47869378328323364, "yaw": -179.80140686035156 } }, "velocity": { "x": -4.369767189025879, "y": -0.03906865790486336, "z": 0.02586238831281662 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.253244638442993, "transform": { "location": { "x": 702.1843872070312, "y": 4290.20654296875, "z": 369.66619873046875 }, "rotation": { "roll": -0.0008850098238326609, "pitch": 0.35028624534606934, "yaw": 179.96206665039062 } }, "velocity": { "x": -2.253136396408081, "y": -0.018017632886767387, "z": 0.01277344673871994 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.002238707384094596, "expert_target_speed": 1.0659967156334493, "target_point": [ 51.543427483667635, 0.03876068175891639 ], "target_point_next": [ 102.54339047943407, 0.07682978982066513 ] }, "35": { "acceleration": [ -0.0004611461772583425, 0.0011585153406485915, 0.0001968687865883112 ], "angular_velocity": [ -0.0017272845143452287, -0.0016029836842790246, 9.128130477620289e-05 ], "forward_vector": [ -0.9999600648880005, 0.006663544103503227, 0.00595899811014533 ], "right_vector": [ -0.006663765292614698, -0.9999778270721436, -1.7302825654041953e-05 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4893798828125 ], "rotation": [ 0.0009913964895531535, 0.3414274752140045, 179.61819458007812 ], "velocity": [ 1.0914951417362317e-05, 5.9011695157096256e-06, 0.0007876276504248381 ], "speed": 1.2408060529209238e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 67.97579193115234, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 665.868408203125, 4296.94287109375, 369.87408447265625 ], "velocity": [ 8.055631637573242, 0.04458218812942505, -0.057188842445611954 ], "speed_kmh": 29.001448781612382, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.05595874786377, "transform": { "location": { "x": 665.868408203125, "y": 4296.94287109375, "z": 369.87408447265625 }, "rotation": { "roll": -0.007232664618641138, "pitch": -0.3161626160144806, "yaw": 0.06552726775407791 } }, "velocity": { "x": 8.055631637573242, "y": 0.04458218812942505, "z": -0.057188842445611954 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.046765327453613, "transform": { "location": { "x": 665.8673095703125, "y": 4293.6943359375, "z": 369.8813171386719 }, "rotation": { "roll": -0.0568847618997097, "pitch": -0.3480527698993683, "yaw": 0.07085400074720383 } }, "velocity": { "x": 8.046582221984863, "y": 0.04415159299969673, "z": -0.03144945949316025 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 4.451961517333984, "transform": { "location": { "x": 760.1292114257812, "y": 4285.8251953125, "z": 369.3271484375 }, "rotation": { "roll": 0.0038021302316337824, "pitch": 0.38960763812065125, "yaw": 177.0806427001953 } }, "velocity": { "x": -4.44717264175415, "y": 0.20432931184768677, "z": 0.02949841506779194 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.013422966003418, "transform": { "location": { "x": 745.9855346679688, "y": 4286.501953125, "z": 369.4181823730469 }, "rotation": { "roll": -0.011657713912427425, "pitch": 0.7981348633766174, "yaw": 178.63963317871094 } }, "velocity": { "x": -5.012607574462891, "y": 0.08461152017116547, "z": 0.031883981078863144 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.411758899688721, "transform": { "location": { "x": 714.939697265625, "y": 4286.85498046875, "z": 369.59320068359375 }, "rotation": { "roll": 0.01933136209845543, "pitch": 0.8842430710792542, "yaw": -179.8705291748047 } }, "velocity": { "x": -5.411653995513916, "y": -0.010935147292912006, "z": 0.03186902031302452 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.324244499206543, "transform": { "location": { "x": 699.9428100585938, "y": 4286.9453125, "z": 369.7197265625 }, "rotation": { "roll": 0.008706972002983093, "pitch": 0.4497884213924408, "yaw": -179.79385375976562 } }, "velocity": { "x": -5.3241424560546875, "y": -0.008787357248365879, "z": 0.03175091743469238 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.2888503074646, "transform": { "location": { "x": 759.8945922851562, "y": 4289.0859375, "z": 369.3399658203125 }, "rotation": { "roll": 0.005559108220040798, "pitch": 0.2765201926231384, "yaw": 177.10623168945312 } }, "velocity": { "x": -5.283191204071045, "y": 0.24199631810188293, "z": 0.03557756170630455 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.285097122192383, "transform": { "location": { "x": 744.95654296875, "y": 4289.76611328125, "z": 369.42919921875 }, "rotation": { "roll": 0.004804009571671486, "pitch": 0.24019725620746613, "yaw": 178.82749938964844 } }, "velocity": { "x": -5.284327507019043, "y": 0.08415006101131439, "z": 0.03240690007805824 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.3108439445495605, "transform": { "location": { "x": 714.9620361328125, "y": 4290.10595703125, "z": 369.6326904296875 }, "rotation": { "roll": 0.009589609690010548, "pitch": 0.45263659954071045, "yaw": -179.83421325683594 } }, "velocity": { "x": -5.310747146606445, "y": -0.008863654918968678, "z": 0.030809134244918823 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.81040620803833, "transform": { "location": { "x": 701.54833984375, "y": 4290.20263671875, "z": 369.6699523925781 }, "rotation": { "roll": 0.0005600251606665552, "pitch": 0.3497466444969177, "yaw": -179.87600708007812 } }, "velocity": { "x": -2.8102612495422363, "y": -0.024291157722473145, "z": 0.015007228590548038 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.002320024883374572, "expert_target_speed": 1.090823285963786, "target_point": [ 51.543427483667635, 0.03876068175891639 ], "target_point_next": [ 102.54339047943407, 0.07682978982066513 ] }, "40": { "acceleration": [ 0.0005019665113650262, -0.0012416807003319263, 0.012303263880312443 ], "angular_velocity": [ 0.01777951419353485, 0.006267532240599394, -2.2562073354492895e-05 ], "forward_vector": [ -0.9999600648880005, 0.006663544103503227, 0.00595899811014533 ], "right_vector": [ -0.006663765292614698, -0.9999778270721436, -1.7302825654041953e-05 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4893798828125 ], "rotation": [ 0.0009913964895531535, 0.3414274752140045, 179.61819458007812 ], "velocity": [ 3.575824302970432e-05, -6.477817805716768e-05, 0.0006626900285482407 ], "speed": 7.399232593301496e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 65.98255920410156, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 667.88623046875, 4296.951171875, 369.8617248535156 ], "velocity": [ 8.085064888000488, 0.029939740896224976, -0.045740436762571335 ], "speed_kmh": 29.106898943925447, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.085248947143555, "transform": { "location": { "x": 667.88623046875, "y": 4296.951171875, "z": 369.8617248535156 }, "rotation": { "roll": -0.002685546875, "pitch": -0.31390181183815, "yaw": 0.28379473090171814 } }, "velocity": { "x": 8.085064888000488, "y": 0.029939740896224976, "z": -0.045740436762571335 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.273276329040527, "transform": { "location": { "x": 667.9088745117188, "y": 4293.70166015625, "z": 369.87139892578125 }, "rotation": { "roll": -0.00012207032705191523, "pitch": -0.3121669590473175, "yaw": 0.29141145944595337 } }, "velocity": { "x": 8.273103713989258, "y": 0.02926020137965679, "z": -0.04474995657801628 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 5.198419094085693, "transform": { "location": { "x": 758.9177856445312, "y": 4285.88232421875, "z": 369.3351745605469 }, "rotation": { "roll": 0.0023308543022722006, "pitch": 0.38381561636924744, "yaw": 177.24977111816406 } }, "velocity": { "x": -5.192943572998047, "y": 0.23608581721782684, "z": 0.03404930979013443 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.3736629784107208, "transform": { "location": { "x": 745.1633911132812, "y": 4286.51318359375, "z": 369.4324951171875 }, "rotation": { "roll": 0.020963484421372414, "pitch": -0.3235187232494354, "yaw": 178.4874725341797 } }, "velocity": { "x": -0.3736533522605896, "y": -0.0018799739191308618, "z": 0.0019164085388183594 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.235318660736084, "transform": { "location": { "x": 713.55419921875, "y": 4286.8525390625, "z": 369.60186767578125 }, "rotation": { "roll": 0.01583186723291874, "pitch": 0.7170127034187317, "yaw": -179.9879913330078 } }, "velocity": { "x": -6.235206604003906, "y": -0.006532677914947271, "z": 0.036835458129644394 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.573041915893555, "transform": { "location": { "x": 698.5835571289062, "y": 4286.943359375, "z": 369.72802734375 }, "rotation": { "roll": 0.005704930983483791, "pitch": 0.3880230188369751, "yaw": -179.76416015625 } }, "velocity": { "x": -5.57294225692749, "y": -0.010125351138412952, "z": 0.03171096742153168 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.735456466674805, "transform": { "location": { "x": 758.5300903320312, "y": 4289.14990234375, "z": 369.3482971191406 }, "rotation": { "roll": 0.005324273370206356, "pitch": 0.30017995834350586, "yaw": 177.29974365234375 } }, "velocity": { "x": -5.729562759399414, "y": 0.25769102573394775, "z": 0.03417787328362465 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.711518287658691, "transform": { "location": { "x": 743.595458984375, "y": 4289.7890625, "z": 369.4368591308594 }, "rotation": { "roll": 0.005426398012787104, "pitch": 0.2827083468437195, "yaw": 178.96971130371094 } }, "velocity": { "x": -5.710806846618652, "y": 0.08388219773769379, "z": 0.032985057681798935 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.791581869125366, "transform": { "location": { "x": 713.7154541015625, "y": 4290.1025390625, "z": 369.6412353515625 }, "rotation": { "roll": 0.0062414915300905704, "pitch": 0.2548002004623413, "yaw": -179.97341918945312 } }, "velocity": { "x": -3.79152250289917, "y": -0.004075090866535902, "z": 0.02085009589791298 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.4125113487243652, "transform": { "location": { "x": 700.7705078125, "y": 4290.1982421875, "z": 369.6744384765625 }, "rotation": { "roll": 0.0037837540730834007, "pitch": 0.3515361547470093, "yaw": -179.77566528320312 } }, "velocity": { "x": -3.412445068359375, "y": -0.010269862599670887, "z": 0.018618058413267136 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0017381490906700492, "expert_target_speed": 1.1112700159510962, "target_point": [ 51.543427483667635, 0.03876068175891639 ], "target_point_next": [ 102.54339047943407, 0.07682978982066513 ] }, "45": { "acceleration": [ 6.703805411234498e-05, -0.0022094231098890305, 0.008728327229619026 ], "angular_velocity": [ 0.023820681497454643, 0.004135313909500837, -6.0671201936202124e-05 ], "forward_vector": [ -0.9999600648880005, 0.006663544103503227, 0.00595899811014533 ], "right_vector": [ -0.006663765292614698, -0.9999778270721436, -1.7302825654041953e-05 ], "location": [ 733.0796508789062, 4286.78369140625, 369.4893798828125 ], "rotation": [ 0.0009913964895531535, 0.3414274752140045, 179.61819458007812 ], "velocity": [ 3.387085962458514e-05, -6.639732600888237e-05, 0.001501247868873179 ], "speed": 7.453750755719002e-05, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 63.992820739746094, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 669.90185546875, 4296.9580078125, 369.8507385253906 ], "velocity": [ 8.041783332824707, 0.021257927641272545, -0.044585056602954865 ], "speed_kmh": 28.95096607937615, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.041934967041016, "transform": { "location": { "x": 669.90185546875, "y": 4296.9580078125, "z": 369.8507385253906 }, "rotation": { "roll": -0.00250244140625, "pitch": -0.3135671317577362, "yaw": 0.1992821842432022 } }, "velocity": { "x": 8.041783332824707, "y": 0.021257927641272545, "z": -0.044585056602954865 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.055225372314453, "transform": { "location": { "x": 669.94873046875, "y": 4293.70849609375, "z": 369.85980224609375 }, "rotation": { "roll": 0.0067604840733110905, "pitch": -0.31249478459358215, "yaw": 0.21083275973796844 } }, "velocity": { "x": 8.055068969726562, "y": 0.021401124075055122, "z": -0.04538459703326225 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 5.264791965484619, "transform": { "location": { "x": 757.6014404296875, "y": 4285.94189453125, "z": 369.3435974121094 }, "rotation": { "roll": 0.003823882667347789, "pitch": 0.3648345470428467, "yaw": 177.35755920410156 } }, "velocity": { "x": -5.259466648101807, "y": 0.2344181388616562, "z": 0.033071525394916534 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.2443599700927734, "transform": { "location": { "x": 744.8844604492188, "y": 4286.5185546875, "z": 369.4303894042969 }, "rotation": { "roll": 0.006011891644448042, "pitch": 0.1216183453798294, "yaw": 178.5475616455078 } }, "velocity": { "x": -2.2439727783203125, "y": 0.03966367244720459, "z": 0.012837314046919346 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.682073593139648, "transform": { "location": { "x": 711.7977294921875, "y": 4286.85107421875, "z": 369.6112365722656 }, "rotation": { "roll": 0.007605086080729961, "pitch": 0.9264604449272156, "yaw": -179.9710235595703 } }, "velocity": { "x": -7.681939125061035, "y": -0.008049601688981056, "z": 0.044728219509124756 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.566426753997803, "transform": { "location": { "x": 697.0291137695312, "y": 4286.9404296875, "z": 369.7366027832031 }, "rotation": { "roll": 0.0036692225839942694, "pitch": 0.42539098858833313, "yaw": -179.8521728515625 } }, "velocity": { "x": -6.566310882568359, "y": -0.01065552793443203, "z": 0.03753960505127907 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.132969856262207, "transform": { "location": { "x": 756.9819946289062, "y": 4289.220703125, "z": 369.3585205078125 }, "rotation": { "roll": 0.004292186815291643, "pitch": 0.22072437405586243, "yaw": 177.40184020996094 } }, "velocity": { "x": -7.125746726989746, "y": 0.3177978992462158, "z": 0.0446748249232769 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.152634620666504, "transform": { "location": { "x": 742.0408935546875, "y": 4289.8125, "z": 369.44659423828125 }, "rotation": { "roll": 0.0032856708858162165, "pitch": 0.19471502304077148, "yaw": 179.04177856445312 } }, "velocity": { "x": -7.151772975921631, "y": 0.10282380878925323, "z": 0.04180806875228882 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.6170775890350342, "transform": { "location": { "x": 713.3250122070312, "y": 4290.1025390625, "z": 369.64581298828125 }, "rotation": { "roll": 0.004927413538098335, "pitch": -0.002226641634479165, "yaw": -179.97061157226562 } }, "velocity": { "x": -0.617064893245697, "y": -0.00044369156239554286, "z": 0.003937187138944864 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.219234466552734, "transform": { "location": { "x": 699.8165283203125, "y": 4290.19580078125, "z": 369.6798095703125 }, "rotation": { "roll": 0.00335704511962831, "pitch": 0.35683637857437134, "yaw": -179.81971740722656 } }, "velocity": { "x": -4.219157695770264, "y": -0.008086901158094406, "z": 0.024142693728208542 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.0009695851476863027, "expert_target_speed": 1.131348155873951, "target_point": [ 51.543427483667635, 0.03876068175891639 ], "target_point_next": [ 102.54339047943407, 0.07682978982066513 ] }, "50": { "acceleration": [ -3.2148241996765137, 0.021830452606081963, 0.04033584147691727 ], "angular_velocity": [ -0.022030586376786232, 0.7623530030250549, 0.9692946076393127 ], "forward_vector": [ -0.9999284744262695, 0.00675679137930274, 0.009871679358184338 ], "right_vector": [ -0.0067575592547655106, -0.999977171421051, -4.4428714318200946e-05 ], "location": [ 732.9757690429688, 4286.78466796875, 369.4892578125 ], "rotation": [ 0.0025457018055021763, 0.5656147599220276, 179.6128387451172 ], "velocity": [ -0.8736844658851624, 0.008334187790751457, 0.005236892495304346 ], "speed": 0.8737242154222195, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 61.98133850097656, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 671.8368530273438, 4296.962890625, 369.8401794433594 ], "velocity": [ 7.398837089538574, 0.0038705291226506233, -0.041267380118370056 ], "speed_kmh": 26.63623147119824, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 7.398952960968018, "transform": { "location": { "x": 671.8368530273438, "y": 4296.962890625, "z": 369.8401794433594 }, "rotation": { "roll": -0.002777099609375, "pitch": -0.3292834162712097, "yaw": 0.12161242961883545 } }, "velocity": { "x": 7.398837089538574, "y": 0.0038705291226506233, "z": -0.041267380118370056 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.28223991394043, "transform": { "location": { "x": 671.9920043945312, "y": 4293.71337890625, "z": 369.8484191894531 }, "rotation": { "roll": 0.005359696689993143, "pitch": -0.31427064538002014, "yaw": 0.12271633744239807 } }, "velocity": { "x": 8.282112121582031, "y": 0.004174006637185812, "z": -0.04590478166937828 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.18796539306640625, "transform": { "location": { "x": 756.9094848632812, "y": 4285.97314453125, "z": 369.3485107421875 }, "rotation": { "roll": 0.0032302408944815397, "pitch": 0.2630852162837982, "yaw": 177.38333129882812 } }, "velocity": { "x": -0.18776865303516388, "y": 0.008507546968758106, "z": 0.0012413787189871073 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.7403095364570618, "transform": { "location": { "x": 744.3090209960938, "y": 4286.52880859375, "z": 369.4309997558594 }, "rotation": { "roll": 0.0012304619885981083, "pitch": 0.46695950627326965, "yaw": 178.57833862304688 } }, "velocity": { "x": -0.740265965461731, "y": 0.006630172953009605, "z": 0.004525585100054741 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.546327114105225, "transform": { "location": { "x": 709.842041015625, "y": 4286.85107421875, "z": 369.6238098144531 }, "rotation": { "roll": 0.021138150244951248, "pitch": 0.585463285446167, "yaw": -179.9932403564453 } }, "velocity": { "x": -7.5461907386779785, "y": 0.009189454838633537, "z": 0.04439432919025421 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.036382675170898, "transform": { "location": { "x": 695.5894165039062, "y": 4286.939453125, "z": 369.7469482421875 }, "rotation": { "roll": 0.00251234183087945, "pitch": 0.1571284979581833, "yaw": -179.7127227783203 } }, "velocity": { "x": -4.036323070526123, "y": -0.007390282116830349, "z": 0.02064826898276806 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.515552043914795, "transform": { "location": { "x": 755.1239013671875, "y": 4289.3037109375, "z": 369.3692932128906 }, "rotation": { "roll": 0.0026438154745846987, "pitch": 0.274682879447937, "yaw": 177.4391326904297 } }, "velocity": { "x": -7.508052349090576, "y": 0.3326932191848755, "z": 0.04461463913321495 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.195838928222656, "transform": { "location": { "x": 740.1083374023438, "y": 4289.8408203125, "z": 369.4577331542969 }, "rotation": { "roll": 0.002593334298580885, "pitch": 0.20786996185779572, "yaw": 179.1290283203125 } }, "velocity": { "x": -8.194869041442871, "y": 0.116941437125206, "z": 0.047264497727155685 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.1729753017425537, "transform": { "location": { "x": 712.935302734375, "y": 4290.1025390625, "z": 369.64483642578125 }, "rotation": { "roll": 0.0030590954702347517, "pitch": 0.37620678544044495, "yaw": -179.97811889648438 } }, "velocity": { "x": -2.1729331016540527, "y": -0.0026007541455328465, "z": 0.013275489211082458 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.184385299682617, "transform": { "location": { "x": 698.638427734375, "y": 4290.193359375, "z": 369.6867370605469 }, "rotation": { "roll": 0.001704079331830144, "pitch": 0.3631884455680847, "yaw": -179.86141967773438 } }, "velocity": { "x": -5.184272289276123, "y": -0.009416542947292328, "z": 0.032933156937360764 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.002134770154953003, "expert_target_speed": 2.014626008692001, "target_point": [ 51.4395375520672, 0.043877102689912795 ], "target_point_next": [ 102.43949674672332, 0.08673699002905522 ] }, "55": { "acceleration": [ -1.6630053520202637, 0.014547891914844513, 0.007408717647194862 ], "angular_velocity": [ 0.02371186763048172, -0.1389508843421936, -0.2544776201248169 ], "forward_vector": [ -0.9999235272407532, 0.006562929600477219, 0.010483192279934883 ], "right_vector": [ -0.006563294678926468, -0.9999784827232361, -4.174216599039937e-07 ], "location": [ 732.6873779296875, 4286.787109375, 369.4908752441406 ], "rotation": [ 2.3917813450680114e-05, 0.6006536483764648, 179.6239471435547 ], "velocity": [ -1.3965402841567993, 0.01244181115180254, 0.006805238779634237 ], "speed": 1.3965957052552793, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 59.829917907714844, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 673.7300415039062, 4296.96240234375, 369.8295593261719 ], "velocity": [ 7.9587554931640625, -0.014792134054005146, -0.04299904406070709 ], "speed_kmh": 28.6519874206984, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 7.958885192871094, "transform": { "location": { "x": 673.7300415039062, "y": 4296.96240234375, "z": 369.8295593261719 }, "rotation": { "roll": 0.0005791570292785764, "pitch": -0.30823275446891785, "yaw": -0.037078857421875 } }, "velocity": { "x": 7.9587554931640625, "y": -0.014792134054005146, "z": -0.04299904406070709 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.064675331115723, "transform": { "location": { "x": 674.0341796875, "y": 4293.712890625, "z": 369.8372497558594 }, "rotation": { "roll": 0.014741482213139534, "pitch": -0.32040414214134216, "yaw": -0.0509033128619194 } }, "velocity": { "x": 8.06453800201416, "y": -0.014977553859353065, "z": -0.04471491277217865 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.7280324101448059, "transform": { "location": { "x": 756.8338623046875, "y": 4285.97607421875, "z": 369.3484191894531 }, "rotation": { "roll": 0.0029678484424948692, "pitch": 0.3376777172088623, "yaw": 177.3728790283203 } }, "velocity": { "x": -0.7273529767990112, "y": 0.031191224232316017, "z": 0.003998746629804373 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9059060215950012, "transform": { "location": { "x": 744.2117919921875, "y": 4286.53076171875, "z": 369.434326171875 }, "rotation": { "roll": 0.011613784357905388, "pitch": 0.12124267965555191, "yaw": 178.6624755859375 } }, "velocity": { "x": -0.9057453870773315, "y": 0.016072357073426247, "z": 0.005715026520192623 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.821290493011475, "transform": { "location": { "x": 708.1426391601562, "y": 4286.85400390625, "z": 369.63592529296875 }, "rotation": { "roll": 0.015253432095050812, "pitch": -0.015135698020458221, "yaw": 179.91363525390625 } }, "velocity": { "x": -5.821171283721924, "y": 0.013878312893211842, "z": 0.034577321261167526 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.957000255584717, "transform": { "location": { "x": 694.6412353515625, "y": 4286.939453125, "z": 369.751708984375 }, "rotation": { "roll": 0.0047157928347587585, "pitch": 0.23981475830078125, "yaw": -179.85813903808594 } }, "velocity": { "x": -3.9569268226623535, "y": 0.008867209777235985, "z": 0.022443417459726334 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.182641983032227, "transform": { "location": { "x": 753.1724853515625, "y": 4289.38818359375, "z": 369.38092041015625 }, "rotation": { "roll": 0.009082003496587276, "pitch": 0.27784526348114014, "yaw": 177.53118896484375 } }, "velocity": { "x": -8.176149368286133, "y": 0.32254353165626526, "z": 0.04672471806406975 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.148000717163086, "transform": { "location": { "x": 737.9338989257812, "y": 4289.87060546875, "z": 369.4701843261719 }, "rotation": { "roll": 0.009978070855140686, "pitch": 0.2373763769865036, "yaw": 179.23463439941406 } }, "velocity": { "x": -9.147330284118652, "y": 0.09730372577905655, "z": 0.05285564437508583 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.345181941986084, "transform": { "location": { "x": 712.3787231445312, "y": 4290.10302734375, "z": 369.6481628417969 }, "rotation": { "roll": 0.001913300366140902, "pitch": 0.36709532141685486, "yaw": -179.95449829101562 } }, "velocity": { "x": -2.345134735107422, "y": -0.004080724902451038, "z": 0.014307918027043343 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.432894229888916, "transform": { "location": { "x": 697.316162109375, "y": 4290.19140625, "z": 369.6946716308594 }, "rotation": { "roll": 0.003205154789611697, "pitch": 0.34364044666290283, "yaw": -179.8677215576172 } }, "velocity": { "x": -5.432805061340332, "y": -0.009831953793764114, "z": 0.02951238490641117 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.002361754886806011, "expert_target_speed": 2.539384039049697, "target_point": [ 51.15114417339804, 0.034442696775940196 ], "target_point_next": [ 102.15111072555229, 0.06740488239645392 ] }, "60": { "acceleration": [ -2.872908115386963, 0.03473680466413498, 0.006977468729019165 ], "angular_velocity": [ -0.03800785541534424, 0.1787109076976776, -0.1628352701663971 ], "forward_vector": [ -0.9999220371246338, 0.0071701533161103725, 0.010224997997283936 ], "right_vector": [ -0.00717068649828434, -0.9999743103981018, -1.5477893612114713e-05 ], "location": [ 732.2735595703125, 4286.791015625, 369.4933166503906 ], "rotation": [ 0.000886864319909364, 0.5858594179153442, 179.5891571044922 ], "velocity": [ -1.950630784034729, 0.018225371837615967, 0.010431480593979359 ], "speed": 1.9507159249369348, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 57.3743896484375, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 675.80810546875, 4296.9580078125, 369.818115234375 ], "velocity": [ 8.324883460998535, -0.023175885900855064, -0.04457534849643707 ], "speed_kmh": 29.970126210023505, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.325035095214844, "transform": { "location": { "x": 675.80810546875, "y": 4296.9580078125, "z": 369.818115234375 }, "rotation": { "roll": -0.0006103515042923391, "pitch": -0.30700331926345825, "yaw": -0.141082763671875 } }, "velocity": { "x": 8.324883460998535, "y": -0.023175885900855064, "z": -0.04457534849643707 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.291574478149414, "transform": { "location": { "x": 676.079833984375, "y": 4293.70849609375, "z": 369.8258972167969 }, "rotation": { "roll": 0.006153893191367388, "pitch": -0.31582111120224, "yaw": -0.15765380859375 } }, "velocity": { "x": 8.291412353515625, "y": -0.02429223246872425, "z": -0.04592520743608475 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.485896110534668, "transform": { "location": { "x": 756.5612182617188, "y": 4285.98828125, "z": 369.34979248046875 }, "rotation": { "roll": 0.00259631616063416, "pitch": 0.3694312572479248, "yaw": 177.3610076904297 } }, "velocity": { "x": -1.4844251871109009, "y": 0.06558722257614136, "z": 0.008195200003683567 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.7343705892562866, "transform": { "location": { "x": 743.9050903320312, "y": 4286.53662109375, "z": 369.4328918457031 }, "rotation": { "roll": -0.002044677734375, "pitch": 0.5288273692131042, "yaw": 178.7755126953125 } }, "velocity": { "x": -1.734129548072815, "y": 0.027332177385687828, "z": 0.009427547454833984 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.01837300695478916, "transform": { "location": { "x": 707.4540405273438, "y": 4286.85302734375, "z": 369.6448669433594 }, "rotation": { "roll": -0.031341552734375, "pitch": -1.398836374282837, "yaw": 179.6298065185547 } }, "velocity": { "x": -0.017638644203543663, "y": -0.004975725430995226, "z": -0.0012991541298106313 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.975320816040039, "transform": { "location": { "x": 693.5087890625, "y": 4286.9404296875, "z": 369.7567443847656 }, "rotation": { "roll": 0.003939965274184942, "pitch": 0.3970183730125427, "yaw": -179.98992919921875 } }, "velocity": { "x": -4.9752197265625, "y": 0.012400095351040363, "z": 0.02916950173676014 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.981466293334961, "transform": { "location": { "x": 751.0265502929688, "y": 4289.47314453125, "z": 369.39361572265625 }, "rotation": { "roll": 0.004459237214177847, "pitch": 0.24990977346897125, "yaw": 177.71923828125 } }, "velocity": { "x": -8.974641799926758, "y": 0.3460603654384613, "z": 0.05271494761109352 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.969143867492676, "transform": { "location": { "x": 735.5403442382812, "y": 4289.8955078125, "z": 369.484130859375 }, "rotation": { "roll": 0.0034904177300632, "pitch": 0.24368064105510712, "yaw": 179.39122009277344 } }, "velocity": { "x": -9.968490600585938, "y": 0.09872545301914215, "z": 0.05723952129483223 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.453361749649048, "transform": { "location": { "x": 711.6644897460938, "y": 4290.1015625, "z": 369.6517639160156 }, "rotation": { "roll": 0.0026039239019155502, "pitch": 0.4303770363330841, "yaw": -179.94654846191406 } }, "velocity": { "x": -3.453301429748535, "y": -0.004772179294377565, "z": 0.019817542284727097 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.412802696228027, "transform": { "location": { "x": 695.8231811523438, "y": 4290.189453125, "z": 369.702880859375 }, "rotation": { "roll": 0.003873650450259447, "pitch": 0.3578950762748718, "yaw": -179.85739135742188 } }, "velocity": { "x": -6.412697792053223, "y": -0.0031030848622322083, "z": 0.036524541676044464 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.003184967441484332, "expert_target_speed": 3.073918991250383, "target_point": [ 50.7372781122946, 0.0664311533318272 ], "target_point_next": [ 101.7372152600845, 0.13035100949720557 ] }, "65": { "acceleration": [ -3.563985824584961, 0.043187327682971954, 0.02200450748205185 ], "angular_velocity": [ 0.0002781834627967328, 0.3335686922073364, -0.2172350436449051 ], "forward_vector": [ -0.9999014735221863, 0.007986556738615036, 0.011541943997144699 ], "right_vector": [ -0.007987704128026962, -0.9999681115150452, -5.334778325050138e-05 ], "location": [ 731.6805419921875, 4286.79638671875, 369.4964904785156 ], "rotation": [ 0.0030568065121769905, 0.661319375038147, 179.54237365722656 ], "velocity": [ -2.7859649658203125, 0.02802353724837303, 0.015596818178892136 ], "speed": 2.7861059041999976, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 54.807552337646484, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 677.8229370117188, 4296.95166015625, 369.80712890625 ], "velocity": [ 7.872648239135742, -0.03162769973278046, -0.04466792941093445 ], "speed_kmh": 28.342218550933527, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 7.872838497161865, "transform": { "location": { "x": 677.8229370117188, "y": 4296.95166015625, "z": 369.80712890625 }, "rotation": { "roll": 0.0006867855554446578, "pitch": -0.32592979073524475, "yaw": -0.2002563327550888 } }, "velocity": { "x": 7.872648239135742, "y": -0.03162769973278046, "z": -0.04466792941093445 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.073862075805664, "transform": { "location": { "x": 678.124267578125, "y": 4293.70166015625, "z": 369.81463623046875 }, "rotation": { "roll": 0.0068736751563847065, "pitch": -0.32211169600486755, "yaw": -0.227630615234375 } }, "velocity": { "x": 8.073659896850586, "y": -0.03544646501541138, "z": -0.0448586642742157 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.1546475887298584, "transform": { "location": { "x": 756.0968627929688, "y": 4286.0087890625, "z": 369.3525695800781 }, "rotation": { "roll": 0.0028540887869894505, "pitch": 0.37044212222099304, "yaw": 177.3863525390625 } }, "velocity": { "x": -2.152512311935425, "y": 0.09495271742343903, "z": 0.013435096479952335 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.3513186275959015, "transform": { "location": { "x": 743.4358520507812, "y": 4286.5458984375, "z": 369.4369201660156 }, "rotation": { "roll": -0.00048828125, "pitch": 0.36829742789268494, "yaw": 179.02871704101562 } }, "velocity": { "x": -0.35115763545036316, "y": 0.010398355312645435, "z": 0.0022302151191979647 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.121898889541626, "transform": { "location": { "x": 707.3109130859375, "y": 4286.853515625, "z": 369.6416320800781 }, "rotation": { "roll": -0.007202148903161287, "pitch": -0.3099949359893799, "yaw": 179.66709899902344 } }, "velocity": { "x": -1.1218732595443726, "y": 0.002913128584623337, "z": 0.007006626110523939 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.443032264709473, "transform": { "location": { "x": 692.3347778320312, "y": 4286.94384765625, "z": 369.7642822265625 }, "rotation": { "roll": 0.0023081533145159483, "pitch": 0.3087586760520935, "yaw": 179.93104553222656 } }, "velocity": { "x": -4.442943096160889, "y": 0.011415580287575722, "z": 0.02569153718650341 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.885249137878418, "transform": { "location": { "x": 748.6630859375, "y": 4289.564453125, "z": 369.40753173828125 }, "rotation": { "roll": 0.0005207762005738914, "pitch": 0.244807630777359, "yaw": 177.78604125976562 } }, "velocity": { "x": -9.877784729003906, "y": 0.3797614276409149, "z": 0.057493992149829865 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 10.163617134094238, "transform": { "location": { "x": 732.9793090820312, "y": 4289.919921875, "z": 369.4985046386719 }, "rotation": { "roll": 0.005633451975882053, "pitch": 0.3015938103199005, "yaw": 179.47360229492188 } }, "velocity": { "x": -10.163130760192871, "y": 0.07897388935089111, "z": 0.06041037291288376 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.774946689605713, "transform": { "location": { "x": 710.6270751953125, "y": 4290.1005859375, "z": 369.65740966796875 }, "rotation": { "roll": 0.008046934381127357, "pitch": 0.4704838991165161, "yaw": -179.97512817382812 } }, "velocity": { "x": -4.774855136871338, "y": 0.010333729907870293, "z": 0.02769923210144043 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22405, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.812163829803467, "transform": { "location": { "x": 694.28857421875, "y": 4290.189453125, "z": 369.71209716796875 }, "rotation": { "roll": 0.0036348477005958557, "pitch": 0.319017618894577, "yaw": -179.9561004638672 } }, "velocity": { "x": -5.812064170837402, "y": 0.00747879920527339, "z": 0.03321819379925728 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.006312819197773933, "expert_target_speed": 3.8877865997628067, "target_point": [ 50.144165362195544, 0.1085089893658 ], "target_point_next": [ 101.14403328530933, 0.2140866928882561 ] }, "70": { "acceleration": [ -4.0692853927612305, 0.06109319627285004, 0.05191288888454437 ], "angular_velocity": [ -0.018559489399194717, 0.2492852658033371, -0.290480375289917 ], "forward_vector": [ -0.9998756647109985, 0.009100423194468021, 0.0128747234120965 ], "right_vector": [ -0.00910224299877882, -0.9999585747718811, -8.273912681033835e-05 ], "location": [ 730.8572387695312, 4286.8046875, 369.5008850097656 ], "rotation": [ 0.004740995820611715, 0.7376877069473267, 179.47853088378906 ], "velocity": [ -3.7667014598846436, 0.041854482144117355, 0.02177932672202587 ], "speed": 3.766933990073712, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 52.03727340698242, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 679.8180541992188, 4296.943359375, 369.7958984375 ], "velocity": [ 8.147318840026855, -0.03870652616024017, -0.04488031938672066 ], "speed_kmh": 29.33112382234999, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.147534370422363, "transform": { "location": { "x": 679.8180541992188, "y": 4296.943359375, "z": 369.7958984375 }, "rotation": { "roll": -0.0008239744929596782, "pitch": -0.3182389736175537, "yaw": -0.25628662109375 } }, "velocity": { "x": 8.147318840026855, "y": -0.03870652616024017, "z": -0.04488031938672066 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.300421714782715, "transform": { "location": { "x": 680.1722412109375, "y": 4293.6923828125, "z": 369.8031311035156 }, "rotation": { "roll": 0.0021366102155297995, "pitch": -0.3199123740196228, "yaw": -0.276458740234375 } }, "velocity": { "x": 8.300199508666992, "y": -0.03962762653827667, "z": -0.04599533602595329 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.8966481685638428, "transform": { "location": { "x": 755.6063842773438, "y": 4286.03076171875, "z": 369.3558044433594 }, "rotation": { "roll": 0.0017174712847918272, "pitch": 0.3467208743095398, "yaw": 177.40847778320312 } }, "velocity": { "x": -1.8947761058807373, "y": 0.08347246050834656, "z": 0.011409101076424122 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.477864146232605, "transform": { "location": { "x": 743.2438354492188, "y": 4286.548828125, "z": 369.43902587890625 }, "rotation": { "roll": 0.001342450617812574, "pitch": 0.25107091665267944, "yaw": 179.01780700683594 } }, "velocity": { "x": -1.4776874780654907, "y": 0.021141357719898224, "z": 0.008651056326925755 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.9168622493743896, "transform": { "location": { "x": 706.9266967773438, "y": 4286.85498046875, "z": 369.6414794921875 }, "rotation": { "roll": -0.004028319381177425, "pitch": 0.3748885691165924, "yaw": 179.6851348876953 } }, "velocity": { "x": -1.9168223142623901, "y": 0.006825766526162624, "z": 0.010339651256799698 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.277224063873291, "transform": { "location": { "x": 691.1378173828125, "y": 4286.947265625, "z": 369.77069091796875 }, "rotation": { "roll": 0.0027682522777467966, "pitch": 0.38613107800483704, "yaw": 179.88723754882812 } }, "velocity": { "x": -5.277108192443848, "y": 0.014144901186227798, "z": 0.032008495181798935 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.524951934814453, "transform": { "location": { "x": 746.1968383789062, "y": 4289.64599609375, "z": 369.4210205078125 }, "rotation": { "roll": 0.01035089511424303, "pitch": 0.34246566891670227, "yaw": 178.13043212890625 } }, "velocity": { "x": -9.520383834838867, "y": 0.2896159589290619, "z": 0.05596037581562996 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.230179786682129, "transform": { "location": { "x": 730.5696411132812, "y": 4289.9384765625, "z": 369.51177978515625 }, "rotation": { "roll": 0.0014524721773341298, "pitch": 0.397066205739975, "yaw": 179.5673370361328 } }, "velocity": { "x": -9.229777336120605, "y": 0.06640171259641647, "z": 0.05486218258738518 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.341159343719482, "transform": { "location": { "x": 709.327392578125, "y": 4290.1025390625, "z": 369.6658020019531 }, "rotation": { "roll": 0.003970598801970482, "pitch": 0.4117306172847748, "yaw": 179.99392700195312 } }, "velocity": { "x": -5.341063499450684, "y": 0.011645819991827011, "z": 0.029831932857632637 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.4828381538391113, "transform": { "location": { "x": 762.57373046875, "y": 4288.96435546875, "z": 369.6007080078125 }, "rotation": { "roll": 0.0, "pitch": 0.38111087679862976, "yaw": 176.17250061035156 } }, "velocity": { "x": -3.1600725650787354, "y": 0.21141433715820312, "z": -1.4489332437515259 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.010725668631494045, "expert_target_speed": 4.826253985186915, "target_point": [ 49.32066863708935, 0.16519533200555941 ], "target_point_next": [ 100.3203872415182, 0.32760560140374695 ] }, "75": { "acceleration": [ -3.368215560913086, 0.06683886051177979, 0.004643425345420837 ], "angular_velocity": [ -0.009565822780132294, -0.0838131234049797, -0.35259899497032166 ], "forward_vector": [ -0.999859631061554, 0.010513321496546268, 0.013047920539975166 ], "right_vector": [ -0.010515780188143253, -0.9999447464942932, -0.00011986603931291029 ], "location": [ 729.7982788085938, 4286.81689453125, 369.5071105957031 ], "rotation": [ 0.006868402473628521, 0.7476119995117188, 179.39756774902344 ], "velocity": [ -4.646966934204102, 0.057606980204582214, 0.026197470724582672 ], "speed": 4.6473239882489965, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 48.9975700378418, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 681.8572998046875, 4296.93359375, 369.78448486328125 ], "velocity": [ 8.081610679626465, -0.04015606269240379, -0.04541151970624924 ], "speed_kmh": 29.09461689672834, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.08183765411377, "transform": { "location": { "x": 681.8572998046875, "y": 4296.93359375, "z": 369.78448486328125 }, "rotation": { "roll": -0.00024414053768850863, "pitch": -0.32037684321403503, "yaw": -0.2763671576976776 } }, "velocity": { "x": 8.081610679626465, "y": -0.04015606269240379, "z": -0.04541151970624924 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.08341121673584, "transform": { "location": { "x": 682.2191162109375, "y": 4293.6826171875, "z": 369.7917785644531 }, "rotation": { "roll": 0.0008284862851724029, "pitch": -0.32306110858917236, "yaw": -0.2910155653953552 } }, "velocity": { "x": 8.083175659179688, "y": -0.042439449578523636, "z": -0.044751133769750595 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.9155182838439941, "transform": { "location": { "x": 755.0960693359375, "y": 4286.05322265625, "z": 369.3588562011719 }, "rotation": { "roll": 0.001460640225559473, "pitch": 0.3484967350959778, "yaw": 177.426025390625 } }, "velocity": { "x": -1.9136326313018799, "y": 0.08403754234313965, "z": 0.012583456002175808 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.8429548740386963, "transform": { "location": { "x": 742.7044067382812, "y": 4286.556640625, "z": 369.4387512207031 }, "rotation": { "roll": 0.0008998539415188134, "pitch": 0.6792417764663696, "yaw": 179.0686798095703 } }, "velocity": { "x": -2.842618703842163, "y": 0.040343813598155975, "z": 0.016812419518828392 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.120297431945801, "transform": { "location": { "x": 706.2978515625, "y": 4286.857421875, "z": 369.64385986328125 }, "rotation": { "roll": -0.0032348630484193563, "pitch": 0.6973485946655273, "yaw": 179.7232208251953 } }, "velocity": { "x": -3.1202261447906494, "y": 0.01053764671087265, "z": 0.01829443871974945 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.555089950561523, "transform": { "location": { "x": 689.8040771484375, "y": 4286.95263671875, "z": 369.7784423828125 }, "rotation": { "roll": 0.0031797001138329506, "pitch": 0.36760076880455017, "yaw": 179.87255859375 } }, "velocity": { "x": -5.554959774017334, "y": 0.02348925732076168, "z": 0.029899176210165024 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.702444076538086, "transform": { "location": { "x": 743.9426879882812, "y": 4289.71484375, "z": 369.43365478515625 }, "rotation": { "roll": 0.0023992490023374557, "pitch": 0.41020065546035767, "yaw": 178.26161193847656 } }, "velocity": { "x": -8.69845962524414, "y": 0.2580516040325165, "z": 0.05241960287094116 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.785801887512207, "transform": { "location": { "x": 728.404052734375, "y": 4289.9541015625, "z": 369.5240783691406 }, "rotation": { "roll": 0.0009622974903322756, "pitch": 0.444665789604187, "yaw": 179.58792114257812 } }, "velocity": { "x": -7.7854905128479, "y": 0.0531497448682785, "z": 0.0449630431830883 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.784947395324707, "transform": { "location": { "x": 707.9443359375, "y": 4290.10595703125, "z": 369.6740417480469 }, "rotation": { "roll": 0.0032203232403844595, "pitch": 0.37876129150390625, "yaw": 179.92498779296875 } }, "velocity": { "x": -5.7848381996154785, "y": 0.011887063272297382, "z": 0.033511266112327576 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.099260091781616, "transform": { "location": { "x": 761.7958984375, "y": 4289.01025390625, "z": 369.2781982421875 }, "rotation": { "roll": -0.029113763943314552, "pitch": 0.3661869168281555, "yaw": 176.40696716308594 } }, "velocity": { "x": -3.0952906608581543, "y": 0.15590056777000427, "z": -0.01686081849038601 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.017885904759168625, "expert_target_speed": 5.649535279319131, "target_point": [ 48.26135623783385, 0.23595115767559993 ], "target_point_next": [ 99.26079447524107, 0.4704171369119835 ] }, "80": { "acceleration": [ 0.8745288848876953, 0.028680115938186646, -0.027511976659297943 ], "angular_velocity": [ 0.013147961348295212, -1.3327271938323975, -0.11391211301088333 ], "forward_vector": [ -0.9998615980148315, 0.012005825527012348, 0.011516674421727657 ], "right_vector": [ -0.012008236721158028, -0.9999279379844666, -0.0001402504276484251 ], "location": [ 728.5428466796875, 4286.83349609375, 369.5149230957031 ], "rotation": [ 0.008036290295422077, 0.6598713994026184, 179.3120574951172 ], "velocity": [ -5.142745018005371, 0.0716736912727356, 0.031050385907292366 ], "speed": 5.1432444466736875, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 45.805511474609375, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 683.86328125, 4296.923828125, 369.7732849121094 ], "velocity": [ 8.024161338806152, -0.04387552663683891, -0.044807035475969315 ], "speed_kmh": 28.88786300659854, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.024406433105469, "transform": { "location": { "x": 683.86328125, "y": 4296.923828125, "z": 369.7732849121094 }, "rotation": { "roll": -9.15526325115934e-05, "pitch": -0.3242495656013489, "yaw": -0.3019409477710724 } }, "velocity": { "x": 8.024161338806152, "y": -0.04387552663683891, "z": -0.044807035475969315 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.310270309448242, "transform": { "location": { "x": 684.26953125, "y": 4293.67138671875, "z": 369.78021240234375 }, "rotation": { "roll": 0.0019362495513632894, "pitch": -0.3216540813446045, "yaw": -0.312591552734375 } }, "velocity": { "x": 8.310018539428711, "y": -0.045339878648519516, "z": -0.04618365690112114 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.043003797531128, "transform": { "location": { "x": 754.6350708007812, "y": 4286.07373046875, "z": 369.36175537109375 }, "rotation": { "roll": 0.002333621494472027, "pitch": 0.3451157808303833, "yaw": 177.4392547607422 } }, "velocity": { "x": -2.0410079956054688, "y": 0.08954672515392303, "z": 0.011495151557028294 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.808403968811035, "transform": { "location": { "x": 741.7472534179688, "y": 4286.5703125, "z": 369.4432067871094 }, "rotation": { "roll": 0.00040524257929064333, "pitch": 0.8202100396156311, "yaw": 179.12167358398438 } }, "velocity": { "x": -4.80784797668457, "y": 0.06737909466028214, "z": 0.02836284600198269 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.513840675354004, "transform": { "location": { "x": 705.3289794921875, "y": 4286.861328125, "z": 369.6488342285156 }, "rotation": { "roll": 0.002595535246655345, "pitch": 0.8815383315086365, "yaw": 179.73495483398438 } }, "velocity": { "x": -4.513718605041504, "y": 0.020799526944756508, "z": 0.025883693248033524 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.9905476570129395, "transform": { "location": { "x": 688.3256225585938, "y": 4286.95751953125, "z": 369.785888671875 }, "rotation": { "roll": 0.0027598508168011904, "pitch": 0.45702841877937317, "yaw": 179.75498962402344 } }, "velocity": { "x": -6.990367889404297, "y": 0.03099123202264309, "z": 0.03942808881402016 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.775326251983643, "transform": { "location": { "x": 742.1810913085938, "y": 4289.75830078125, "z": 369.44281005859375 }, "rotation": { "roll": 0.006719007156789303, "pitch": 0.5701841711997986, "yaw": 178.59051513671875 } }, "velocity": { "x": -5.773961544036865, "y": 0.12094729393720627, "z": 0.03365305811166763 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.20233154296875, "transform": { "location": { "x": 726.7455444335938, "y": 4289.96533203125, "z": 369.5333557128906 }, "rotation": { "roll": 0.0002062624116661027, "pitch": 0.47865962982177734, "yaw": 179.5946502685547 } }, "velocity": { "x": -6.202080726623535, "y": 0.041769854724407196, "z": 0.03703147917985916 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.23661994934082, "transform": { "location": { "x": 706.11279296875, "y": 4290.10986328125, "z": 369.6832580566406 }, "rotation": { "roll": 0.003220394952222705, "pitch": 0.5364293456077576, "yaw": 179.88633728027344 } }, "velocity": { "x": -8.23646068572998, "y": 0.020548641681671143, "z": 0.04693760722875595 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.0686964988708496, "transform": { "location": { "x": 761.0310668945312, "y": 4289.0478515625, "z": 369.3135070800781 }, "rotation": { "roll": -0.010284422896802425, "pitch": 0.37057188153266907, "yaw": 176.74615478515625 } }, "velocity": { "x": -3.062817096710205, "y": 0.1470903605222702, "z": 0.1200539767742157 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.03376479819417, "expert_target_speed": 6.1070294212457945, "target_point": [ 47.00540936515562, 0.30950802822926343 ], "target_point_next": [ 98.0044408600758, 0.6200903951965953 ] }, "85": { "acceleration": [ 0.5060386657714844, -0.18349751830101013, 0.0031062960624694824 ], "angular_velocity": [ -0.18120762705802917, -0.5339085459709167, 0.03820621594786644 ], "forward_vector": [ -0.9998825788497925, 0.013224685564637184, 0.007741015870124102 ], "right_vector": [ -0.013225045055150986, -0.9999125599861145, 4.793546395376325e-06 ], "location": [ 727.26953125, 4286.85107421875, 369.5231018066406 ], "rotation": [ -0.000274658203125, 0.44353196024894714, 179.2422332763672 ], "velocity": [ -5.095174789428711, 0.06701506674289703, 0.029371365904808044 ], "speed": 5.095615483334713, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 42.595176696777344, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 685.8803100585938, 4296.912109375, 369.7618713378906 ], "velocity": [ 8.09393310546875, -0.04447481408715248, -0.04469660669565201 ], "speed_kmh": 29.139043338681763, "color": "0,0,0" }, "other_vehicles": [ { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.094179153442383, "transform": { "location": { "x": 685.8803100585938, "y": 4296.912109375, "z": 369.7618713378906 }, "rotation": { "roll": -0.0005187986535020173, "pitch": -0.3224737048149109, "yaw": -0.3151550889015198 } }, "velocity": { "x": 8.09393310546875, "y": -0.04447481408715248, "z": -0.04469660669565201 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093159675598145, "transform": { "location": { "x": 686.3187255859375, "y": 4293.65966796875, "z": 369.7687072753906 }, "rotation": { "roll": 1.4896882930770516e-05, "pitch": -0.3275758624076843, "yaw": -0.3206786811351776 } }, "velocity": { "x": 8.092904090881348, "y": -0.04599607735872269, "z": -0.044966280460357666 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.6741262674331665, "transform": { "location": { "x": 754.1549682617188, "y": 4286.0947265625, "z": 369.36468505859375 }, "rotation": { "roll": 0.0013620784739032388, "pitch": 0.3372337520122528, "yaw": 177.4480743408203 } }, "velocity": { "x": -1.6724854707717896, "y": 0.0735255777835846, "z": 0.009238853119313717 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.8053579330444336, "transform": { "location": { "x": 740.6856079101562, "y": 4286.59130859375, "z": 369.4557189941406 }, "rotation": { "roll": -0.0022888178937137127, "pitch": 0.042531587183475494, "yaw": 179.639892578125 } }, "velocity": { "x": -1.804802656173706, "y": 0.04372381418943405, "z": 0.009642495773732662 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.346894264221191, "transform": { "location": { "x": 704.05419921875, "y": 4286.8671875, "z": 369.6566467285156 }, "rotation": { "roll": 0.000273843586910516, "pitch": 0.8224161863327026, "yaw": 179.7310028076172 } }, "velocity": { "x": -5.346743583679199, "y": 0.02414509654045105, "z": 0.032036084681749344 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.468437671661377, "transform": { "location": { "x": 686.4243774414062, "y": 4286.96533203125, "z": 369.7970275878906 }, "rotation": { "roll": 0.0003216699988115579, "pitch": 0.4085477292537689, "yaw": 179.74501037597656 } }, "velocity": { "x": -7.468239784240723, "y": 0.03314248099923134, "z": 0.04308513551950455 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.244978904724121, "transform": { "location": { "x": 740.8395385742188, "y": 4289.787109375, "z": 369.4518127441406 }, "rotation": { "roll": 0.0010394507553428411, "pitch": 0.4181714653968811, "yaw": 178.6875 } }, "velocity": { "x": -5.243724346160889, "y": 0.1108338013291359, "z": 0.029547985643148422 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.470481872558594, "transform": { "location": { "x": 725.1798095703125, "y": 4289.9755859375, "z": 369.5437316894531 }, "rotation": { "roll": 0.00035837694304063916, "pitch": 0.3315168619155884, "yaw": 179.6389923095703 } }, "velocity": { "x": -6.4702324867248535, "y": 0.04308962821960449, "z": 0.03701058402657509 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.11595344543457, "transform": { "location": { "x": 704.0377807617188, "y": 4290.11669921875, "z": 369.69659423828125 }, "rotation": { "roll": 0.0049256496131420135, "pitch": 0.3801341652870178, "yaw": 179.79632568359375 } }, "velocity": { "x": -8.115739822387695, "y": 0.03381727263331413, "z": 0.048205241560935974 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.150205135345459, "transform": { "location": { "x": 760.146728515625, "y": 4289.08935546875, "z": 369.3319091796875 }, "rotation": { "roll": -0.00616455078125, "pitch": 0.5357873439788818, "yaw": 177.01797485351562 } }, "velocity": { "x": -4.145486354827881, "y": 0.19212880730628967, "z": 0.04723598435521126 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.05225888639688492, "expert_target_speed": 6.070466319765684, "target_point": [ 45.73156085721763, 0.3675127620749148 ], "target_point_next": [ 96.73017611489857, 0.7402279691242876 ] }, "90": { "acceleration": [ -4.599418640136719, -0.05023203790187836, 0.02631053328514099 ], "angular_velocity": [ -0.04836207628250122, 0.48011013865470886, 0.8519654273986816 ], "forward_vector": [ -0.9998494982719421, 0.010923280380666256, 0.013477274216711521 ], "right_vector": [ -0.01091820653527975, -0.9999402761459351, 0.00045003328705206513 ], "location": [ 725.7596435546875, 4286.8671875, 369.5306701660156 ], "rotation": [ -0.025787353515625, 0.7722142934799194, 179.3740692138672 ], "velocity": [ -6.673811912536621, 0.059036485850811005, 0.03833664953708649 ], "speed": 6.674073025565223, "speed_limit": 30.0, "lane_info": { "lane_id": -2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 39.16489028930664, "front_vehicle_info": { "id": 22414, "type": "vehicle.ford.mustang", "location": [ 687.90234375, 4296.900390625, 369.75048828125 ], "velocity": [ 8.071245193481445, -0.04523536190390587, -0.04521884396672249 ], "speed_kmh": 29.057395028086606, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 646.7236328125, "y": 4297.044921875, "z": 370.0564880371094 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 647.1209716796875, "y": 4293.79248046875, "z": 370.0472717285156 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.071497917175293, "transform": { "location": { "x": 687.90234375, "y": 4296.900390625, "z": 369.75048828125 }, "rotation": { "roll": 2.7137346478411928e-05, "pitch": -0.3248301148414612, "yaw": -0.3214111328125 } }, "velocity": { "x": 8.071245193481445, "y": -0.04523536190390587, "z": -0.04521884396672249 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.320383071899414, "transform": { "location": { "x": 688.3714599609375, "y": 4293.64794921875, "z": 369.75701904296875 }, "rotation": { "roll": 0.0014687853399664164, "pitch": -0.3234845697879791, "yaw": -0.3313293755054474 } }, "velocity": { "x": 8.320116996765137, "y": -0.04804524406790733, "z": -0.04600590467453003 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.211310863494873, "transform": { "location": { "x": 753.673095703125, "y": 4286.11572265625, "z": 369.3674011230469 }, "rotation": { "roll": 0.000824132701382041, "pitch": 0.34843525290489197, "yaw": 177.4670867919922 } }, "velocity": { "x": -2.2095417976379395, "y": 0.08757667988538742, "z": 0.012315644882619381 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.9459515810012817, "transform": { "location": { "x": 740.4661254882812, "y": 4286.595703125, "z": 369.4588317871094 }, "rotation": { "roll": -0.005126953125, "pitch": -0.19235177338123322, "yaw": 179.7297821044922 } }, "velocity": { "x": -1.945794939994812, "y": 0.02191643975675106, "z": 0.011361722834408283 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.425589561462402, "transform": { "location": { "x": 702.6517333984375, "y": 4286.87353515625, "z": 369.66497802734375 }, "rotation": { "roll": 0.0015738594811409712, "pitch": 0.7707526683807373, "yaw": 179.73495483398438 } }, "velocity": { "x": -6.425415515899658, "y": 0.029988229274749756, "z": 0.03651363402605057 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.62290096282959, "transform": { "location": { "x": 684.6629638671875, "y": 4286.97412109375, "z": 369.80810546875 }, "rotation": { "roll": 0.0011062038829550147, "pitch": 0.28240782022476196, "yaw": 179.71847534179688 } }, "velocity": { "x": -6.622701644897461, "y": 0.03583531081676483, "z": 0.0368511937558651 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.653099060058594, "transform": { "location": { "x": 739.4866943359375, "y": 4289.81591796875, "z": 369.46051025390625 }, "rotation": { "roll": -0.0005798339261673391, "pitch": 0.3057670593261719, "yaw": 178.79014587402344 } }, "velocity": { "x": -5.65185022354126, "y": 0.11424881964921951, "z": 0.032677631825208664 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.603870391845703, "transform": { "location": { "x": 723.4797973632812, "y": 4289.986328125, "z": 369.55419921875 }, "rotation": { "roll": 0.00013247973402030766, "pitch": 0.24555212259292603, "yaw": 179.58859252929688 } }, "velocity": { "x": -7.603575706481934, "y": 0.05018752068281174, "z": 0.04433172941207886 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.832592487335205, "transform": { "location": { "x": 702.0640258789062, "y": 4290.12451171875, "z": 369.7086486816406 }, "rotation": { "roll": 0.0007352413958869874, "pitch": 0.3147009611129761, "yaw": 179.7561798095703 } }, "velocity": { "x": -7.8323845863342285, "y": 0.034837041050195694, "z": 0.04522477835416794 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.407154083251953, "transform": { "location": { "x": 758.9321899414062, "y": 4289.14501953125, "z": 369.3421325683594 }, "rotation": { "roll": -0.005554197821766138, "pitch": 0.6172714829444885, "yaw": 177.25994873046875 } }, "velocity": { "x": -5.401611804962158, "y": 0.24189025163650513, "z": 0.03732476010918617 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.04635531082749367, "expert_target_speed": 7.441536004060665, "target_point": [ 44.22231174605753, 0.2619136237977201 ], "target_point_next": [ 95.22164954549423, 0.517293430124596 ] }, "95": { "acceleration": [ -4.483423233032227, -0.07484480738639832, 0.043037980794906616 ], "angular_velocity": [ -0.04811541736125946, 0.18950538337230682, 0.7685179114341736 ], "forward_vector": [ -0.9998670220375061, 0.0074594151228666306, 0.014501658268272877 ], "right_vector": [ -0.007451269309967756, -0.9999720454216003, 0.0006156580056995153 ], "location": [ 723.9468383789062, 4286.88037109375, 369.5408935546875 ], "rotation": [ -0.0352783165872097, 0.8309129476547241, 179.5725555419922 ], "velocity": [ -7.799812316894531, 0.04240167513489723, 0.04576343297958374 ], "speed": 7.799927568947925, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 23.08894920349121, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 700.8582763671875, 4286.88134765625, 369.6747131347656 ], "velocity": [ -7.80226993560791, 0.035438526421785355, 0.04521114379167557 ], "speed_kmh": 28.088933060168124, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 648.8064575195312, "y": 4297.0322265625, "z": 370.0103759765625 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 649.2037963867188, "y": 4293.77978515625, "z": 370.00115966796875 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.044769287109375, "transform": { "location": { "x": 689.9141235351562, "y": 4296.888671875, "z": 369.7391052246094 }, "rotation": { "roll": -0.0004577638173941523, "pitch": -0.32470718026161194, "yaw": -0.32421875 } }, "velocity": { "x": 8.044511795043945, "y": -0.045582160353660583, "z": -0.04546412453055382 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.103532791137695, "transform": { "location": { "x": 690.4232177734375, "y": 4293.63623046875, "z": 369.7455139160156 }, "rotation": { "roll": 0.00046810106141492724, "pitch": -0.327487051486969, "yaw": -0.3343200385570526 } }, "velocity": { "x": 8.103262901306152, "y": -0.048032138496637344, "z": -0.04549110308289528 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0010683919535949826, "transform": { "location": { "x": 753.332275390625, "y": 4286.1298828125, "z": 369.3698425292969 }, "rotation": { "roll": 0.0029285496566444635, "pitch": 0.2959725856781006, "yaw": 177.51698303222656 } }, "velocity": { "x": -1.730792246235069e-05, "y": -7.140391244320199e-05, "z": 0.0010658627143129706 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.177567958831787, "transform": { "location": { "x": 739.6619262695312, "y": 4286.6044921875, "z": 369.45440673828125 }, "rotation": { "roll": 0.01468209270387888, "pitch": 0.9496216177940369, "yaw": 179.59080505371094 } }, "velocity": { "x": -4.177202224731445, "y": 0.04946953058242798, "z": 0.02461000345647335 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.802481174468994, "transform": { "location": { "x": 700.8582763671875, "y": 4286.88134765625, "z": 369.6747131347656 }, "rotation": { "roll": 0.0018047284102067351, "pitch": 0.927621603012085, "yaw": 179.7249755859375 } }, "velocity": { "x": -7.80226993560791, "y": 0.035438526421785355, "z": 0.04521114379167557 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.796796798706055, "transform": { "location": { "x": 683.159912109375, "y": 4286.98193359375, "z": 369.8168640136719 }, "rotation": { "roll": 0.0006540314061567187, "pitch": 0.24187064170837402, "yaw": 179.70082092285156 } }, "velocity": { "x": -5.7966203689575195, "y": 0.030462149530649185, "z": 0.03350561857223511 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.08579683303833, "transform": { "location": { "x": 737.9299926757812, "y": 4289.84375, "z": 369.4705810546875 }, "rotation": { "roll": 0.00958522129803896, "pitch": 0.19367000460624695, "yaw": 179.01441955566406 } }, "velocity": { "x": -7.085048675537109, "y": 0.09433499723672867, "z": 0.041315145790576935 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.40566349029541, "transform": { "location": { "x": 721.4112548828125, "y": 4289.99951171875, "z": 369.56634521484375 }, "rotation": { "roll": 0.0002972013026010245, "pitch": 0.23653626441955566, "yaw": 179.6209716796875 } }, "velocity": { "x": -8.405342102050781, "y": 0.05449705943465233, "z": 0.04936489090323448 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.15566349029541, "transform": { "location": { "x": 700.0610961914062, "y": 4290.1328125, "z": 369.71990966796875 }, "rotation": { "roll": 0.0029941799584776163, "pitch": 0.35652220249176025, "yaw": 179.7350311279297 } }, "velocity": { "x": -8.155430793762207, "y": 0.0415487177670002, "z": 0.045440442860126495 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.629117965698242, "transform": { "location": { "x": 757.5634155273438, "y": 4289.2060546875, "z": 369.35089111328125 }, "rotation": { "roll": -0.0015869141789153218, "pitch": 0.46999895572662354, "yaw": 177.35958862304688 } }, "velocity": { "x": -5.623497009277344, "y": 0.2490050196647644, "z": 0.035349369049072266 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.035064324736595154, "expert_target_speed": 8.348573325306239, "target_point": [ 42.41010063720597, 0.10837609002667523 ], "target_point_next": [ 93.41001711022386, 0.1870816916782726 ] }, "100": { "acceleration": [ -1.7730331420898438, -0.14192825555801392, 0.007980763912200928 ], "angular_velocity": [ -0.044918544590473175, -0.804735004901886, 0.9625006914138794 ], "forward_vector": [ -0.9999135732650757, 0.003396381624042988, 0.012697831727564335 ], "right_vector": [ -0.0033873009961098433, -0.9999939799308777, 0.0007365708006545901 ], "location": [ 721.8790283203125, 4286.88818359375, 369.5533142089844 ], "rotation": [ -0.0422058068215847, 0.7275516986846924, 179.80538940429688 ], "velocity": [ -8.490514755249023, 0.013429365120828152, 0.049273643642663956 ], "speed": 8.490525375790885, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 23.063255310058594, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 698.816162109375, 4286.89111328125, 369.687255859375 ], "velocity": [ -8.081480026245117, 0.03948256000876427, 0.04808482155203819 ], "speed_kmh": 29.09419028029835, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 650.8892211914062, "y": 4297.02001953125, "z": 369.9642639160156 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 651.28662109375, "y": 4293.767578125, "z": 369.9620666503906 }, "rotation": { "roll": 0.0, "pitch": -0.30362239480018616, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.09800910949707, "transform": { "location": { "x": 691.9336547851562, "y": 4296.876953125, "z": 369.72760009765625 }, "rotation": { "roll": 0.001135256257839501, "pitch": -0.3262917697429657, "yaw": -0.32501220703125 } }, "velocity": { "x": 8.09775447845459, "y": -0.045867253094911575, "z": -0.04484151676297188 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.328961372375488, "transform": { "location": { "x": 692.4783935546875, "y": 4293.625, "z": 369.7337951660156 }, "rotation": { "roll": 0.0006304546259343624, "pitch": -0.3266606032848358, "yaw": -0.34039306640625 } }, "velocity": { "x": 8.328676223754883, "y": -0.050505466759204865, "z": -0.04689489305019379 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.7372972369194031, "transform": { "location": { "x": 753.2327880859375, "y": 4286.1337890625, "z": 369.3701477050781 }, "rotation": { "roll": 0.00186071393545717, "pitch": 0.33950820565223694, "yaw": 177.54832458496094 } }, "velocity": { "x": -0.7367282509803772, "y": 0.02876466140151024, "z": 0.003357210196554661 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.158023357391357, "transform": { "location": { "x": 738.4125366210938, "y": 4286.6171875, "z": 369.4631042480469 }, "rotation": { "roll": 0.002612500684335828, "pitch": 0.7999312281608582, "yaw": 179.45883178710938 } }, "velocity": { "x": -5.157650470733643, "y": 0.053313106298446655, "z": 0.031672894954681396 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.081719398498535, "transform": { "location": { "x": 698.816162109375, "y": 4286.89111328125, "z": 369.687255859375 }, "rotation": { "roll": 0.0042374590411782265, "pitch": 0.6910784840583801, "yaw": 179.7350311279297 } }, "velocity": { "x": -8.081480026245117, "y": 0.03948256000876427, "z": 0.04808482155203819 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.951864242553711, "transform": { "location": { "x": 681.68505859375, "y": 4286.98974609375, "z": 369.8244934082031 }, "rotation": { "roll": 0.002061335602775216, "pitch": 0.31910642981529236, "yaw": 179.69247436523438 } }, "velocity": { "x": -5.9516754150390625, "y": 0.03332779183983803, "z": 0.03379277139902115 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.13999080657959, "transform": { "location": { "x": 735.9990234375, "y": 4289.8701171875, "z": 369.48162841796875 }, "rotation": { "roll": 0.0025890383403748274, "pitch": 0.21676969528198242, "yaw": 179.18603515625 } }, "velocity": { "x": -8.139187812805176, "y": 0.10418891906738281, "z": 0.04704926535487175 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.910988807678223, "transform": { "location": { "x": 719.376220703125, "y": 4290.01318359375, "z": 369.57720947265625 }, "rotation": { "roll": -0.00021362306142691523, "pitch": 0.3618634045124054, "yaw": 179.6055450439453 } }, "velocity": { "x": -7.910682201385498, "y": 0.05165313929319382, "z": 0.0467669852077961 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.009025573730469, "transform": { "location": { "x": 698.0343017578125, "y": 4290.1435546875, "z": 369.7318420410156 }, "rotation": { "roll": -0.0010375974234193563, "pitch": 0.32511016726493835, "yaw": 179.7019805908203 } }, "velocity": { "x": -8.0087890625, "y": 0.04177268594503403, "z": 0.04510961472988129 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.703354835510254, "transform": { "location": { "x": 755.9312133789062, "y": 4289.27783203125, "z": 369.3609619140625 }, "rotation": { "roll": -0.001617433619685471, "pitch": 0.7160086631774902, "yaw": 177.46731567382812 } }, "velocity": { "x": -7.695958614349365, "y": 0.3341887593269348, "z": 0.04706653580069542 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.01952977292239666, "expert_target_speed": 8.856223448923322, "target_point": [ 40.34236621108447, -0.06317312767655286 ], "target_point_next": [ 91.34218143422267, -0.1917111854397494 ] }, "105": { "acceleration": [ -3.4406280517578125, -0.09368783980607986, 0.010562464594841003 ], "angular_velocity": [ -0.0022958004847168922, -0.23708070814609528, 0.6214962601661682 ], "forward_vector": [ -0.9998781681060791, -9.28845111047849e-05, 0.015611132606863976 ], "right_vector": [ 0.00010350573575124145, -0.9999997615814209, 0.0006795559311285615 ], "location": [ 719.510009765625, 4286.88916015625, 369.5665283203125 ], "rotation": [ -0.0389404371380806, 0.8944883346557617, -179.9946746826172 ], "velocity": [ -10.050898551940918, -0.009916538372635841, 0.05733882635831833 ], "speed": 10.050903443926886, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 22.568696975708008, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 696.9417114257812, 4286.900390625, 369.7001037597656 ], "velocity": [ -7.012796878814697, 0.037979040294885635, 0.04142923280596733 ], "speed_kmh": 25.246879528496216, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.020065307617188, "transform": { "location": { "x": 652.9388427734375, "y": 4297.013671875, "z": 369.9502258300781 }, "rotation": { "roll": -0.056426990777254105, "pitch": -0.37347471714019775, "yaw": -0.1128234714269638 } }, "velocity": { "x": 8.019765853881836, "y": 0.013577873818576336, "z": -0.06799381971359253 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.010734558105469, "transform": { "location": { "x": 653.3356323242188, "y": 4293.76123046875, "z": 369.9471435546875 }, "rotation": { "roll": -0.0230712890625, "pitch": -0.33712446689605713, "yaw": -0.0926208347082138 } }, "velocity": { "x": 8.010503768920898, "y": 0.006475350819528103, "z": -0.06057831645011902 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.04248046875, "transform": { "location": { "x": 693.950439453125, "y": 4296.865234375, "z": 369.71612548828125 }, "rotation": { "roll": 0.0007392461411654949, "pitch": -0.3283408284187317, "yaw": -0.3301696479320526 } }, "velocity": { "x": 8.042221069335938, "y": -0.04640060290694237, "z": -0.04488521069288254 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.109309196472168, "transform": { "location": { "x": 694.5320434570312, "y": 4293.61279296875, "z": 369.72210693359375 }, "rotation": { "roll": 2.6259815058438107e-05, "pitch": -0.3320906162261963, "yaw": -0.34442138671875 } }, "velocity": { "x": 8.109031677246094, "y": -0.04864851012825966, "z": -0.04630523547530174 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.5447806119918823, "transform": { "location": { "x": 752.9468383789062, "y": 4286.1455078125, "z": 369.37164306640625 }, "rotation": { "roll": 0.001618837588466704, "pitch": 0.35553863644599915, "yaw": 177.60877990722656 } }, "velocity": { "x": -1.5436257123947144, "y": 0.059185970574617386, "z": 0.007996320724487305 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.873730182647705, "transform": { "location": { "x": 736.8926391601562, "y": 4286.6318359375, "z": 369.4739074707031 }, "rotation": { "roll": -0.0035095219500362873, "pitch": 0.5838240385055542, "yaw": 179.41580200195312 } }, "velocity": { "x": -6.873282432556152, "y": 0.06769168376922607, "z": 0.03967989981174469 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.013021945953369, "transform": { "location": { "x": 696.9417114257812, "y": 4286.900390625, "z": 369.7001037597656 }, "rotation": { "roll": 0.0035152623895555735, "pitch": 0.15883603692054749, "yaw": 179.6883544921875 } }, "velocity": { "x": -7.012796878814697, "y": 0.037979040294885635, "z": 0.04142923280596733 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.41586685180664, "transform": { "location": { "x": 679.8413696289062, "y": 4286.99951171875, "z": 369.83306884765625 }, "rotation": { "roll": 0.0012457858538255095, "pitch": 0.5133160352706909, "yaw": 179.68170166015625 } }, "velocity": { "x": -8.415604591369629, "y": 0.04767601564526558, "z": 0.04631534591317177 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.759007930755615, "transform": { "location": { "x": 734.0121459960938, "y": 4289.89599609375, "z": 369.49224853515625 }, "rotation": { "roll": -0.0015258790226653218, "pitch": 0.34066933393478394, "yaw": 179.2473907470703 } }, "velocity": { "x": -7.758240699768066, "y": 0.09939678758382797, "z": 0.04500572010874748 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.99251651763916, "transform": { "location": { "x": 717.4008178710938, "y": 4290.025390625, "z": 369.5889892578125 }, "rotation": { "roll": 0.001336971065029502, "pitch": 0.33189937472343445, "yaw": 179.65081787109375 } }, "velocity": { "x": -7.992220401763916, "y": 0.051202524453401566, "z": 0.045915909111499786 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.965244770050049, "transform": { "location": { "x": 696.0479736328125, "y": 4290.15380859375, "z": 369.7431945800781 }, "rotation": { "roll": 0.0014628033386543393, "pitch": 0.32556095719337463, "yaw": 179.6885223388672 } }, "velocity": { "x": -7.964993000030518, "y": 0.04484507441520691, "z": 0.04476889595389366 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.12366771697998, "transform": { "location": { "x": 753.8015747070312, "y": 4289.36962890625, "z": 369.3739318847656 }, "rotation": { "roll": -0.00146484375, "pitch": 0.6641538739204407, "yaw": 177.51597595214844 } }, "velocity": { "x": -9.115095138549805, "y": 0.3918663263320923, "z": 0.05292055010795593 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.3283608555793762, "expert_control_brake": 0.0, "expert_control_steer": 0.000403676152927801, "expert_target_speed": 9.83356444113131, "target_point": [ 37.9728817000466, -0.20275004548843167 ], "target_point_next": [ 88.97193789016097, -0.509250525244407 ] }, "110": { "acceleration": [ -3.444042205810547, 0.16307251155376434, 0.019178539514541626 ], "angular_velocity": [ 0.3260374665260315, -0.3396995961666107, -0.5903860330581665 ], "forward_vector": [ -0.9999029636383057, -0.0008106956956908107, 0.013905195519328117 ], "right_vector": [ 0.0008118406403809786, -0.9999996423721313, 7.669162005186081e-05 ], "location": [ 716.8853149414062, 4286.88671875, 369.58209228515625 ], "rotation": [ -0.004394530784338713, 0.7967346906661987, -179.95355224609375 ], "velocity": [ -10.905322074890137, 0.0014158966951072216, 0.062784343957901 ], "speed": 10.905322166806883, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 21.676292419433594, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 695.2094116210938, 4286.91064453125, 369.7098083496094 ], "velocity": [ -7.0773797035217285, 0.037641480565071106, 0.04037252441048622 ], "speed_kmh": 25.47934182339324, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.211493492126465, "transform": { "location": { "x": 654.9689331054688, "y": 4297.02001953125, "z": 369.9346008300781 }, "rotation": { "roll": -0.05120849609375, "pitch": -0.3309294879436493, "yaw": 0.2142113894224167 } }, "velocity": { "x": 8.211204528808594, "y": 0.041497282683849335, "z": -0.05486590787768364 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.203726768493652, "transform": { "location": { "x": 655.3634033203125, "y": 4293.7685546875, "z": 369.9339904785156 }, "rotation": { "roll": -0.02239990234375, "pitch": -0.31225574016571045, "yaw": 0.24163572490215302 } }, "velocity": { "x": 8.203486442565918, "y": 0.04083317518234253, "z": -0.047697409987449646 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.087297439575195, "transform": { "location": { "x": 695.9664916992188, "y": 4296.853515625, "z": 369.7045593261719 }, "rotation": { "roll": -0.00033569318475201726, "pitch": -0.32818374037742615, "yaw": -0.3309936225414276 } }, "velocity": { "x": 8.087034225463867, "y": -0.04668769612908363, "z": -0.04543650895357132 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.330843925476074, "transform": { "location": { "x": 696.5880126953125, "y": 4293.6015625, "z": 369.7102966308594 }, "rotation": { "roll": -0.0001831055706134066, "pitch": -0.32931071519851685, "yaw": -0.3446350395679474 } }, "velocity": { "x": 8.330549240112305, "y": -0.05009734630584717, "z": -0.049035653471946716 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.2874884605407715, "transform": { "location": { "x": 752.4641723632812, "y": 4286.1640625, "z": 369.3744812011719 }, "rotation": { "roll": 0.0008260661852546036, "pitch": 0.35723254084587097, "yaw": 177.6532440185547 } }, "velocity": { "x": -2.285731792449951, "y": 0.08852682262659073, "z": 0.014015674591064453 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.134693145751953, "transform": { "location": { "x": 735.0284423828125, "y": 4286.64990234375, "z": 369.48468017578125 }, "rotation": { "roll": -0.0006713866605423391, "pitch": 0.5873825550079346, "yaw": 179.45883178710938 } }, "velocity": { "x": -8.134178161621094, "y": 0.07815486192703247, "z": 0.04751982539892197 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.077594757080078, "transform": { "location": { "x": 695.2094116210938, "y": 4286.91064453125, "z": 369.7098083496094 }, "rotation": { "roll": 0.0021363261621445417, "pitch": 0.23417985439300537, "yaw": 179.7105255126953 } }, "velocity": { "x": -7.0773797035217285, "y": 0.037641480565071106, "z": 0.04037252441048622 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.133827209472656, "transform": { "location": { "x": 677.7430419921875, "y": 4287.01123046875, "z": 369.84619140625 }, "rotation": { "roll": 0.00045352146844379604, "pitch": 0.35192549228668213, "yaw": 179.69070434570312 } }, "velocity": { "x": -8.133570671081543, "y": 0.04560186713933945, "z": 0.045811012387275696 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.822961807250977, "transform": { "location": { "x": 732.0619506835938, "y": 4289.91552734375, "z": 369.5036315917969 }, "rotation": { "roll": 0.0037704312708228827, "pitch": 0.33629801869392395, "yaw": 179.41860961914062 } }, "velocity": { "x": -7.822548866271973, "y": 0.06613397598266602, "z": 0.04563945531845093 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.087142944335938, "transform": { "location": { "x": 715.3825073242188, "y": 4290.03759765625, "z": 369.60076904296875 }, "rotation": { "roll": -0.00018310545419808477, "pitch": 0.32265812158584595, "yaw": 179.6246337890625 } }, "velocity": { "x": -8.086854934692383, "y": 0.050099365413188934, "z": 0.04633927345275879 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.100936889648438, "transform": { "location": { "x": 694.0330200195312, "y": 4290.16552734375, "z": 369.7546081542969 }, "rotation": { "roll": -0.00021362301777116954, "pitch": 0.3376777172088623, "yaw": 179.67787170410156 } }, "velocity": { "x": -8.100685119628906, "y": 0.045500248670578, "z": 0.0448373407125473 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.775008201599121, "transform": { "location": { "x": 751.5227661132812, "y": 4289.4609375, "z": 369.3870544433594 }, "rotation": { "roll": -0.0159606896340847, "pitch": 0.3623825013637543, "yaw": 177.7475128173828 } }, "velocity": { "x": -8.768240928649902, "y": 0.3405655324459076, "z": 0.05226787552237511 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.009460625238716602, "expert_target_speed": 10.0, "target_point": [ 35.34803047945511, -0.23031458278923206 ], "target_point_next": [ 86.34685358017123, -0.5734139392410288 ] }, "115": { "acceleration": [ -2.7428436279296875, 0.18025636672973633, 0.02083614468574524 ], "angular_velocity": [ 0.10687588155269623, -0.22736993432044983, -0.9292065501213074 ], "forward_vector": [ -0.9999152421951294, 0.0028378143906593323, 0.012704029679298401 ], "right_vector": [ -0.002846047980710864, -0.999995768070221, -0.0006300553795881569 ], "location": [ 714.0613403320312, 4286.8916015625, 369.5987548828125 ], "rotation": [ 0.03610243275761604, 0.7279068827629089, 179.83738708496094 ], "velocity": [ -11.650923728942871, 0.042340006679296494, 0.06787032634019852 ], "speed": 11.651000661480097, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 20.75507164001465, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 693.306640625, 4286.92138671875, 369.7193603515625 ], "velocity": [ -8.12938117980957, 0.04412117227911949, 0.046315182000398636 ], "speed_kmh": 29.26667823005841, "color": "0,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.015419006347656, "transform": { "location": { "x": 656.9962158203125, "y": 4297.0302734375, "z": 369.9222106933594 }, "rotation": { "roll": -0.012908934615552425, "pitch": -0.32259663939476013, "yaw": 0.29811400175094604 } }, "velocity": { "x": 8.015239715576172, "y": 0.025870000943541527, "z": -0.04695422947406769 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.004501342773438, "transform": { "location": { "x": 657.388427734375, "y": 4293.7783203125, "z": 369.9227294921875 }, "rotation": { "roll": -0.0006103515625, "pitch": -0.3123718500137329, "yaw": 0.26493388414382935 } }, "velocity": { "x": 8.004339218139648, "y": 0.02522001601755619, "z": -0.04439590871334076 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.053147315979004, "transform": { "location": { "x": 697.984375, "y": 4296.841796875, "z": 369.6929626464844 }, "rotation": { "roll": -0.0003051756648346782, "pitch": -0.330751895904541, "yaw": -0.335357666015625 } }, "velocity": { "x": 8.05288028717041, "y": -0.047917041927576065, "z": -0.044817566871643066 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.109599113464355, "transform": { "location": { "x": 698.641845703125, "y": 4293.58935546875, "z": 369.6984558105469 }, "rotation": { "roll": 1.6147561836987734e-05, "pitch": -0.33547839522361755, "yaw": -0.344635009765625 } }, "velocity": { "x": 8.10931396484375, "y": -0.04876839369535446, "z": -0.04732392355799675 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 3.0754048824310303, "transform": { "location": { "x": 751.7866821289062, "y": 4286.19091796875, "z": 369.3785400390625 }, "rotation": { "roll": 0.0005094925290904939, "pitch": 0.35564109683036804, "yaw": 177.6962432861328 } }, "velocity": { "x": -3.073075771331787, "y": 0.11829540133476257, "z": 0.018081732094287872 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 9.682034492492676, "transform": { "location": { "x": 732.779052734375, "y": 4286.67041015625, "z": 369.4968566894531 }, "rotation": { "roll": -0.008361812680959702, "pitch": 0.7040148973464966, "yaw": 179.4858856201172 } }, "velocity": { "x": -9.681536674499512, "y": 0.08024327456951141, "z": 0.05647583678364754 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.129632949829102, "transform": { "location": { "x": 693.306640625, "y": 4286.92138671875, "z": 369.7193603515625 }, "rotation": { "roll": 0.0017751652048900723, "pitch": 0.5897116661071777, "yaw": 179.67544555664062 } }, "velocity": { "x": -8.12938117980957, "y": 0.04412117227911949, "z": 0.046315182000398636 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.794175624847412, "transform": { "location": { "x": 675.7760620117188, "y": 4287.02294921875, "z": 369.8575744628906 }, "rotation": { "roll": 0.0019342658342793584, "pitch": 0.2933429479598999, "yaw": 179.65875244140625 } }, "velocity": { "x": -7.793911457061768, "y": 0.04598367586731911, "z": 0.0447525680065155 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.7379469871521, "transform": { "location": { "x": 730.1165161132812, "y": 4289.931640625, "z": 369.51495361328125 }, "rotation": { "roll": 0.0006673606112599373, "pitch": 0.33391427993774414, "yaw": 179.4982452392578 } }, "velocity": { "x": -7.737556457519531, "y": 0.0632459819316864, "z": 0.04516714811325073 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.004497528076172, "transform": { "location": { "x": 713.3729248046875, "y": 4290.04931640625, "z": 369.61236572265625 }, "rotation": { "roll": 0.0012093741679564118, "pitch": 0.3367624580860138, "yaw": 179.66944885253906 } }, "velocity": { "x": -8.004222869873047, "y": 0.048785775899887085, "z": 0.045003049075603485 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.969219207763672, "transform": { "location": { "x": 692.0255126953125, "y": 4290.17724609375, "z": 369.7662048339844 }, "rotation": { "roll": -0.0002746582613326609, "pitch": 0.32341626286506653, "yaw": 179.67759704589844 } }, "velocity": { "x": -7.968968391418457, "y": 0.044823337346315384, "z": 0.04457433521747589 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.984220027923584, "transform": { "location": { "x": 749.466064453125, "y": 4289.53955078125, "z": 369.3991394042969 }, "rotation": { "roll": -0.010528563521802425, "pitch": 0.217118039727211, "yaw": 177.81982421875 } }, "velocity": { "x": -7.978419780731201, "y": 0.30078330636024475, "z": 0.04603861644864082 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.004703217186033726, "expert_target_speed": 10.0, "target_point": [ 32.524658444258336, -0.10446891240097812 ], "target_point_next": [ 83.5243939443279, -0.26148403739635573 ] }, "120": { "acceleration": [ -2.5337982177734375, 0.22429272532463074, 0.02630770206451416 ], "angular_velocity": [ 0.10646672546863556, -0.20547999441623688, -0.9855095744132996 ], "forward_vector": [ -0.9999054074287415, 0.007024128455668688, 0.011827311478555202 ], "right_vector": [ -0.007036671042442322, -0.9999747276306152, -0.001019202172756195 ], "location": [ 711.05859375, 4286.908203125, 369.6164245605469 ], "rotation": [ 0.058400075882673264, 0.6776708364486694, 179.59751892089844 ], "velocity": [ -12.32064151763916, 0.09511391073465347, 0.0713711753487587 ], "speed": 12.32100864629958, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 68.56975555419922, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.206530570983887, "transform": { "location": { "x": 659.0250854492188, "y": 4297.0341796875, "z": 369.9107971191406 }, "rotation": { "roll": 0.017026372253894806, "pitch": -0.3124060034751892, "yaw": 0.08585507422685623 } }, "velocity": { "x": 8.20640754699707, "y": 0.0035605733282864094, "z": -0.04483560472726822 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.196781158447266, "transform": { "location": { "x": 659.4144287109375, "y": 4293.78173828125, "z": 369.9117736816406 }, "rotation": { "roll": 0.00516680208966136, "pitch": -0.30791857838630676, "yaw": 0.0772651806473732 } }, "velocity": { "x": 8.196659088134766, "y": 0.00725516164675355, "z": -0.04419882968068123 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.082464218139648, "transform": { "location": { "x": 700.0010986328125, "y": 4296.830078125, "z": 369.6813049316406 }, "rotation": { "roll": -0.00015258791972883046, "pitch": -0.3319949805736542, "yaw": -0.34039306640625 } }, "velocity": { "x": 8.082189559936523, "y": -0.0480029322206974, "z": -0.04633273184299469 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.331042289733887, "transform": { "location": { "x": 700.6978759765625, "y": 4293.578125, "z": 369.6865539550781 }, "rotation": { "roll": 0.00036668681423179805, "pitch": -0.33190619945526123, "yaw": -0.344757080078125 } }, "velocity": { "x": 8.33074951171875, "y": -0.05008750408887863, "z": -0.0487259179353714 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 3.7861642837524414, "transform": { "location": { "x": 750.9271850585938, "y": 4286.224609375, "z": 369.3836364746094 }, "rotation": { "roll": 0.0013614740455523133, "pitch": 0.35512199997901917, "yaw": 177.7371063232422 } }, "velocity": { "x": -3.7832963466644287, "y": 0.1457400918006897, "z": 0.02164805307984352 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 10.410421371459961, "transform": { "location": { "x": 730.3070068359375, "y": 4286.6904296875, "z": 369.5126953125 }, "rotation": { "roll": -0.009124754928052425, "pitch": 0.5350974798202515, "yaw": 179.5610809326172 } }, "velocity": { "x": -10.409951210021973, "y": 0.07788054645061493, "z": 0.06100515276193619 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.170860290527344, "transform": { "location": { "x": 728.1278076171875, "y": 4289.94775390625, "z": 369.5268249511719 }, "rotation": { "roll": 0.0011626237537711859, "pitch": 0.299387663602829, "yaw": 179.53636169433594 } }, "velocity": { "x": -8.17050552368164, "y": 0.060360077768564224, "z": 0.04634814336895943 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.02993106842041, "transform": { "location": { "x": 711.3699340820312, "y": 4290.06103515625, "z": 369.6240234375 }, "rotation": { "roll": 0.0005145538016222417, "pitch": 0.32978883385658264, "yaw": 179.63253784179688 } }, "velocity": { "x": -8.029656410217285, "y": 0.04866087809205055, "z": 0.04531927779316902 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.049765586853027, "transform": { "location": { "x": 690.025390625, "y": 4290.189453125, "z": 369.77752685546875 }, "rotation": { "roll": 0.0015535035636276007, "pitch": 0.3291809558868408, "yaw": 179.67544555664062 } }, "velocity": { "x": -8.049498558044434, "y": 0.04709985479712486, "z": 0.0455142967402935 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.668644905090332, "transform": { "location": { "x": 747.4028930664062, "y": 4289.6123046875, "z": 369.41119384765625 }, "rotation": { "roll": -0.02810668759047985, "pitch": 0.4141075313091278, "yaw": 178.0332489013672 } }, "velocity": { "x": -8.663945198059082, "y": 0.2809608578681946, "z": 0.05006381869316101 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.005334955640137196, "expert_target_speed": 10.0, "target_point": [ 29.522021670285216, 0.027194020086453746 ], "target_point_next": [ 80.52196760185647, 0.08367236407778339 ] }, "125": { "acceleration": [ -2.0568466186523438, 0.10314479470252991, 0.007808655500411987 ], "angular_velocity": [ -0.06831970065832138, -0.18338894844055176, -0.32983827590942383 ], "forward_vector": [ -0.9998943209648132, 0.009561924263834953, 0.01095165777951479 ], "right_vector": [ -0.009570935741066933, -0.9999539256095886, -0.0007707382319495082 ], "location": [ 707.9061279296875, 4286.935546875, 369.6349792480469 ], "rotation": [ 0.04416269809007645, 0.6274963021278381, 179.4521026611328 ], "velocity": [ -12.87298583984375, 0.12420015782117844, 0.07351720333099365 ], "speed": 12.873584975134957, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 65.41773223876953, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.011195182800293, "transform": { "location": { "x": 661.0511474609375, "y": 4297.0341796875, "z": 369.8997497558594 }, "rotation": { "roll": 0.013456232845783234, "pitch": -0.31914740800857544, "yaw": -0.009735107421875 } }, "velocity": { "x": 8.011076927185059, "y": -0.004303803201764822, "z": -0.0433281846344471 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.997690200805664, "transform": { "location": { "x": 661.4376220703125, "y": 4293.7822265625, "z": 369.9008483886719 }, "rotation": { "roll": 0.003934262320399284, "pitch": -0.3135056793689728, "yaw": 0.0032162615098059177 } }, "velocity": { "x": 7.997570514678955, "y": -0.0007149400189518929, "z": -0.04373903200030327 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.053342819213867, "transform": { "location": { "x": 702.0178833007812, "y": 4296.81884765625, "z": 369.6696472167969 }, "rotation": { "roll": -0.0009155272273346782, "pitch": -0.3315441906452179, "yaw": -0.3441162109375 } }, "velocity": { "x": 8.053070068359375, "y": -0.04840860888361931, "z": -0.04531941935420036 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.1098051071167, "transform": { "location": { "x": 702.751708984375, "y": 4293.56591796875, "z": 369.6746826171875 }, "rotation": { "roll": 0.00017039000522345304, "pitch": -0.3350276052951813, "yaw": -0.3446044623851776 } }, "velocity": { "x": 8.109519004821777, "y": -0.048762619495391846, "z": -0.04756256565451622 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 4.5117926597595215, "transform": { "location": { "x": 749.8873901367188, "y": 4286.2646484375, "z": 369.3897705078125 }, "rotation": { "roll": -0.00015258745406754315, "pitch": 0.35505369305610657, "yaw": 177.76644897460938 } }, "velocity": { "x": -4.508382320404053, "y": 0.17347706854343414, "z": 0.025834359228610992 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 11.404030799865723, "transform": { "location": { "x": 727.5707397460938, "y": 4286.71044921875, "z": 369.5284729003906 }, "rotation": { "roll": -0.004089354537427425, "pitch": 0.5583337545394897, "yaw": 179.6013641357422 } }, "velocity": { "x": -11.403570175170898, "y": 0.07883390039205551, "z": 0.06552846729755402 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.885404586791992, "transform": { "location": { "x": 726.1276245117188, "y": 4289.962890625, "z": 369.5380859375 }, "rotation": { "roll": 0.0005074854125268757, "pitch": 0.34295743703842163, "yaw": 179.5679168701172 } }, "velocity": { "x": -7.885066509246826, "y": 0.05759643390774727, "z": 0.04484287276864052 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.089941024780273, "transform": { "location": { "x": 709.3568725585938, "y": 4290.07275390625, "z": 369.6357421875 }, "rotation": { "roll": 0.00028626309358514845, "pitch": 0.32617565989494324, "yaw": 179.6690673828125 } }, "velocity": { "x": -8.089656829833984, "y": 0.04949285089969635, "z": 0.04637924209237099 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.019818305969238, "transform": { "location": { "x": 688.0140991210938, "y": 4290.20068359375, "z": 369.7889404296875 }, "rotation": { "roll": 0.0005708463722839952, "pitch": 0.32694748044013977, "yaw": 179.67018127441406 } }, "velocity": { "x": -8.01955795288086, "y": 0.04626530408859253, "z": 0.04503801092505455 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.946949005126953, "transform": { "location": { "x": 745.194580078125, "y": 4289.6806640625, "z": 369.4240417480469 }, "rotation": { "roll": -0.0192871056497097, "pitch": 0.3980087637901306, "yaw": 178.27427673339844 } }, "velocity": { "x": -8.942765235900879, "y": 0.2683660686016083, "z": 0.05320372432470322 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.012546905316412449, "expert_target_speed": 10.0, "target_point": [ 26.36927438977354, 0.09932433771731256 ], "target_point_next": [ 77.36891268493814, 0.28525063739596657 ] }, "130": { "acceleration": [ -2.173328399658203, 0.09367763996124268, 0.003468245267868042 ], "angular_velocity": [ -0.06354692578315735, -0.06358032673597336, -0.2938973009586334 ], "forward_vector": [ -0.9998862743377686, 0.010873614810407162, 0.010451961308717728 ], "right_vector": [ -0.010880167596042156, -0.9999406337738037, -0.0005703563219867647 ], "location": [ 704.6190185546875, 4286.96923828125, 369.6542053222656 ], "rotation": [ 0.03268079832196236, 0.5988641381263733, 179.37693786621094 ], "velocity": [ -13.40394115447998, 0.14800569415092468, 0.07679351419210434 ], "speed": 13.40475826556612, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 62.13121795654297, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.20259952545166, "transform": { "location": { "x": 663.0789794921875, "y": 4297.03076171875, "z": 369.8887939453125 }, "rotation": { "roll": 0.0206125620752573, "pitch": -0.310978502035141, "yaw": -0.1209716722369194 } }, "velocity": { "x": 8.202444076538086, "y": -0.024320732802152634, "z": -0.04417086020112038 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.18966293334961, "transform": { "location": { "x": 663.4620361328125, "y": 4293.7783203125, "z": 369.8898620605469 }, "rotation": { "roll": 0.006299297325313091, "pitch": -0.308929443359375, "yaw": -0.128662109375 } }, "velocity": { "x": 8.18951416015625, "y": -0.021863531321287155, "z": -0.04408558830618858 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084707260131836, "transform": { "location": { "x": 704.03515625, "y": 4296.806640625, "z": 369.6579895019531 }, "rotation": { "roll": 0.0002758233458735049, "pitch": -0.331783264875412, "yaw": -0.3448486626148224 } }, "velocity": { "x": 8.084428787231445, "y": -0.04862593114376068, "z": -0.04623838886618614 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.074305534362793, "transform": { "location": { "x": 704.7575073242188, "y": 4293.5546875, "z": 369.6640625 }, "rotation": { "roll": 0.0010551208397373557, "pitch": -0.46273162961006165, "yaw": -0.3482665717601776 } }, "velocity": { "x": 7.074045658111572, "y": -0.04412037134170532, "z": -0.041603464633226395 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 5.195722579956055, "transform": { "location": { "x": 748.6616821289062, "y": 4286.31201171875, "z": 369.3971252441406 }, "rotation": { "roll": 0.0002506953023839742, "pitch": 0.3535100817680359, "yaw": 177.7991943359375 } }, "velocity": { "x": -5.191771030426025, "y": 0.19996677339076996, "z": 0.03253323584794998 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 12.255027770996094, "transform": { "location": { "x": 724.6090698242188, "y": 4286.73046875, "z": 369.5457458496094 }, "rotation": { "roll": -0.002227782504633069, "pitch": 0.5403704047203064, "yaw": 179.61753845214844 } }, "velocity": { "x": -12.254542350769043, "y": 0.08283739537000656, "z": 0.07093603163957596 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.179302215576172, "transform": { "location": { "x": 724.4549560546875, "y": 4289.9755859375, "z": 369.5467834472656 }, "rotation": { "roll": 0.0005106416065245867, "pitch": 0.4594053328037262, "yaw": 179.5824737548828 } }, "velocity": { "x": -6.179029941558838, "y": 0.0446820929646492, "z": 0.036944836378097534 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.615373611450195, "transform": { "location": { "x": 707.281005859375, "y": 4290.08544921875, "z": 369.648193359375 }, "rotation": { "roll": 0.0008290205150842667, "pitch": 0.28623270988464355, "yaw": 179.632568359375 } }, "velocity": { "x": -8.615073204040527, "y": 0.052704110741615295, "z": 0.04886993393301964 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.027789115905762, "transform": { "location": { "x": 686.0096435546875, "y": 4290.21240234375, "z": 369.80029296875 }, "rotation": { "roll": 0.0003462187305558473, "pitch": 0.32388073205947876, "yaw": 179.66567993164062 } }, "velocity": { "x": -8.027530670166016, "y": 0.046872515231370926, "z": 0.04420728608965874 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.50243854522705, "transform": { "location": { "x": 742.8712158203125, "y": 4289.74560546875, "z": 369.4376220703125 }, "rotation": { "roll": -0.03558349609375, "pitch": 0.44629135727882385, "yaw": 178.4690399169922 } }, "velocity": { "x": -9.499363899230957, "y": 0.23534061014652252, "z": 0.055078476667404175 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.022575559094548225, "expert_target_speed": 10.0, "target_point": [ 23.08184008421614, 0.13184913553168282 ], "target_point_next": [ 74.08119072661263, 0.3846511933269465 ] }, "135": { "acceleration": [ -2.1025657653808594, 0.09682297706604004, -0.005240589380264282 ], "angular_velocity": [ -0.04087695851922035, -0.03123581036925316, -0.3037148714065552 ], "forward_vector": [ -0.9998729228973389, 0.012179773300886154, 0.010282929986715317 ], "right_vector": [ -0.01218539010733366, -0.9999256134033203, -0.0004838550230488181 ], "location": [ 701.198974609375, 4287.0087890625, 369.67401123046875 ], "rotation": [ 0.027724318206310272, 0.5891789197921753, 179.30209350585938 ], "velocity": [ -13.935273170471191, 0.17150476574897766, 0.08024446666240692 ], "speed": 13.93632850575534, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 58.71194839477539, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 623.5980224609375, "y": 4297.181640625, "z": 370.3740539550781 }, "rotation": { "roll": 5.211085035705665e-11, "pitch": -0.28500327467918396, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": 623.5787963867188, "y": 4293.931640625, "z": 370.3740539550781 }, "rotation": { "roll": 5.211085035705665e-11, "pitch": -0.28500327467918396, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.826416969299316, "transform": { "location": { "x": 664.725830078125, "y": 4297.02490234375, "z": 369.88201904296875 }, "rotation": { "roll": 0.012529348954558372, "pitch": -0.9010316729545593, "yaw": -0.1680602729320526 } }, "velocity": { "x": 5.826287746429443, "y": -0.02092558518052101, "z": -0.03269394859671593 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.077727317810059, "transform": { "location": { "x": 665.1334228515625, "y": 4293.7724609375, "z": 369.8805236816406 }, "rotation": { "roll": 0.004029424861073494, "pitch": -0.5196544528007507, "yaw": -0.22320552170276642 } }, "velocity": { "x": 6.0775980949401855, "y": -0.02168997935950756, "z": -0.03318231925368309 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.05211067199707, "transform": { "location": { "x": 706.0519409179688, "y": 4296.79541015625, "z": 369.6463317871094 }, "rotation": { "roll": -0.00021362313418649137, "pitch": -0.33288291096687317, "yaw": -0.3446654975414276 } }, "velocity": { "x": 8.051833152770996, "y": -0.048459213227033615, "z": -0.046084851026535034 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.687508583068848, "transform": { "location": { "x": 706.3041381835938, "y": 4293.54443359375, "z": 369.6575622558594 }, "rotation": { "roll": -0.0006408688495866954, "pitch": -0.7666682004928589, "yaw": -0.355010986328125 } }, "velocity": { "x": 5.687304973602295, "y": -0.03536749258637428, "z": -0.03270434960722923 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 5.825249671936035, "transform": { "location": { "x": 747.306396484375, "y": 4286.359375, "z": 369.4051818847656 }, "rotation": { "roll": -0.0018615726148709655, "pitch": 0.35202109813690186, "yaw": 177.95657348632812 } }, "velocity": { "x": -5.8222174644470215, "y": 0.18475888669490814, "z": 0.03431586176156998 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 13.134517669677734, "transform": { "location": { "x": 721.4300537109375, "y": 4286.75244140625, "z": 369.5642395019531 }, "rotation": { "roll": -0.00384521484375, "pitch": 0.5326181054115295, "yaw": 179.6307373046875 } }, "velocity": { "x": -13.134031295776367, "y": 0.08342274278402328, "z": 0.07627283036708832 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.4402995109558105, "transform": { "location": { "x": 722.8963623046875, "y": 4289.98681640625, "z": 369.5569763183594 }, "rotation": { "roll": 9.106045035878196e-05, "pitch": 0.33032843470573425, "yaw": 179.54898071289062 } }, "velocity": { "x": -6.44001579284668, "y": 0.0478154793381691, "z": 0.036988265812397 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.455848693847656, "transform": { "location": { "x": 705.01953125, "y": 4290.09912109375, "z": 369.6615295410156 }, "rotation": { "roll": 0.0006086109206080437, "pitch": 0.2511870265007019, "yaw": 179.660888671875 } }, "velocity": { "x": -9.455509185791016, "y": 0.058441996574401855, "z": 0.054808616638183594 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.015907287597656, "transform": { "location": { "x": 684.0042114257812, "y": 4290.22412109375, "z": 369.8115539550781 }, "rotation": { "roll": 3.55605789081892e-06, "pitch": 0.3258136510848999, "yaw": 179.66529846191406 } }, "velocity": { "x": -8.015650749206543, "y": 0.046805042773485184, "z": 0.04395022243261337 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.429505348205566, "transform": { "location": { "x": 740.6119995117188, "y": 4289.79736328125, "z": 369.45074462890625 }, "rotation": { "roll": -0.02593993954360485, "pitch": 0.20724159479141235, "yaw": 178.7361602783203 } }, "velocity": { "x": -8.42741584777832, "y": 0.18079480528831482, "z": 0.050319891422986984 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.030776778236031532, "expert_target_speed": 10.0, "target_point": [ 19.66137613968756, 0.1598978789010865 ], "target_point_next": [ 70.66035295902137, 0.47933207804834527 ] }, "140": { "acceleration": [ -2.0475387573242188, 0.10286182165145874, 0.011930465698242188 ], "angular_velocity": [ -0.019283490255475044, -0.02537870779633522, -0.313349187374115 ], "forward_vector": [ -0.9998569488525391, 0.013527149334549904, 0.010152045637369156 ], "right_vector": [ -0.013532578945159912, -0.9999083280563354, -0.0004663559084292501 ], "location": [ 697.6475830078125, 4287.0546875, 369.6944885253906 ], "rotation": [ 0.02672160416841507, 0.5816793441772461, 179.22488403320312 ], "velocity": [ -14.453178405761719, 0.1966625601053238, 0.08266755938529968 ], "speed": 14.45451632505647, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 55.161582946777344, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 625.6688232421875, "y": 4297.16943359375, "z": 370.1472473144531 }, "rotation": { "roll": 5.211085035705665e-11, "pitch": -0.28500327467918396, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": 625.649658203125, "y": 4293.91943359375, "z": 370.1472473144531 }, "rotation": { "roll": 5.211085035705665e-11, "pitch": -0.28500327467918396, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.680324554443359, "transform": { "location": { "x": 666.153564453125, "y": 4297.01904296875, "z": 369.87310791015625 }, "rotation": { "roll": 0.0037263541016727686, "pitch": -0.6117799878120422, "yaw": -0.220703125 } }, "velocity": { "x": 5.680206298828125, "y": -0.020371871069073677, "z": -0.03043447993695736 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.136828899383545, "transform": { "location": { "x": 666.6560668945312, "y": 4293.7666015625, "z": 369.8724060058594 }, "rotation": { "roll": 0.0007965783588588238, "pitch": -0.3611120879650116, "yaw": -0.2268371284008026 } }, "velocity": { "x": 6.1366868019104, "y": -0.02579241432249546, "z": -0.032919760793447495 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084420204162598, "transform": { "location": { "x": 708.0692138671875, "y": 4296.783203125, "z": 369.6346130371094 }, "rotation": { "roll": 0.00014362105866894126, "pitch": -0.33245259523391724, "yaw": -0.3477477431297302 } }, "velocity": { "x": 8.084136962890625, "y": -0.04915894940495491, "z": -0.04654071107506752 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.715400695800781, "transform": { "location": { "x": 707.6956176757812, "y": 4293.53662109375, "z": 369.6466064453125 }, "rotation": { "roll": -6.103516352595761e-05, "pitch": -0.40246203541755676, "yaw": -0.35296630859375 } }, "velocity": { "x": 5.715188026428223, "y": -0.03527413308620453, "z": -0.03443698212504387 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 6.631868839263916, "transform": { "location": { "x": 745.7786254882812, "y": 4286.408203125, "z": 369.41400146484375 }, "rotation": { "roll": 0.0006696098716929555, "pitch": 0.35628312826156616, "yaw": 178.16860961914062 } }, "velocity": { "x": -6.628694534301758, "y": 0.20160186290740967, "z": 0.03810998797416687 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 13.729144096374512, "transform": { "location": { "x": 718.0621948242188, "y": 4286.77392578125, "z": 369.5841369628906 }, "rotation": { "roll": -0.00286865234375, "pitch": 0.4915277063846588, "yaw": 179.65235900878906 } }, "velocity": { "x": -13.72865104675293, "y": 0.08458609133958817, "z": 0.0798238143324852 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.1040849685668945, "transform": { "location": { "x": 721.2090454101562, "y": 4289.99853515625, "z": 369.5670471191406 }, "rotation": { "roll": 0.00020600228162948042, "pitch": 0.288739413022995, "yaw": 179.57081604003906 } }, "velocity": { "x": -7.103806495666504, "y": 0.04708141088485718, "z": 0.04172017052769661 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 10.26438045501709, "transform": { "location": { "x": 702.5455322265625, "y": 4290.1142578125, "z": 369.6759338378906 }, "rotation": { "roll": -0.0009155272273346782, "pitch": 0.24653565883636475, "yaw": 179.6355438232422 } }, "velocity": { "x": -10.264022827148438, "y": 0.06285655498504639, "z": 0.058257948607206345 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.042062759399414, "transform": { "location": { "x": 681.996337890625, "y": 4290.23583984375, "z": 369.8228454589844 }, "rotation": { "roll": -0.00027465823222883046, "pitch": 0.32218000292778015, "yaw": 179.66552734375 } }, "velocity": { "x": -8.041799545288086, "y": 0.04696198180317879, "z": 0.04492338001728058 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.291302680969238, "transform": { "location": { "x": 738.6975708007812, "y": 4289.8359375, "z": 369.4619140625 }, "rotation": { "roll": -0.025482172146439552, "pitch": 0.1266658455133438, "yaw": 178.882080078125 } }, "velocity": { "x": -7.290101528167725, "y": 0.12478213757276535, "z": 0.04411304369568825 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.047181081026792526, "expert_target_speed": 10.0, "target_point": [ 16.109455281868513, 0.1842452329927244 ], "target_point_next": [ 67.10795534667234, 0.5724023748004315 ] }, "145": { "acceleration": [ -1.1151885986328125, 0.09817957878112793, 0.0029681622982025146 ], "angular_velocity": [ 0.014757396653294563, -0.2811695337295532, -0.3219051957130432 ], "forward_vector": [ -0.9998413324356079, 0.014915071427822113, 0.009740674868226051 ], "right_vector": [ -0.014920152723789215, -0.9998885989189148, -0.0004491735890042037 ], "location": [ 693.972412109375, 4287.10693359375, 369.7156982421875 ], "rotation": [ 0.0257369726896286, 0.558108389377594, 179.14535522460938 ], "velocity": [ -14.886449813842773, 0.22269360721111298, 0.08444549143314362 ], "speed": 14.888115411386098, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 51.487754821777344, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.098358154296875, "transform": { "location": { "x": 627.7247314453125, "y": 4297.1591796875, "z": 370.0870666503906 }, "rotation": { "roll": -0.0023803708609193563, "pitch": -0.2949207127094269, "yaw": -0.2610778212547302 } }, "velocity": { "x": 8.097530364990234, "y": -0.007685297634452581, "z": -0.11555380374193192 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.08577823638916, "transform": { "location": { "x": 627.7035522460938, "y": 4293.91064453125, "z": 370.0855712890625 }, "rotation": { "roll": -0.0120849609375, "pitch": -0.30431222915649414, "yaw": -0.2056884914636612 } }, "velocity": { "x": 8.084736824035645, "y": 0.01809510588645935, "z": -0.12850189208984375 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.419528484344482, "transform": { "location": { "x": 667.8189086914062, "y": 4297.01220703125, "z": 369.8616638183594 }, "rotation": { "roll": 0.0067267101258039474, "pitch": 0.027819359675049782, "yaw": -0.1925659030675888 } }, "velocity": { "x": 7.419349670410156, "y": -0.032712943851947784, "z": -0.039730872958898544 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.21937370300293, "transform": { "location": { "x": 668.4620361328125, "y": 4293.75830078125, "z": 369.8629150390625 }, "rotation": { "roll": 0.0014300617622211576, "pitch": -0.07977660745382309, "yaw": -0.24945068359375 } }, "velocity": { "x": 8.219161033630371, "y": -0.03841390833258629, "z": -0.04496666416525841 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.051434516906738, "transform": { "location": { "x": 710.0859375, "y": 4296.77197265625, "z": 369.6228942871094 }, "rotation": { "roll": 0.0004322506138123572, "pitch": -0.33373668789863586, "yaw": -0.3485107421875 } }, "velocity": { "x": 8.051146507263184, "y": -0.04896059259772301, "z": -0.0472443588078022 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.531678199768066, "transform": { "location": { "x": 709.3733520507812, "y": 4293.525390625, "z": 369.6328125 }, "rotation": { "roll": -0.0026245114859193563, "pitch": 0.08875830471515656, "yaw": -0.30975341796875 } }, "velocity": { "x": 7.531413555145264, "y": -0.04558110982179642, "z": -0.04361991956830025 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 7.541631698608398, "transform": { "location": { "x": 743.993408203125, "y": 4286.462890625, "z": 369.4244384765625 }, "rotation": { "roll": -0.0018310546875, "pitch": 0.35853028297424316, "yaw": 178.26329040527344 } }, "velocity": { "x": -7.538160800933838, "y": 0.22430655360221863, "z": 0.04503785818815231 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 14.14970874786377, "transform": { "location": { "x": 714.5750122070312, "y": 4286.79541015625, "z": 369.6050720214844 }, "rotation": { "roll": -0.0013732911320403218, "pitch": 0.4278566837310791, "yaw": 179.66221618652344 } }, "velocity": { "x": -14.149227142333984, "y": 0.08433286845684052, "z": 0.08081822842359543 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 623.1337890625, "y": 4287.43310546875, "z": 370.2554931640625 }, "rotation": { "roll": -5.211083300982189e-11, "pitch": 0.28036558628082275, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.994298934936523, "transform": { "location": { "x": 719.1364135742188, "y": 4290.01220703125, "z": 369.5801086425781 }, "rotation": { "roll": 0.00034138630144298077, "pitch": 0.1753036230802536, "yaw": 179.5789337158203 } }, "velocity": { "x": -8.993962287902832, "y": 0.058029431849718094, "z": 0.05187903344631195 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.398680686950684, "transform": { "location": { "x": 700.0587158203125, "y": 4290.12939453125, "z": 369.6891174316406 }, "rotation": { "roll": -0.0007934567984193563, "pitch": 0.3832555413246155, "yaw": 179.66964721679688 } }, "velocity": { "x": -9.398359298706055, "y": 0.0552300401031971, "z": 0.054767291992902756 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.004843711853027, "transform": { "location": { "x": 679.9911499023438, "y": 4290.24755859375, "z": 369.8340148925781 }, "rotation": { "roll": -1.042220615365963e-10, "pitch": 0.3217565417289734, "yaw": 179.66543579101562 } }, "velocity": { "x": -8.004583358764648, "y": 0.046722669154405594, "z": 0.044629164040088654 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.847433090209961, "transform": { "location": { "x": 736.8255004882812, "y": 4289.86376953125, "z": 369.47296142578125 }, "rotation": { "roll": -0.02221679501235485, "pitch": 0.37210869789123535, "yaw": 179.11782836914062 } }, "velocity": { "x": -7.846560955047607, "y": 0.10792616009712219, "z": 0.04515533521771431 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.06154245510697365, "expert_target_speed": 10.0, "target_point": [ 12.433642675651766, 0.20402986593568845 ], "target_point_next": [ 63.43155481960844, 0.6629762503954513 ] }, "150": { "acceleration": [ 1.3965988159179688, 0.06123930215835571, 0.004200488328933716 ], "angular_velocity": [ -0.01600073277950287, -0.8360584378242493, -0.325915664434433 ], "forward_vector": [ -0.9998435378074646, 0.01632976531982422, 0.006802387069910765 ], "right_vector": [ -0.016333336010575294, -0.9998664855957031, -0.0004695367824751884 ], "location": [ 690.2621459960938, 4287.1650390625, 369.73736572265625 ], "rotation": [ 0.026903100311756134, 0.3897510766983032, 179.06431579589844 ], "velocity": [ -14.720878601074219, 0.24075883626937866, 0.08400436490774155 ], "speed": 14.722847265553176, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 47.779232025146484, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051898002624512, "transform": { "location": { "x": 629.7429809570312, "y": 4297.16064453125, "z": 370.0643310546875 }, "rotation": { "roll": -0.006103515159338713, "pitch": -0.292967289686203, "yaw": 0.12029695510864258 } }, "velocity": { "x": 8.051581382751465, "y": 0.03691275045275688, "z": -0.06106714531779289 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.017684936523438, "transform": { "location": { "x": 629.7158813476562, "y": 4293.9169921875, "z": 370.0611267089844 }, "rotation": { "roll": -0.009552001953125, "pitch": -0.29687416553497314, "yaw": 0.19805379211902618 } }, "velocity": { "x": 8.01727294921875, "y": 0.044616036117076874, "z": -0.0679008960723877 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.47140121459961, "transform": { "location": { "x": 669.842041015625, "y": 4297.0029296875, "z": 369.85009765625 }, "rotation": { "roll": 0.006022019777446985, "pitch": 0.15727192163467407, "yaw": -0.2711181342601776 } }, "velocity": { "x": 8.471179962158203, "y": -0.040817879140377045, "z": -0.045616935938596725 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.175480842590332, "transform": { "location": { "x": 670.5398559570312, "y": 4293.74853515625, "z": 369.851318359375 }, "rotation": { "roll": -0.0019836428109556437, "pitch": -0.25982722640037537, "yaw": -0.161285400390625 } }, "velocity": { "x": 8.175271034240723, "y": -0.037084486335515976, "z": -0.04529480263590813 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.085017204284668, "transform": { "location": { "x": 712.10302734375, "y": 4296.759765625, "z": 369.6111145019531 }, "rotation": { "roll": 0.0009162495844066143, "pitch": -0.3335249423980713, "yaw": -0.3472289741039276 } }, "velocity": { "x": 8.08473014831543, "y": -0.048129789531230927, "z": -0.04814358055591583 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.654732704162598, "transform": { "location": { "x": 711.3508911132812, "y": 4293.51318359375, "z": 369.6221008300781 }, "rotation": { "roll": -0.0007629393949173391, "pitch": -0.008025472052395344, "yaw": -0.3166808784008026 } }, "velocity": { "x": 8.654433250427246, "y": -0.05185575783252716, "z": -0.050027742981910706 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 8.337835311889648, "transform": { "location": { "x": 742.0043334960938, "y": 4286.5166015625, "z": 369.4361877441406 }, "rotation": { "roll": -0.004699706099927425, "pitch": 0.3571642339229584, "yaw": 178.50521850585938 } }, "velocity": { "x": -8.335478782653809, "y": 0.19208523631095886, "z": 0.04897969216108322 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 14.42613697052002, "transform": { "location": { "x": 710.9955444335938, "y": 4286.81689453125, "z": 369.6258544921875 }, "rotation": { "roll": -0.00018310559971723706, "pitch": 0.4063279330730438, "yaw": 179.6688232421875 } }, "velocity": { "x": -14.425647735595703, "y": 0.08398798108100891, "z": 0.08396657556295395 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.7150962948799133, "transform": { "location": { "x": 623.1336059570312, "y": 4287.43310546875, "z": 370.1580810546875 }, "rotation": { "roll": 4.589501259033568e-05, "pitch": 0.283698707818985, "yaw": 179.66136169433594 } }, "velocity": { "x": -0.0034010980743914843, "y": 1.9180853996658698e-05, "z": -0.7150881886482239 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.039368629455566, "transform": { "location": { "x": 716.8483276367188, "y": 4290.02783203125, "z": 369.5924072265625 }, "rotation": { "roll": -0.00045776349725201726, "pitch": 0.2979123592376709, "yaw": 179.61668395996094 } }, "velocity": { "x": -9.039027214050293, "y": 0.05850686505436897, "z": 0.05251045897603035 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.683466911315918, "transform": { "location": { "x": 697.8399658203125, "y": 4290.14208984375, "z": 369.701904296875 }, "rotation": { "roll": -0.0012817381648346782, "pitch": 0.40068620443344116, "yaw": 179.64915466308594 } }, "velocity": { "x": -8.683172225952148, "y": 0.052179232239723206, "z": 0.048998668789863586 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.046594619750977, "transform": { "location": { "x": 677.9847412109375, "y": 4290.25927734375, "z": 369.84521484375 }, "rotation": { "roll": 0.0001665826712269336, "pitch": 0.32104620337486267, "yaw": 179.66162109375 } }, "velocity": { "x": -8.046329498291016, "y": 0.04744842275977135, "z": 0.044923942536115646 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.650960922241211, "transform": { "location": { "x": 734.7255859375, "y": 4289.8916015625, "z": 369.4852294921875 }, "rotation": { "roll": -0.013427734375, "pitch": 0.47497814893722534, "yaw": 179.2794647216797 } }, "velocity": { "x": -8.650155067443848, "y": 0.10712126642465591, "z": 0.04969409853219986 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.08433602750301361, "expert_target_speed": 10.0, "target_point": [ 8.722621339335573, 0.21912961815101412 ], "target_point_next": [ 59.719833138783564, 0.7502261336496324 ] }, "155": { "acceleration": [ 1.9988059997558594, 0.04551589488983154, -0.026650279760360718 ], "angular_velocity": [ 0.022034775465726852, -0.48642757534980774, -0.32191523909568787 ], "forward_vector": [ -0.9998340606689453, 0.017745278775691986, 0.004114973358809948 ], "right_vector": [ -0.017747370526194572, -0.9998423457145691, -0.0004720201250165701 ], "location": [ 686.6351318359375, 4287.2265625, 369.758544921875 ], "rotation": [ 0.0270449910312891, 0.2357712835073471, 178.98321533203125 ], "velocity": [ -14.301243782043457, 0.2543332576751709, 0.08127561211585999 ], "speed": 14.303505134036074, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 44.15440368652344, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.081335067749023, "transform": { "location": { "x": 631.7596435546875, "y": 4297.169921875, "z": 370.0525207519531 }, "rotation": { "roll": -0.004730223678052425, "pitch": -0.29247552156448364, "yaw": 0.33781349658966064 } }, "velocity": { "x": 8.081149101257324, "y": 0.03639642521739006, "z": -0.040950726717710495 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.0714693069458, "transform": { "location": { "x": 631.727294921875, "y": 4293.9267578125, "z": 370.0476379394531 }, "rotation": { "roll": -0.00054931640625, "pitch": -0.2938210666179657, "yaw": 0.30234742164611816 } }, "velocity": { "x": 8.071318626403809, "y": 0.018553875386714935, "z": -0.04563746228814125 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.948781490325928, "transform": { "location": { "x": 671.8974609375, "y": 4296.9931640625, "z": 369.8404846191406 }, "rotation": { "roll": 0.003784103086218238, "pitch": -0.261930912733078, "yaw": -0.2658385932445526 } }, "velocity": { "x": 7.948554992675781, "y": -0.039896849542856216, "z": -0.04484006389975548 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.878224849700928, "transform": { "location": { "x": 672.5267944335938, "y": 4293.74072265625, "z": 369.84033203125 }, "rotation": { "roll": -0.0029296877328306437, "pitch": -0.3337640166282654, "yaw": -0.066131591796875 } }, "velocity": { "x": 7.878034591674805, "y": -0.03120153211057186, "z": -0.044994596391916275 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.051541328430176, "transform": { "location": { "x": 714.1199340820312, "y": 4296.74853515625, "z": 369.5993957519531 }, "rotation": { "roll": -0.0008544922457076609, "pitch": -0.33411234617233276, "yaw": -0.345123291015625 } }, "velocity": { "x": 8.051251411437988, "y": -0.04850737005472183, "z": -0.04820122569799423 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.367997169494629, "transform": { "location": { "x": 713.5029296875, "y": 4293.5009765625, "z": 369.6120910644531 }, "rotation": { "roll": -0.0013427732046693563, "pitch": -0.3100290894508362, "yaw": -0.3251342475414276 } }, "velocity": { "x": 8.367713928222656, "y": -0.04886012524366379, "z": -0.04838055372238159 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 9.066478729248047, "transform": { "location": { "x": 739.8265991210938, "y": 4286.56591796875, "z": 369.4489440917969 }, "rotation": { "roll": -0.0008544920128770173, "pitch": 0.35451412200927734, "yaw": 178.78005981445312 } }, "velocity": { "x": -9.064449310302734, "y": 0.18443693220615387, "z": 0.052693501114845276 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 14.300154685974121, "transform": { "location": { "x": 707.3978271484375, "y": 4286.8388671875, "z": 369.6474914550781 }, "rotation": { "roll": -0.00048828122089616954, "pitch": 0.3224737048149109, "yaw": 179.67050170898438 } }, "velocity": { "x": -14.299670219421387, "y": 0.08255643397569656, "z": 0.08386531472206116 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.04671645537018776, "transform": { "location": { "x": 623.1333618164062, "y": 4287.43310546875, "z": 370.0958251953125 }, "rotation": { "roll": -6.103515625e-05, "pitch": 0.28786513209342957, "yaw": 179.66136169433594 } }, "velocity": { "x": -0.00018634441948961467, "y": 0.00011912249465240166, "z": -0.046715933829545975 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.079541206359863, "transform": { "location": { "x": 714.5768432617188, "y": 4290.04296875, "z": 369.6053771972656 }, "rotation": { "roll": 0.0014851255109533668, "pitch": 0.3300347328186035, "yaw": 179.63499450683594 } }, "velocity": { "x": -9.07922077178955, "y": 0.054956983774900436, "z": 0.05280906707048416 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.221599578857422, "transform": { "location": { "x": 695.6077270507812, "y": 4290.15625, "z": 369.7154541015625 }, "rotation": { "roll": -0.00036621096660383046, "pitch": 0.29066550731658936, "yaw": 179.67727661132812 } }, "velocity": { "x": -9.22128677368164, "y": 0.05466633662581444, "z": 0.05280104652047157 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.00587272644043, "transform": { "location": { "x": 675.977783203125, "y": 4290.27099609375, "z": 369.8563537597656 }, "rotation": { "roll": -0.0011596678523346782, "pitch": 0.3176994025707245, "yaw": 179.66146850585938 } }, "velocity": { "x": -8.005605697631836, "y": 0.04733628034591675, "z": 0.045135315507650375 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.667766571044922, "transform": { "location": { "x": 732.3836059570312, "y": 4289.9169921875, "z": 369.4988098144531 }, "rotation": { "roll": -0.02130126766860485, "pitch": 0.5255625247955322, "yaw": 179.41714477539062 } }, "velocity": { "x": -9.667190551757812, "y": 0.08948414772748947, "z": 0.055918529629707336 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.10706809163093567, "expert_target_speed": 10.0, "target_point": [ 56.09117676968024, 0.8318962895553887 ], "target_point_next": [ 107.08757719687132, 1.435654394405526 ] }, "160": { "acceleration": [ 2.6777076721191406, -0.21887749433517456, -0.03020167350769043 ], "angular_velocity": [ -0.1920740008354187, -0.37091273069381714, 0.42081165313720703 ], "forward_vector": [ -0.9998316168785095, 0.018237408250570297, 0.0020467026624828577 ], "right_vector": [ -0.018237700685858727, -0.9998337030410767, -0.00012502643221523613 ], "location": [ 683.1430053710938, 4287.2900390625, 369.7786560058594 ], "rotation": [ 0.007163502275943756, 0.11726751178503036, 178.95501708984375 ], "velocity": [ -13.655932426452637, 0.24042056500911713, 0.07734289020299911 ], "speed": 13.658048633824668, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 40.66495895385742, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 7.855430603027344, "transform": { "location": { "x": 633.771484375, "y": 4297.17724609375, "z": 370.04241943359375 }, "rotation": { "roll": -0.0011596678523346782, "pitch": -0.292967289686203, "yaw": 0.18281643092632294 } }, "velocity": { "x": 7.855320453643799, "y": 0.011809478513896465, "z": -0.03990190848708153 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 6.32315731048584, "transform": { "location": { "x": 633.6029052734375, "y": 4293.9296875, "z": 370.0382385253906 }, "rotation": { "roll": 0.0013676023809239268, "pitch": -0.38275012373924255, "yaw": 0.07932554930448532 } }, "velocity": { "x": 6.323071002960205, "y": 0.001222016871906817, "z": -0.03300424665212631 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.922130584716797, "transform": { "location": { "x": 673.8563842773438, "y": 4296.98291015625, "z": 369.8299865722656 }, "rotation": { "roll": 0.006050797179341316, "pitch": -0.3451840877532959, "yaw": -0.319854736328125 } }, "velocity": { "x": 7.921879291534424, "y": -0.04454619809985161, "z": -0.044729046523571014 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.181976318359375, "transform": { "location": { "x": 674.5416259765625, "y": 4293.73291015625, "z": 369.8292541503906 }, "rotation": { "roll": -0.0011291500413790345, "pitch": -0.29281702637672424, "yaw": -0.0905761644244194 } }, "velocity": { "x": 8.181777954101562, "y": -0.03375851362943649, "z": -0.045858390629291534 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084689140319824, "transform": { "location": { "x": 716.136962890625, "y": 4296.736328125, "z": 369.587646484375 }, "rotation": { "roll": -0.0002136229886673391, "pitch": -0.33493196964263916, "yaw": -0.3474730849266052 } }, "velocity": { "x": 8.084394454956055, "y": -0.049259405583143234, "z": -0.048354797065258026 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.978325843811035, "transform": { "location": { "x": 715.5374145507812, "y": 4293.4892578125, "z": 369.6017761230469 }, "rotation": { "roll": 0.0015600599581375718, "pitch": -0.49185556173324585, "yaw": -0.3371276259422302 } }, "velocity": { "x": 7.978043556213379, "y": -0.04712238162755966, "z": -0.047823332250118256 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 9.89194107055664, "transform": { "location": { "x": 737.4537963867188, "y": 4286.611328125, "z": 369.46295166015625 }, "rotation": { "roll": -0.005187986418604851, "pitch": 0.35566842555999756, "yaw": 179.02391052246094 } }, "velocity": { "x": -9.89067554473877, "y": 0.14758238196372986, "z": 0.05706536024808884 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 13.89932918548584, "transform": { "location": { "x": 703.8776245117188, "y": 4286.85791015625, "z": 369.6686706542969 }, "rotation": { "roll": -0.0017089842585846782, "pitch": 0.24025872349739075, "yaw": 179.67922973632812 } }, "velocity": { "x": -13.898871421813965, "y": 0.07802651822566986, "z": 0.08158693462610245 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0025049943942576647, "transform": { "location": { "x": 623.1333618164062, "y": 4287.43310546875, "z": 370.09393310546875 }, "rotation": { "roll": 8.376566256629303e-05, "pitch": 0.28854814171791077, "yaw": 179.66136169433594 } }, "velocity": { "x": 2.1620167899527587e-05, "y": -3.890054358635098e-05, "z": 0.0025045990478247404 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.684087753295898, "transform": { "location": { "x": 712.3627319335938, "y": 4290.056640625, "z": 369.6180114746094 }, "rotation": { "roll": 0.001086013624444604, "pitch": 0.35972556471824646, "yaw": 179.64654541015625 } }, "velocity": { "x": -8.683769226074219, "y": 0.053413908928632736, "z": 0.051739588379859924 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.612346649169922, "transform": { "location": { "x": 693.3677978515625, "y": 4290.1689453125, "z": 369.7276916503906 }, "rotation": { "roll": -0.0002746582613326609, "pitch": 0.3677305281162262, "yaw": 179.648193359375 } }, "velocity": { "x": -8.612058639526367, "y": 0.0500853955745697, "z": 0.04945174232125282 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.042060852050781, "transform": { "location": { "x": 673.97216796875, "y": 4290.28271484375, "z": 369.8674011230469 }, "rotation": { "roll": -0.0002136229886673391, "pitch": 0.3185122013092041, "yaw": 179.6584014892578 } }, "velocity": { "x": -8.041793823242188, "y": 0.047950830310583115, "z": 0.044681109488010406 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.576165199279785, "transform": { "location": { "x": 730.0916137695312, "y": 4289.93701171875, "z": 369.51214599609375 }, "rotation": { "roll": -0.011474608443677425, "pitch": 0.2211751788854599, "yaw": 179.5325927734375 } }, "velocity": { "x": -8.575737953186035, "y": 0.06906258314847946, "z": 0.050521593540906906 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.13327687978744507, "expert_target_speed": 10.0, "target_point": [ 52.59805728679122, 0.8592783680419798 ], "target_point_next": [ 103.59415443247399, 1.4881315207520869 ] }, "165": { "acceleration": [ 2.8137969970703125, -0.3420478105545044, -0.030006319284439087 ], "angular_velocity": [ -0.2245519608259201, -0.15062421560287476, 1.4570298194885254 ], "forward_vector": [ -0.9999142289161682, 0.01306296605616808, 0.0009212492150254548 ], "right_vector": [ -0.01306204404681921, -0.9999141693115234, 0.0010002822382375598 ], "location": [ 679.8203125, 4287.33984375, 369.7974853515625 ], "rotation": [ -0.05731198564171791, 0.052783697843551636, 179.25152587890625 ], "velocity": [ -12.955562591552734, 0.1598026007413864, 0.0726030170917511 ], "speed": 12.956548110312573, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 37.345069885253906, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 7.46396017074585, "transform": { "location": { "x": 635.642578125, "y": 4297.17919921875, "z": 370.0329895019531 }, "rotation": { "roll": -0.0018615720327943563, "pitch": -0.30028924345970154, "yaw": 0.04916277155280113 } }, "velocity": { "x": 7.463864803314209, "y": 0.001042229006998241, "z": -0.03777945414185524 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 5.561254024505615, "transform": { "location": { "x": 635.0452270507812, "y": 4293.93017578125, "z": 370.0306701660156 }, "rotation": { "roll": -0.0013427732046693563, "pitch": -0.35720521211624146, "yaw": 0.008702066726982594 } }, "velocity": { "x": 5.5611796379089355, "y": -0.0009947385406121612, "z": -0.028719209134578705 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.17380142211914, "transform": { "location": { "x": 675.8862915039062, "y": 4296.97119140625, "z": 369.818359375 }, "rotation": { "roll": 0.0018730646697804332, "pitch": -0.24695231020450592, "yaw": -0.3006591796875 } }, "velocity": { "x": 8.173555374145508, "y": -0.044841520488262177, "z": -0.04480409994721413 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.984095096588135, "transform": { "location": { "x": 676.5636596679688, "y": 4293.7236328125, "z": 369.8180236816406 }, "rotation": { "roll": 0.0017283266643062234, "pitch": -0.32907167077064514, "yaw": -0.100341796875 } }, "velocity": { "x": 7.983882904052734, "y": -0.03736661747097969, "z": -0.04467453062534332 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.052088737487793, "transform": { "location": { "x": 718.15380859375, "y": 4296.72509765625, "z": 369.575927734375 }, "rotation": { "roll": 0.0002780654758680612, "pitch": -0.3327326476573944, "yaw": -0.348846435546875 } }, "velocity": { "x": 8.051795959472656, "y": -0.04898645728826523, "z": -0.048079222440719604 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.97431755065918, "transform": { "location": { "x": 717.520751953125, "y": 4293.4775390625, "z": 369.58905029296875 }, "rotation": { "roll": -3.051760359085165e-05, "pitch": -0.3641378581523895, "yaw": -0.3400267958641052 } }, "velocity": { "x": 7.974040985107422, "y": -0.04725723713636398, "z": -0.046677812933921814 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 10.70964241027832, "transform": { "location": { "x": 734.8761596679688, "y": 4286.64697265625, "z": 369.47808837890625 }, "rotation": { "roll": -0.0038146967999637127, "pitch": 0.35745111107826233, "yaw": 179.3015594482422 } }, "velocity": { "x": -10.708710670471191, "y": 0.1264883428812027, "z": 0.06285201758146286 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 12.860488891601562, "transform": { "location": { "x": 700.53662109375, "y": 4286.876953125, "z": 369.6890563964844 }, "rotation": { "roll": 0.001096776220947504, "pitch": 0.11547116935253143, "yaw": 179.67674255371094 } }, "velocity": { "x": -12.860068321228027, "y": 0.07264259457588196, "z": 0.07431638240814209 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.2025437355041504, "transform": { "location": { "x": 622.972412109375, "y": 4287.4326171875, "z": 370.09490966796875 }, "rotation": { "roll": -0.01217651180922985, "pitch": 0.5990075469017029, "yaw": 179.71859741210938 } }, "velocity": { "x": -1.2024800777435303, "y": -0.007229755166918039, "z": 0.010035094805061817 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.027535438537598, "transform": { "location": { "x": 710.1470336914062, "y": 4290.0703125, "z": 369.63134765625 }, "rotation": { "roll": 0.0004274982202332467, "pitch": 0.31075310707092285, "yaw": 179.64935302734375 } }, "velocity": { "x": -9.027222633361816, "y": 0.05338346213102341, "z": 0.05293456092476845 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.89017105102539, "transform": { "location": { "x": 691.2018432617188, "y": 4290.18115234375, "z": 369.7405700683594 }, "rotation": { "roll": 0.0008965079323388636, "pitch": 0.3130890130996704, "yaw": 179.68450927734375 } }, "velocity": { "x": -8.889885902404785, "y": 0.05148550868034363, "z": 0.04906966909766197 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.009476661682129, "transform": { "location": { "x": 671.9656372070312, "y": 4290.29443359375, "z": 369.87841796875 }, "rotation": { "roll": -3.0517559935105965e-05, "pitch": 0.3172281086444855, "yaw": 179.65782165527344 } }, "velocity": { "x": -8.009211540222168, "y": 0.047832801938056946, "z": 0.04432127997279167 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.788197040557861, "transform": { "location": { "x": 728.0877685546875, "y": 4289.9521484375, "z": 369.5237731933594 }, "rotation": { "roll": -0.007293700240552425, "pitch": 0.17894411087036133, "yaw": 179.54432678222656 } }, "velocity": { "x": -7.787852764129639, "y": 0.05773868411779404, "z": 0.0450575053691864 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.13554774224758148, "expert_target_speed": 10.0, "target_point": [ 49.27873983692583, 0.5934646791407073 ], "target_point_next": [ 100.27740847248077, 0.9583999890959278 ] }, "170": { "acceleration": [ 3.0981063842773438, -0.5656396746635437, -0.022346824407577515 ], "angular_velocity": [ -0.20560568571090698, -0.14358536899089813, 2.360907793045044 ], "forward_vector": [ -0.9999933242797852, 0.003661536844447255, 0.00021862982248421758 ], "right_vector": [ -0.003661018330603838, -0.9999906420707703, 0.0023265350610017776 ], "location": [ 676.6795043945312, 4287.36376953125, 369.8150939941406 ], "rotation": [ -0.1333007663488388, 0.012526566162705421, 179.7902069091797 ], "velocity": [ -12.194390296936035, 0.024134110659360886, 0.06788931041955948 ], "speed": 12.19441417901266, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 34.20668029785156, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.341713905334473, "transform": { "location": { "x": 637.6177978515625, "y": 4297.1787109375, "z": 370.0226745605469 }, "rotation": { "roll": 0.0005539676640182734, "pitch": -0.2786853611469269, "yaw": -0.05734251067042351 } }, "velocity": { "x": 8.341584205627441, "y": -0.01841409131884575, "z": -0.042824581265449524 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 6.065387725830078, "transform": { "location": { "x": 636.505859375, "y": 4293.93017578125, "z": 370.02264404296875 }, "rotation": { "roll": -0.0011291502742096782, "pitch": -0.28704550862312317, "yaw": 0.019071131944656372 } }, "velocity": { "x": 6.065309524536133, "y": -0.003046447178348899, "z": -0.03072297014296055 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.9417924880981445, "transform": { "location": { "x": 677.8965454101562, "y": 4296.9599609375, "z": 369.8076477050781 }, "rotation": { "roll": 0.0029474070761352777, "pitch": -0.3565016984939575, "yaw": -0.3394164741039276 } }, "velocity": { "x": 7.941531658172607, "y": -0.0464274100959301, "z": -0.044639043509960175 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.082418441772461, "transform": { "location": { "x": 678.56787109375, "y": 4293.7138671875, "z": 369.80694580078125 }, "rotation": { "roll": -0.00015258784696925431, "pitch": -0.31951624155044556, "yaw": -0.1235961988568306 } }, "velocity": { "x": 8.082199096679688, "y": -0.039238035678863525, "z": -0.04479161649942398 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084585189819336, "transform": { "location": { "x": 720.1708374023438, "y": 4296.712890625, "z": 369.5641784667969 }, "rotation": { "roll": 0.00024169276002794504, "pitch": -0.33278727531433105, "yaw": -0.349151611328125 } }, "velocity": { "x": 8.084291458129883, "y": -0.049239907413721085, "z": -0.04820322245359421 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.183377265930176, "transform": { "location": { "x": 719.54833984375, "y": 4293.46630859375, "z": 369.5765686035156 }, "rotation": { "roll": -5.211078790701151e-11, "pitch": -0.2705984115600586, "yaw": -0.34429931640625 } }, "velocity": { "x": 8.183084487915039, "y": -0.050141699612140656, "z": -0.047656431794166565 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 11.619743347167969, "transform": { "location": { "x": 732.0810546875, "y": 4286.67724609375, "z": 369.49444580078125 }, "rotation": { "roll": -0.0028686518780887127, "pitch": 0.3553064167499542, "yaw": 179.4666748046875 } }, "velocity": { "x": -11.61910629272461, "y": 0.10195736587047577, "z": 0.06641006469726562 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 12.156856536865234, "transform": { "location": { "x": 697.417236328125, "y": 4286.89453125, "z": 369.7066345214844 }, "rotation": { "roll": 0.0010168463923037052, "pitch": 0.14885713160037994, "yaw": 179.67507934570312 } }, "velocity": { "x": -12.156447410583496, "y": 0.06987573951482773, "z": 0.07111404091119766 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.091360092163086, "transform": { "location": { "x": 622.5556030273438, "y": 4287.43017578125, "z": 370.097412109375 }, "rotation": { "roll": -0.01101684384047985, "pitch": 0.668286144733429, "yaw": 179.80416870117188 } }, "velocity": { "x": -2.091289520263672, "y": -0.01377264317125082, "z": 0.010298242792487144 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6224365234375, "y": 4287.53662109375, "z": 370.37054443359375 }, "rotation": { "roll": 0.0, "pitch": 0.26897966861724854, "yaw": 179.66136169433594 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.68329906463623, "transform": { "location": { "x": 707.9404296875, "y": 4290.08447265625, "z": 369.6437683105469 }, "rotation": { "roll": 0.0010210676118731499, "pitch": 0.3510512113571167, "yaw": 179.65499877929688 } }, "velocity": { "x": -8.682990074157715, "y": 0.052284400910139084, "z": 0.051321305334568024 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.84066390991211, "transform": { "location": { "x": 688.93896484375, "y": 4290.19482421875, "z": 369.7532043457031 }, "rotation": { "roll": 0.0007006655214354396, "pitch": 0.3209983706474304, "yaw": 179.64715576171875 } }, "velocity": { "x": -8.840351104736328, "y": 0.053952448070049286, "z": 0.05106791481375694 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.042391777038574, "transform": { "location": { "x": 669.9590454101562, "y": 4290.30615234375, "z": 369.8894348144531 }, "rotation": { "roll": 4.569258453557268e-05, "pitch": 0.31491950154304504, "yaw": 179.65419006347656 } }, "velocity": { "x": -8.042120933532715, "y": 0.04853426292538643, "z": 0.04468805342912674 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.493307113647461, "transform": { "location": { "x": 726.066650390625, "y": 4289.966796875, "z": 369.5355529785156 }, "rotation": { "roll": -0.0035400388296693563, "pitch": 0.4088619351387024, "yaw": 179.59817504882812 } }, "velocity": { "x": -8.49295711517334, "y": 0.05925646051764488, "z": 0.049424026161432266 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.12026208639144897, "expert_target_speed": 0, "target_point": [ 46.14126678679178, 0.14256320227156777 ], "target_point_next": [ 97.14111245324021, 0.028010253692306752 ] }, "175": { "acceleration": [ 3.053607940673828, -0.3850191831588745, -0.00658765435218811 ], "angular_velocity": [ 0.17117181420326233, -0.036627233028411865, 3.4798007011413574 ], "forward_vector": [ -0.9999770522117615, -0.006770709995180368, -0.0001523494574939832 ], "right_vector": [ 0.006770286709070206, -0.9999735951423645, 0.0026242758613079786 ], "location": [ 673.7314453125, 4287.35595703125, 369.8314514160156 ], "rotation": [ -0.150360107421875, -0.008728981018066406, -179.612060546875 ], "velocity": [ -11.424421310424805, -0.08919839560985565, 0.06370382010936737 ], "speed": 11.424769522045851, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 31.260208129882812, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 597.1216430664062, "y": 4294.087890625, "z": 370.2937316894531 }, "rotation": { "roll": -5.211078443756456e-11, "pitch": -0.26897966861724854, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 598.4408569335938, "y": 4297.330078125, "z": 370.4070129394531 }, "rotation": { "roll": -5.211078443756456e-11, "pitch": -0.26897966861724854, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.118578910827637, "transform": { "location": { "x": 639.6945190429688, "y": 4297.173828125, "z": 370.0121154785156 }, "rotation": { "roll": 0.0, "pitch": -0.30209243297576904, "yaw": -0.169952392578125 } }, "velocity": { "x": 8.118414878845215, "y": -0.027297023683786392, "z": -0.043778352439403534 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.255237579345703, "transform": { "location": { "x": 638.3338012695312, "y": 4293.92578125, "z": 370.0124206542969 }, "rotation": { "roll": 0.0006262730457819998, "pitch": -0.18481124937534332, "yaw": -0.12255857139825821 } }, "velocity": { "x": 8.255082130432129, "y": -0.02755952998995781, "z": -0.04250843822956085 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.04676342010498, "transform": { "location": { "x": 679.89013671875, "y": 4296.9482421875, "z": 369.79632568359375 }, "rotation": { "roll": 0.0005091539351269603, "pitch": -0.31982359290122986, "yaw": -0.31903076171875 } }, "velocity": { "x": 8.046502113342285, "y": -0.04650505259633064, "z": -0.04519728943705559 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.039979934692383, "transform": { "location": { "x": 680.5866088867188, "y": 4293.7041015625, "z": 369.795654296875 }, "rotation": { "roll": -0.0007934568566270173, "pitch": -0.3191200792789459, "yaw": -0.1326598972082138 } }, "velocity": { "x": 8.03974437713623, "y": -0.04214124754071236, "z": -0.04480171203613281 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.051846504211426, "transform": { "location": { "x": 722.1876220703125, "y": 4296.70166015625, "z": 369.5524597167969 }, "rotation": { "roll": -0.0001525878324173391, "pitch": -0.33291706442832947, "yaw": -0.34912109375 } }, "velocity": { "x": 8.051559448242188, "y": -0.04907727614045143, "z": -0.04711717367172241 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.065855026245117, "transform": { "location": { "x": 721.5807495117188, "y": 4293.4541015625, "z": 369.5654296875 }, "rotation": { "roll": 0.00010366862261435017, "pitch": -0.3401775658130646, "yaw": -0.3472900390625 } }, "velocity": { "x": 8.065561294555664, "y": -0.04881010949611664, "z": -0.048534002155065536 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 12.192769050598145, "transform": { "location": { "x": 729.0715942382812, "y": 4286.7021484375, "z": 369.51190185546875 }, "rotation": { "roll": -0.0024719235952943563, "pitch": 0.34946662187576294, "yaw": 179.5899200439453 } }, "velocity": { "x": -12.192235946655273, "y": 0.0891905203461647, "z": 0.07111423462629318 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 11.50648021697998, "transform": { "location": { "x": 694.4597778320312, "y": 4286.91162109375, "z": 369.7232971191406 }, "rotation": { "roll": -0.0010070799617096782, "pitch": 0.19541169703006744, "yaw": 179.6722412109375 } }, "velocity": { "x": -11.506099700927734, "y": 0.06571347266435623, "z": 0.0664818212389946 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.230827569961548, "transform": { "location": { "x": 621.8975219726562, "y": 4287.42626953125, "z": 370.10052490234375 }, "rotation": { "roll": -0.013122554868459702, "pitch": 0.7451462745666504, "yaw": -179.99037170410156 } }, "velocity": { "x": -3.230705499649048, "y": -0.023381296545267105, "z": 0.01555598247796297 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.850542426109314, "transform": { "location": { "x": 605.622314453125, "y": 4287.53662109375, "z": 370.2647705078125 }, "rotation": { "roll": -0.0003356932138558477, "pitch": 0.270311564207077, "yaw": 179.66136169433594 } }, "velocity": { "x": -0.003952459432184696, "y": 9.334088099421933e-05, "z": -0.8505332469940186 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.234246253967285, "transform": { "location": { "x": 705.7076416015625, "y": 4290.09765625, "z": 369.65728759765625 }, "rotation": { "roll": 0.0005676592118106782, "pitch": 0.29175835847854614, "yaw": 179.66407775878906 } }, "velocity": { "x": -9.23393440246582, "y": 0.05403386056423187, "z": 0.05324162542819977 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.433098316192627, "transform": { "location": { "x": 686.8712158203125, "y": 4290.20654296875, "z": 369.76409912109375 }, "rotation": { "roll": 0.002091683680191636, "pitch": 0.4295983910560608, "yaw": 179.6475372314453 } }, "velocity": { "x": -7.432851314544678, "y": 0.0431232787668705, "z": 0.04257844015955925 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007298469543457, "transform": { "location": { "x": 667.953125, "y": 4290.31787109375, "z": 369.9004211425781 }, "rotation": { "roll": -0.00048828116268850863, "pitch": 0.31460532546043396, "yaw": 179.65383911132812 } }, "velocity": { "x": -8.00702953338623, "y": 0.04831739142537117, "z": 0.044345490634441376 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.645811080932617, "transform": { "location": { "x": 723.9029541015625, "y": 4289.982421875, "z": 369.54815673828125 }, "rotation": { "roll": -0.0024108882062137127, "pitch": 0.3811928331851959, "yaw": 179.59164428710938 } }, "velocity": { "x": -8.645466804504395, "y": 0.05971750617027283, "z": 0.04885335639119148 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.08906024694442749, "expert_target_speed": 0, "target_point": [ 43.19219897596995, -0.3266230239289916 ], "target_point_next": [ 94.18807475335176, -0.9731785725326385 ] }, "180": { "acceleration": [ 12.133445739746094, -0.18228262662887573, -0.05419045686721802 ], "angular_velocity": [ 0.021022574976086617, -1.9716261625289917, 1.5072296857833862 ], "forward_vector": [ -0.9998833537101746, -0.01526859775185585, -0.00034403798053972423 ], "right_vector": [ 0.015267687849700451, -0.9998802542686462, 0.0025070970878005028 ], "location": [ 670.9609985351562, 4287.3232421875, 369.84674072265625 ], "rotation": [ -0.143646240234375, -0.019711924716830254, -179.12513732910156 ], "velocity": [ -10.451943397521973, -0.1768818497657776, 0.05727898329496384 ], "speed": 10.453440006704957, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 28.490535736083984, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 599.2044677734375, "y": 4294.07568359375, "z": 370.2490234375 }, "rotation": { "roll": -5.211078443756456e-11, "pitch": -0.26897966861724854, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 600.518798828125, "y": 4297.31787109375, "z": 370.2572326660156 }, "rotation": { "roll": -5.211078443756456e-11, "pitch": -0.26897966861724854, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 7.909713268280029, "transform": { "location": { "x": 641.6790161132812, "y": 4297.16650390625, "z": 370.0016784667969 }, "rotation": { "roll": 0.0013689253246411681, "pitch": -0.3044693171977997, "yaw": -0.2210693508386612 } }, "velocity": { "x": 7.9095354080200195, "y": -0.03337384760379791, "z": -0.04124561324715614 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.207427024841309, "transform": { "location": { "x": 640.4262084960938, "y": 4293.91845703125, "z": 370.00225830078125 }, "rotation": { "roll": -0.0016479489859193563, "pitch": -0.27633577585220337, "yaw": -0.1894225925207138 } }, "velocity": { "x": 8.207252502441406, "y": -0.029760343953967094, "z": -0.044546060264110565 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.058868408203125, "transform": { "location": { "x": 681.9096069335938, "y": 4296.9365234375, "z": 369.7850341796875 }, "rotation": { "roll": -0.0004272459482308477, "pitch": -0.31033647060394287, "yaw": -0.3463134169578552 } }, "velocity": { "x": 8.05860710144043, "y": -0.046810802072286606, "z": -0.045013703405857086 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.069212913513184, "transform": { "location": { "x": 682.5985717773438, "y": 4293.693359375, "z": 369.7844543457031 }, "rotation": { "roll": -0.0016479493351653218, "pitch": -0.32442712783813477, "yaw": -0.160125732421875 } }, "velocity": { "x": 8.068974494934082, "y": -0.042883485555648804, "z": -0.04478120803833008 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.085099220275879, "transform": { "location": { "x": 724.204833984375, "y": 4296.68994140625, "z": 369.5407409667969 }, "rotation": { "roll": 0.000459342758404091, "pitch": -0.33257555961608887, "yaw": -0.3510741591453552 } }, "velocity": { "x": 8.08481216430664, "y": -0.049659814685583115, "z": -0.04672824218869209 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.054001808166504, "transform": { "location": { "x": 723.5921630859375, "y": 4293.4423828125, "z": 369.55377197265625 }, "rotation": { "roll": -0.00030517569393850863, "pitch": -0.36038124561309814, "yaw": -0.3509826362133026 } }, "velocity": { "x": 8.053703308105469, "y": -0.049321454018354416, "z": -0.04872497543692589 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 12.96262264251709, "transform": { "location": { "x": 725.924072265625, "y": 4286.72412109375, "z": 369.5302734375 }, "rotation": { "roll": -0.002166748046875, "pitch": 0.3500608503818512, "yaw": 179.6351318359375 } }, "velocity": { "x": -12.962129592895508, "y": 0.08479537069797516, "z": 0.07481937110424042 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 10.78603744506836, "transform": { "location": { "x": 691.6806640625, "y": 4286.92724609375, "z": 369.7393798828125 }, "rotation": { "roll": 0.0007382140029221773, "pitch": 0.17651256918907166, "yaw": 179.66709899902344 } }, "velocity": { "x": -10.785679817199707, "y": 0.0625372976064682, "z": 0.06171664968132973 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.194070816040039, "transform": { "location": { "x": 621.0399169921875, "y": 4287.4208984375, "z": 370.1055908203125 }, "rotation": { "roll": -0.007934569381177425, "pitch": 0.513917088508606, "yaw": -179.80108642578125 } }, "velocity": { "x": -3.1939194202423096, "y": -0.02670525200664997, "z": 0.015919504687190056 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.004576388280838728, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.2142639160156 }, "rotation": { "roll": 0.0008354440215043724, "pitch": 0.27277040481567383, "yaw": 179.66136169433594 } }, "velocity": { "x": 2.927206332969945e-05, "y": -2.3613160010427237e-05, "z": 0.004576233681291342 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.42762565612793, "transform": { "location": { "x": 703.4766235351562, "y": 4290.1103515625, "z": 369.66943359375 }, "rotation": { "roll": 0.00043479629675857723, "pitch": 0.38244959712028503, "yaw": 179.6699676513672 } }, "velocity": { "x": -8.427352905273438, "y": 0.04699430987238884, "z": 0.04897679388523102 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.2897114753723145, "transform": { "location": { "x": 685.2174072265625, "y": 4290.2138671875, "z": 369.7733154296875 }, "rotation": { "roll": -0.0027770998422056437, "pitch": 0.43779462575912476, "yaw": 179.2709197998047 } }, "velocity": { "x": -6.289473533630371, "y": 0.04084903001785278, "z": 0.03644168749451637 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.044336318969727, "transform": { "location": { "x": 665.946533203125, "y": 4290.32958984375, "z": 369.9114074707031 }, "rotation": { "roll": 0.00016611577302683145, "pitch": 0.3152405321598053, "yaw": 179.65396118164062 } }, "velocity": { "x": -8.04406452178955, "y": 0.048596758395433426, "z": 0.044791944324970245 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.781972885131836, "transform": { "location": { "x": 721.7205200195312, "y": 4289.998046875, "z": 369.5607604980469 }, "rotation": { "roll": 0.0001668262848397717, "pitch": 0.37051042914390564, "yaw": 179.61888122558594 } }, "velocity": { "x": -8.781620025634766, "y": 0.06015349179506302, "z": 0.05076956748962402 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.05340240150690079, "expert_target_speed": 10.0, "target_point": [ 40.417239998351, -0.6840929125943572 ], "target_point_next": [ 91.40577934260608, -1.764016946467904 ] }, "185": { "acceleration": [ 5.671138763427734, -0.0030741095542907715, -0.013370513916015625 ], "angular_velocity": [ 0.39457765221595764, -0.10849779844284058, 3.2969303131103516 ], "forward_vector": [ -0.9997409582138062, -0.022001175209879875, -0.005824770778417587 ], "right_vector": [ 0.021991102024912834, -0.9997565746307373, 0.001788014662452042 ], "location": [ 668.6135864257812, 4287.2763671875, 369.86065673828125 ], "rotation": [ -0.10244748741388321, -0.33373668789863586, -178.7393035888672 ], "velocity": [ -8.625683784484863, -0.20118258893489838, 0.047988470643758774 ], "speed": 8.628029623501282, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 26.143131256103516, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.642577648162842, "transform": { "location": { "x": 601.1640014648438, "y": 4294.06591796875, "z": 370.20989990234375 }, "rotation": { "roll": -0.02175903506577015, "pitch": -0.5459916591644287, "yaw": -0.27191162109375 } }, "velocity": { "x": 6.641619682312012, "y": 0.006059193052351475, "z": -0.11265997588634491 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.001641273498535, "transform": { "location": { "x": 602.5686645507812, "y": 4297.310546875, "z": 370.1699523925781 }, "rotation": { "roll": -0.039093017578125, "pitch": -0.314789742231369, "yaw": -0.1688537448644638 } }, "velocity": { "x": 8.000088691711426, "y": 0.009062398225069046, "z": -0.15737015008926392 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.201820373535156, "transform": { "location": { "x": 643.7019653320312, "y": 4297.1572265625, "z": 369.990966796875 }, "rotation": { "roll": 0.0002791410661302507, "pitch": -0.29452458024024963, "yaw": -0.2672119140625 } }, "velocity": { "x": 8.201618194580078, "y": -0.039583273231983185, "z": -0.04184762388467789 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 7.833984851837158, "transform": { "location": { "x": 642.4122314453125, "y": 4293.9111328125, "z": 369.9920654296875 }, "rotation": { "roll": -0.0014038087101653218, "pitch": -0.3123445212841034, "yaw": -0.2274169772863388 } }, "velocity": { "x": 7.833795070648193, "y": -0.03595839813351631, "z": -0.04097989946603775 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.995532512664795, "transform": { "location": { "x": 683.9125366210938, "y": 4296.9248046875, "z": 369.7738952636719 }, "rotation": { "roll": 0.0004250862111803144, "pitch": -0.3411542773246765, "yaw": -0.3229065239429474 } }, "velocity": { "x": 7.995267868041992, "y": -0.04716698080301285, "z": -0.04480929300189018 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.02987289428711, "transform": { "location": { "x": 684.61083984375, "y": 4293.6826171875, "z": 369.7731018066406 }, "rotation": { "roll": 0.00016592885367572308, "pitch": -0.32364165782928467, "yaw": -0.148529052734375 } }, "velocity": { "x": 8.029629707336426, "y": -0.04392537474632263, "z": -0.04435313493013382 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.051162719726562, "transform": { "location": { "x": 726.2216796875, "y": 4296.67822265625, "z": 369.5289611816406 }, "rotation": { "roll": 0.00123797042760998, "pitch": -0.3321520686149597, "yaw": -0.352783203125 } }, "velocity": { "x": 8.050872802734375, "y": -0.05031708627939224, "z": -0.04624859243631363 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.076982498168945, "transform": { "location": { "x": 725.6089477539062, "y": 4293.4306640625, "z": 369.5417175292969 }, "rotation": { "roll": -0.00012207032705191523, "pitch": -0.3253765404224396, "yaw": -0.354095458984375 } }, "velocity": { "x": 8.07668399810791, "y": -0.0498867891728878, "z": -0.04835192486643791 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 13.503705024719238, "transform": { "location": { "x": 722.611083984375, "y": 4286.74560546875, "z": 369.5495910644531 }, "rotation": { "roll": -9.155285079032183e-05, "pitch": 0.34708288311958313, "yaw": 179.6404266357422 } }, "velocity": { "x": -13.503214836120605, "y": 0.08547613024711609, "z": 0.07708637416362762 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 9.733502388000488, "transform": { "location": { "x": 689.10693359375, "y": 4286.9423828125, "z": 369.7544860839844 }, "rotation": { "roll": 0.0012339205713942647, "pitch": 0.10864781588315964, "yaw": 179.6608428955078 } }, "velocity": { "x": -9.733169555664062, "y": 0.05841277167201042, "z": 0.055351246148347855 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.936488389968872, "transform": { "location": { "x": 620.2890014648438, "y": 4287.41845703125, "z": 370.1102600097656 }, "rotation": { "roll": 0.01209808886051178, "pitch": 0.2669510841369629, "yaw": -179.83375549316406 } }, "velocity": { "x": -2.936452865600586, "y": -0.005353504791855812, "z": 0.013420638628304005 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.009305802173912525, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21685791015625 }, "rotation": { "roll": 0.00046095045399852097, "pitch": 0.27244940400123596, "yaw": 179.66136169433594 } }, "velocity": { "x": 4.906680260319263e-05, "y": 3.21166189678479e-05, "z": 0.009305616840720177 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.829122543334961, "transform": { "location": { "x": 701.5584106445312, "y": 4290.12158203125, "z": 369.67962646484375 }, "rotation": { "roll": -0.001373291015625, "pitch": 0.48785990476608276, "yaw": 179.69725036621094 } }, "velocity": { "x": -6.828892230987549, "y": 0.03899287432432175, "z": 0.04029597342014313 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.634555339813232, "transform": { "location": { "x": 683.6196899414062, "y": 4290.2255859375, "z": 369.78338623046875 }, "rotation": { "roll": -0.00018310542509425431, "pitch": 0.3093802332878113, "yaw": 179.51316833496094 } }, "velocity": { "x": -6.634332180023193, "y": 0.04018394276499748, "z": 0.036768436431884766 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007519721984863, "transform": { "location": { "x": 663.9404296875, "y": 4290.34130859375, "z": 369.9222717285156 }, "rotation": { "roll": 0.0004136722127441317, "pitch": 0.31248795986175537, "yaw": 179.65408325195312 } }, "velocity": { "x": -8.007251739501953, "y": 0.04826543852686882, "z": 0.04435606673359871 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.232189178466797, "transform": { "location": { "x": 719.5796508789062, "y": 4290.01220703125, "z": 369.5731506347656 }, "rotation": { "roll": -0.002288817660883069, "pitch": 0.2631945013999939, "yaw": 179.6112060546875 } }, "velocity": { "x": -8.231865882873535, "y": 0.05419488623738289, "z": 0.048765476793050766 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.01193678192794323, "expert_target_speed": 10.0, "target_point": [ 38.06384185047913, -0.9514580458582844 ], "target_point_next": [ 89.04395311356345, -2.374706437085601 ] }, "190": { "acceleration": [ 3.3183765411376953, 0.1289600133895874, -0.015472769737243652 ], "angular_velocity": [ 0.06476086378097534, 0.7160984873771667, -2.3870511054992676 ], "forward_vector": [ -0.9996792674064636, -0.024854104965925217, -0.004854301922023296 ], "right_vector": [ 0.024849938228726387, -0.9996907711029053, 0.0009166490053758025 ], "location": [ 666.6240234375, 4287.2265625, 369.8713073730469 ], "rotation": [ -0.0525207482278347, -0.2781321108341217, -178.5758056640625 ], "velocity": [ -7.433932304382324, -0.19156885147094727, 0.040527649223804474 ], "speed": 7.43640021320753, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 24.153223037719727, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.894698619842529, "transform": { "location": { "x": 602.859375, "y": 4294.06884765625, "z": 370.1977233886719 }, "rotation": { "roll": -0.0224304161965847, "pitch": -0.44018518924713135, "yaw": 0.07743619382381439 } }, "velocity": { "x": 6.894656658172607, "y": 0.023107632994651794, "z": -0.006866102106869221 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.252184867858887, "transform": { "location": { "x": 604.6039428710938, "y": 4297.31396484375, "z": 370.178466796875 }, "rotation": { "roll": -0.02871703915297985, "pitch": -0.2779272198677063, "yaw": 0.1633649319410324 } }, "velocity": { "x": 8.251494407653809, "y": 0.03641011193394661, "z": 0.10032420605421066 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.005203247070312, "transform": { "location": { "x": 645.7290649414062, "y": 4297.14794921875, "z": 369.98046875 }, "rotation": { "roll": 0.0009337316150777042, "pitch": -0.30263882875442505, "yaw": -0.2881774604320526 } }, "velocity": { "x": 8.004996299743652, "y": -0.04014313593506813, "z": -0.04133152216672897 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.184782981872559, "transform": { "location": { "x": 644.4194946289062, "y": 4293.90185546875, "z": 369.9813537597656 }, "rotation": { "roll": 0.0001221427519340068, "pitch": -0.28813832998275757, "yaw": -0.264190673828125 } }, "velocity": { "x": 8.184587478637695, "y": -0.03769449517130852, "z": -0.042149510234594345 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.049909591674805, "transform": { "location": { "x": 685.9185791015625, "y": 4296.9130859375, "z": 369.7624816894531 }, "rotation": { "roll": 0.001565957092680037, "pitch": -0.3196391761302948, "yaw": -0.3489990234375 } }, "velocity": { "x": 8.049643516540527, "y": -0.04718610271811485, "z": -0.04529575631022453 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.084023475646973, "transform": { "location": { "x": 686.6256713867188, "y": 4293.67041015625, "z": 369.7617492675781 }, "rotation": { "roll": -0.0013427735539153218, "pitch": -0.324891597032547, "yaw": -0.1835632175207138 } }, "velocity": { "x": 8.083765029907227, "y": -0.045432496815919876, "z": -0.04585367068648338 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084342956542969, "transform": { "location": { "x": 728.2387084960938, "y": 4296.6650390625, "z": 369.5173034667969 }, "rotation": { "roll": 0.0016957116313278675, "pitch": -0.3335864245891571, "yaw": -0.3609313666820526 } }, "velocity": { "x": 8.084044456481934, "y": -0.051752932369709015, "z": -0.04627104103565216 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.105016708374023, "transform": { "location": { "x": 727.6331176757812, "y": 4293.4189453125, "z": 369.5299987792969 }, "rotation": { "roll": 0.0002688794338610023, "pitch": -0.32879847288131714, "yaw": -0.3569640815258026 } }, "velocity": { "x": 8.10471248626709, "y": -0.05046194791793823, "z": -0.04889141395688057 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 14.006227493286133, "transform": { "location": { "x": 719.1694946289062, "y": 4286.76708984375, "z": 369.5696105957031 }, "rotation": { "roll": 0.00015669407730456442, "pitch": 0.34629055857658386, "yaw": 179.65284729003906 } }, "velocity": { "x": -14.005745887756348, "y": 0.08414450287818909, "z": 0.08008112013339996 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.417397499084473, "transform": { "location": { "x": 686.8491821289062, "y": 4286.9560546875, "z": 369.76788330078125 }, "rotation": { "roll": 0.0011952760396525264, "pitch": 0.024670641869306564, "yaw": 179.6509246826172 } }, "velocity": { "x": -8.417102813720703, "y": 0.05178894102573395, "z": 0.04767557978630066 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.1269277334213257, "transform": { "location": { "x": 619.7012329101562, "y": 4287.41748046875, "z": 370.1143798828125 }, "rotation": { "roll": 0.004977550357580185, "pitch": -0.09036339819431305, "yaw": -179.85891723632812 } }, "velocity": { "x": -1.1269116401672363, "y": -0.0021061920560896397, "z": 0.005628633312880993 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.002930035348981619, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.2183837890625 }, "rotation": { "roll": 0.0004198704264126718, "pitch": 0.2724425792694092, "yaw": 179.66136169433594 } }, "velocity": { "x": 2.7421638151281513e-05, "y": -0.00010357704013586044, "z": 0.0029280756134539843 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.853003978729248, "transform": { "location": { "x": 699.8703002929688, "y": 4290.130859375, "z": 369.6904602050781 }, "rotation": { "roll": -0.0010986325796693563, "pitch": 0.35842782258987427, "yaw": 179.65234375 } }, "velocity": { "x": -6.852762699127197, "y": 0.040586184710264206, "z": 0.040671806782484055 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.900300025939941, "transform": { "location": { "x": 681.8687133789062, "y": 4290.236328125, "z": 369.7939453125 }, "rotation": { "roll": -3.0517559935105965e-05, "pitch": 0.21153095364570618, "yaw": 179.55511474609375 } }, "velocity": { "x": -7.900035858154297, "y": 0.04721565917134285, "z": 0.04406207799911499 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043606758117676, "transform": { "location": { "x": 661.9338989257812, "y": 4290.35302734375, "z": 369.93316650390625 }, "rotation": { "roll": -0.0006408691988326609, "pitch": 0.31129950284957886, "yaw": 179.6510467529297 } }, "velocity": { "x": -8.0433349609375, "y": 0.049098119139671326, "z": 0.044373396784067154 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.0198845863342285, "transform": { "location": { "x": 717.685791015625, "y": 4290.0244140625, "z": 369.5842590332031 }, "rotation": { "roll": -0.00054931640625, "pitch": 0.127355694770813, "yaw": 179.66213989257812 } }, "velocity": { "x": -7.019632339477539, "y": 0.04311716929078102, "z": 0.04104845970869064 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.030092105269432068, "expert_target_speed": 10.0, "target_point": [ 36.07078526790036, -1.060423010576869 ], "target_point_next": [ 87.0466271644944, -2.629156038544165 ] }, "195": { "acceleration": [ 6.704492568969727, 0.26781901717185974, -0.022952109575271606 ], "angular_velocity": [ 0.0064587704837322235, -0.7702963948249817, -3.7751572132110596 ], "forward_vector": [ -0.999741792678833, -0.02184237167239189, -0.006259400397539139 ], "right_vector": [ 0.021845845505595207, -0.9997612237930298, -0.00048682792112231255 ], "location": [ 664.939697265625, 4287.18994140625, 369.88079833984375 ], "rotation": [ 0.027893733233213425, -0.35863956809043884, -178.74839782714844 ], "velocity": [ -5.769562721252441, -0.10203208029270172, 0.03148406744003296 ], "speed": 5.77046484608257, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 22.468891143798828, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.6634087562561035, "transform": { "location": { "x": 604.5547485351562, "y": 4294.07373046875, "z": 370.1941833496094 }, "rotation": { "roll": -0.0045166015625, "pitch": -0.238803893327713, "yaw": 0.20926283299922943 } }, "velocity": { "x": 6.663330078125, "y": 0.02760760486125946, "z": -0.01692349463701248 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.035642623901367, "transform": { "location": { "x": 606.638671875, "y": 4297.3232421875, "z": 370.1895751953125 }, "rotation": { "roll": -0.005157471168786287, "pitch": -0.2683103084564209, "yaw": 0.315218985080719 } }, "velocity": { "x": 8.03557014465332, "y": 0.03092178702354431, "z": -0.014465408399701118 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.073970794677734, "transform": { "location": { "x": 647.7330932617188, "y": 4297.13818359375, "z": 369.9698791503906 }, "rotation": { "roll": 0.0001741953456075862, "pitch": -0.30410733819007874, "yaw": -0.29864501953125 } }, "velocity": { "x": 8.073746681213379, "y": -0.04370572790503502, "z": -0.041412703692913055 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 7.998773574829102, "transform": { "location": { "x": 646.4467163085938, "y": 4293.89208984375, "z": 369.9708557128906 }, "rotation": { "roll": -0.0012207030085846782, "pitch": -0.3053230941295624, "yaw": -0.2740477919578552 } }, "velocity": { "x": 7.998573303222656, "y": -0.03819012641906738, "z": -0.04175744578242302 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029059410095215, "transform": { "location": { "x": 687.9296875, "y": 4296.9013671875, "z": 369.7511901855469 }, "rotation": { "roll": 0.0010097721824422479, "pitch": -0.3280266523361206, "yaw": -0.32562246918678284 } }, "velocity": { "x": 8.028794288635254, "y": -0.04756412282586098, "z": -0.044595710933208466 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.01878833770752, "transform": { "location": { "x": 688.6376342773438, "y": 4293.6591796875, "z": 369.7503967285156 }, "rotation": { "roll": -0.001983642578125, "pitch": -0.3265035152435303, "yaw": -0.152862548828125 } }, "velocity": { "x": 8.018538475036621, "y": -0.04398141801357269, "z": -0.04553968831896782 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.052425384521484, "transform": { "location": { "x": 730.255615234375, "y": 4296.6513671875, "z": 369.5055847167969 }, "rotation": { "roll": 0.0012213432928547263, "pitch": -0.3326984941959381, "yaw": -0.402801513671875 } }, "velocity": { "x": 8.052010536193848, "y": -0.06735925376415253, "z": -0.0462462492287159 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.053427696228027, "transform": { "location": { "x": 729.6519165039062, "y": 4293.40576171875, "z": 369.5184020996094 }, "rotation": { "roll": 0.005463930778205395, "pitch": -0.3422265946865082, "yaw": -0.3761596381664276 } }, "velocity": { "x": 8.05303955078125, "y": -0.062411293387413025, "z": -0.04856563359498978 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 14.509819030761719, "transform": { "location": { "x": 715.6029663085938, "y": 4286.78857421875, "z": 369.5903015136719 }, "rotation": { "roll": -0.00015258777420967817, "pitch": 0.3463178873062134, "yaw": 179.6641082763672 } }, "velocity": { "x": -14.509321212768555, "y": 0.08576954901218414, "z": 0.08419952541589737 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.236970901489258, "transform": { "location": { "x": 684.7921752929688, "y": 4286.96826171875, "z": 369.778076171875 }, "rotation": { "roll": 0.00021224816737230867, "pitch": 0.21399664878845215, "yaw": 179.64773559570312 } }, "velocity": { "x": -8.23669147491455, "y": 0.05051114782691002, "z": 0.04533908888697624 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.6439440250396729, "transform": { "location": { "x": 619.6241455078125, "y": 4287.41748046875, "z": 370.1150817871094 }, "rotation": { "roll": 0.002746330574154854, "pitch": -0.14516882598400116, "yaw": -179.8423614501953 } }, "velocity": { "x": -0.6439375281333923, "y": -0.0014863671967759728, "z": 0.002485246630385518 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0016360930167138577, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.2185974121094 }, "rotation": { "roll": 0.00011660686141112819, "pitch": 0.27217620611190796, "yaw": 179.6614227294922 } }, "velocity": { "x": 1.7095058865379542e-05, "y": -2.0899180526612327e-05, "z": 0.001635870197787881 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.435755729675293, "transform": { "location": { "x": 698.0706176757812, "y": 4290.1416015625, "z": 369.7015686035156 }, "rotation": { "roll": -0.0008850097074173391, "pitch": 0.2789858877658844, "yaw": 179.6836700439453 } }, "velocity": { "x": -7.435511112213135, "y": 0.043351102620363235, "z": 0.04186781868338585 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.184231758117676, "transform": { "location": { "x": 679.70703125, "y": 4290.25048828125, "z": 369.8063049316406 }, "rotation": { "roll": 0.0008918818202801049, "pitch": 0.17940174043178558, "yaw": 179.63710021972656 } }, "velocity": { "x": -9.183935165405273, "y": 0.05383335053920746, "z": 0.05040810629725456 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007944107055664, "transform": { "location": { "x": 659.9277954101562, "y": 4290.36474609375, "z": 369.9439697265625 }, "rotation": { "roll": -0.0009155272273346782, "pitch": 0.3106642961502075, "yaw": 179.64862060546875 } }, "velocity": { "x": -8.007680892944336, "y": 0.047669027000665665, "z": 0.0440542958676815 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.485653877258301, "transform": { "location": { "x": 716.1729736328125, "y": 4290.033203125, "z": 369.59295654296875 }, "rotation": { "roll": -0.0014953612117096782, "pitch": 0.055679697543382645, "yaw": 179.6492156982422 } }, "velocity": { "x": -5.485456466674805, "y": 0.03322300314903259, "z": 0.03257554769515991 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.05693478509783745, "expert_target_speed": 10.0, "target_point": [ 34.38909158082198, -0.9515880408740596 ], "target_point_next": [ 85.36942751943513, -2.3667657561223194 ] }, "200": { "acceleration": [ 3.2976341247558594, 0.3895585238933563, 0.023115165531635284 ], "angular_velocity": [ 0.17338138818740845, 0.7357325553894043, -2.1531665325164795 ], "forward_vector": [ -0.9998769760131836, -0.015010027214884758, -0.0045529440976679325 ], "right_vector": [ 0.01501557044684887, -0.9998865723609924, -0.001185945700854063 ], "location": [ 663.6414794921875, 4287.1728515625, 369.88726806640625 ], "rotation": [ 0.06795040518045425, -0.26086539030075073, -179.13995361328125 ], "velocity": [ -4.742334365844727, -0.021503135561943054, 0.02443268708884716 ], "speed": 4.742383116357313, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 21.171239852905273, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.605155944824219, "transform": { "location": { "x": 606.094970703125, "y": 4294.080078125, "z": 370.1896057128906 }, "rotation": { "roll": -0.003967284690588713, "pitch": -0.48550349473953247, "yaw": 0.25534504652023315 } }, "velocity": { "x": 5.60501766204834, "y": 0.025177165865898132, "z": -0.030244044959545135 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.256834030151367, "transform": { "location": { "x": 608.676025390625, "y": 4297.328125, "z": 370.177490234375 }, "rotation": { "roll": 0.01609012298285961, "pitch": -0.2700178623199463, "yaw": 0.16099561750888824 } }, "velocity": { "x": 8.256604194641113, "y": 0.008739059790968895, "z": -0.060915060341358185 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.082388877868652, "transform": { "location": { "x": 649.75732421875, "y": 4297.1259765625, "z": 369.95916748046875 }, "rotation": { "roll": -0.0013732911320403218, "pitch": -0.30297350883483887, "yaw": -0.3152160048484802 } }, "velocity": { "x": 8.082152366638184, "y": -0.044714026153087616, "z": -0.04257962107658386 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.054408073425293, "transform": { "location": { "x": 648.4465942382812, "y": 4293.88232421875, "z": 369.96026611328125 }, "rotation": { "roll": -6.103515625e-05, "pitch": -0.30621102452278137, "yaw": -0.29150390625 } }, "velocity": { "x": 8.054183006286621, "y": -0.04248329997062683, "z": -0.04256316274404526 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.022208213806152, "transform": { "location": { "x": 689.9345092773438, "y": 4296.8896484375, "z": 369.7398376464844 }, "rotation": { "roll": -0.00054931640625, "pitch": -0.33254823088645935, "yaw": -0.3520812690258026 } }, "velocity": { "x": 8.021940231323242, "y": -0.04745318368077278, "z": -0.045178864151239395 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.0889253616333, "transform": { "location": { "x": 690.651611328125, "y": 4293.6474609375, "z": 369.7389221191406 }, "rotation": { "roll": 0.000873086741194129, "pitch": -0.32616883516311646, "yaw": -0.1843566745519638 } }, "velocity": { "x": 8.088655471801758, "y": -0.04784843325614929, "z": -0.04562782123684883 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 8.084673881530762, "transform": { "location": { "x": 732.2727661132812, "y": 4296.63330078125, "z": 369.4938659667969 }, "rotation": { "roll": 0.000392572779674083, "pitch": -0.33245259523391724, "yaw": -0.53717041015625 } }, "velocity": { "x": 8.084129333496094, "y": -0.08212394267320633, "z": -0.04535003378987312 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.0919771194458, "transform": { "location": { "x": 731.669921875, "y": 4293.388671875, "z": 369.506591796875 }, "rotation": { "roll": 0.015041403472423553, "pitch": -0.33569011092185974, "yaw": -0.5084227919578552 } }, "velocity": { "x": 8.091439247131348, "y": -0.07964827120304108, "z": -0.04844161868095398 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 13.892769813537598, "transform": { "location": { "x": 712.0252075195312, "y": 4286.81005859375, "z": 369.61126708984375 }, "rotation": { "roll": 0.0004218813555780798, "pitch": 0.3232865035533905, "yaw": 179.6648712158203 } }, "velocity": { "x": -13.892292976379395, "y": 0.08145976066589355, "z": 0.08123788982629776 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.804725646972656, "transform": { "location": { "x": 682.648681640625, "y": 4286.9814453125, "z": 369.7876892089844 }, "rotation": { "roll": 0.00033500781864859164, "pitch": 0.485605925321579, "yaw": 179.64749145507812 } }, "velocity": { "x": -8.804423332214355, "y": 0.054151177406311035, "z": 0.048922888934612274 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.4873186349868774, "transform": { "location": { "x": 619.3479614257812, "y": 4287.41748046875, "z": 370.1143798828125 }, "rotation": { "roll": 0.0035010925494134426, "pitch": 0.3872102200984955, "yaw": -179.83340454101562 } }, "velocity": { "x": -1.4872992038726807, "y": -0.003211625851690769, "z": 0.006885786075145006 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0007956254412420094, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 7.777145219733939e-05, "pitch": 0.27208057045936584, "yaw": 179.6614227294922 } }, "velocity": { "x": 1.2746490028803237e-05, "y": 2.937533963631722e-06, "z": 0.0007955179316923022 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.251344680786133, "transform": { "location": { "x": 695.9993896484375, "y": 4290.15283203125, "z": 369.71429443359375 }, "rotation": { "roll": -0.0009155272273346782, "pitch": 0.15905460715293884, "yaw": 179.62576293945312 } }, "velocity": { "x": -9.251028060913086, "y": 0.05464404076337814, "z": 0.05364000052213669 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.852442741394043, "transform": { "location": { "x": 677.4093627929688, "y": 4290.26416015625, "z": 369.81793212890625 }, "rotation": { "roll": 0.00022693176288157701, "pitch": 0.32183167338371277, "yaw": 179.6376190185547 } }, "velocity": { "x": -8.852150917053223, "y": 0.05281808599829674, "z": 0.04879831150174141 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043673515319824, "transform": { "location": { "x": 657.9212646484375, "y": 4290.37646484375, "z": 369.9547424316406 }, "rotation": { "roll": -0.0014648438664153218, "pitch": 0.3093802332878113, "yaw": 179.6466827392578 } }, "velocity": { "x": -8.043401718139648, "y": 0.049644798040390015, "z": 0.043697185814380646 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.469760894775391, "transform": { "location": { "x": 714.8274536132812, "y": 4290.041015625, "z": 369.60089111328125 }, "rotation": { "roll": 0.0004480289062485099, "pitch": 0.2639116644859314, "yaw": 179.67616271972656 } }, "velocity": { "x": -5.469563961029053, "y": 0.0328211784362793, "z": 0.03280340135097504 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.06240290403366089, "expert_target_speed": 10.0, "target_point": [ 33.096463622390985, -0.7141528636951245 ], "target_point_next": [ 84.08528036553943, -1.7808990908796416 ] }, "205": { "acceleration": [ 1.3077354431152344, 0.3690153956413269, -0.003076903522014618 ], "angular_velocity": [ 0.07184745371341705, 0.844829261302948, -2.7396345138549805 ], "forward_vector": [ -0.9999911189079285, -0.0041169109754264355, -0.000911831681150943 ], "right_vector": [ 0.004118391312658787, -0.9999902248382568, -0.0016277771210297942 ], "location": [ 662.5282592773438, 4287.17529296875, 369.8924560546875 ], "rotation": [ 0.09326484054327011, -0.05224411562085152, -179.7641143798828 ], "velocity": [ -4.239132404327393, 0.05578017234802246, 0.02449551597237587 ], "speed": 4.239499377172464, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 20.059415817260742, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.108481407165527, "transform": { "location": { "x": 607.4154663085938, "y": 4294.0830078125, "z": 370.1822204589844 }, "rotation": { "roll": 0.010815771296620369, "pitch": -0.4512910544872284, "yaw": 0.1763141006231308 } }, "velocity": { "x": 5.108405113220215, "y": 0.0031861281022429466, "z": -0.027708109468221664 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.036192893981934, "transform": { "location": { "x": 610.7114868164062, "y": 4297.330078125, "z": 370.1644592285156 }, "rotation": { "roll": 0.006694654002785683, "pitch": -0.2759123146533966, "yaw": 0.017214104533195496 } }, "velocity": { "x": 8.036077499389648, "y": -0.0014771984424442053, "z": -0.04292851313948631 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.058479309082031, "transform": { "location": { "x": 651.7731323242188, "y": 4297.11474609375, "z": 369.9484558105469 }, "rotation": { "roll": 4.477580660022795e-05, "pitch": -0.30523431301116943, "yaw": -0.3190612494945526 } }, "velocity": { "x": 8.058239936828613, "y": -0.04566744342446327, "z": -0.0421428307890892 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.05678653717041, "transform": { "location": { "x": 650.46435546875, "y": 4293.87060546875, "z": 369.94952392578125 }, "rotation": { "roll": 0.00033933736267499626, "pitch": -0.3016621172428131, "yaw": -0.3075561821460724 } }, "velocity": { "x": 8.056559562683105, "y": -0.043144483119249344, "z": -0.042336080223321915 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.038676261901855, "transform": { "location": { "x": 691.94287109375, "y": 4296.8779296875, "z": 369.7283935546875 }, "rotation": { "roll": 0.00040406169136986136, "pitch": -0.32818374037742615, "yaw": -0.32891845703125 } }, "velocity": { "x": 8.038406372070312, "y": -0.04803634062409401, "z": -0.045250218361616135 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.0189208984375, "transform": { "location": { "x": 692.6646728515625, "y": 4293.6357421875, "z": 369.72747802734375 }, "rotation": { "roll": -0.00238037109375, "pitch": -0.3304172158241272, "yaw": -0.1680297702550888 } }, "velocity": { "x": 8.018671989440918, "y": -0.04484418407082558, "z": -0.044468507170677185 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 734.3259887695312, "y": 4296.54541015625, "z": 369.4861145019531 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 733.7122192382812, "y": 4293.3095703125, "z": 369.4920654296875 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 13.46469783782959, "transform": { "location": { "x": 708.583740234375, "y": 4286.8291015625, "z": 369.63128662109375 }, "rotation": { "roll": -0.0008239743765443563, "pitch": 0.3231225609779358, "yaw": 179.6647491455078 } }, "velocity": { "x": -13.464237213134766, "y": 0.07881411164999008, "z": 0.07863443344831467 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.62181282043457, "transform": { "location": { "x": 680.4871215820312, "y": 4286.9951171875, "z": 369.8010559082031 }, "rotation": { "roll": 0.0004975741030648351, "pitch": 0.3259229362010956, "yaw": 179.6474151611328 } }, "velocity": { "x": -8.621511459350586, "y": 0.05303950607776642, "z": 0.04876841604709625 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.3608579635620117, "transform": { "location": { "x": 618.8681640625, "y": 4287.4169921875, "z": 370.115966796875 }, "rotation": { "roll": 0.00417970260605216, "pitch": 0.583666980266571, "yaw": -179.8582763671875 } }, "velocity": { "x": -2.360828161239624, "y": -0.004438392352312803, "z": 0.01101840939372778 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0011959837283939123, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0015476095722988248, "pitch": 0.2726406455039978, "yaw": 179.6614227294922 } }, "velocity": { "x": 1.702148438198492e-05, "y": 5.622809476335533e-05, "z": 0.0011945400619879365 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.000069618225098, "transform": { "location": { "x": 693.6654663085938, "y": 4290.16748046875, "z": 369.726318359375 }, "rotation": { "roll": 0.00045138609129935503, "pitch": 0.31328025460243225, "yaw": 179.665771484375 } }, "velocity": { "x": -8.999764442443848, "y": 0.052228596061468124, "z": 0.05263259634375572 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.902460098266602, "transform": { "location": { "x": 675.2174682617188, "y": 4290.27734375, "z": 369.830078125 }, "rotation": { "roll": -0.0012817381648346782, "pitch": 0.31879904866218567, "yaw": 179.67965698242188 } }, "velocity": { "x": -8.90217113494873, "y": 0.05239596217870712, "z": 0.04900886490941048 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.006593704223633, "transform": { "location": { "x": 655.9151611328125, "y": 4290.38818359375, "z": 369.9655456542969 }, "rotation": { "roll": -0.0018920894945040345, "pitch": 0.30731067061424255, "yaw": 179.6444549560547 } }, "velocity": { "x": -8.006317138671875, "y": 0.05111924931406975, "z": 0.04252982884645462 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.140134334564209, "transform": { "location": { "x": 713.3282470703125, "y": 4290.04931640625, "z": 369.6097717285156 }, "rotation": { "roll": 0.0003183243388775736, "pitch": 0.6109194159507751, "yaw": 179.73416137695312 } }, "velocity": { "x": -7.139901161193848, "y": 0.039564426988363266, "z": 0.042022865265607834 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.03668764606118202, "expert_target_speed": 10.0, "target_point": [ 31.98907874560168, -0.3465461182012535 ], "target_point_next": [ 82.98649067415822, -0.8577769552087671 ] }, "210": { "acceleration": [ -3.0280303955078125, 0.4468560218811035, 0.012652799487113953 ], "angular_velocity": [ 0.048245567828416824, 1.4813822507858276, -4.439373016357422 ], "forward_vector": [ -0.9999058842658997, 0.013035675510764122, 0.0042722090147435665 ], "right_vector": [ -0.013045507483184338, -0.9999122619628906, -0.0022817563731223345 ], "location": [ 661.4464111328125, 4287.201171875, 369.8973388671875 ], "rotation": [ 0.1307363212108612, 0.2447803020477295, 179.25308227539062 ], "velocity": [ -4.570505619049072, 0.1698339432477951, 0.02553526870906353 ], "speed": 4.573659932924423, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 18.98033332824707, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.51995325088501, "transform": { "location": { "x": 608.8275146484375, "y": 4294.08447265625, "z": 370.1719055175781 }, "rotation": { "roll": 0.003877066308632493, "pitch": -0.04095381125807762, "yaw": 0.06284988671541214 } }, "velocity": { "x": 6.519883155822754, "y": -0.0025963701773434877, "z": -0.03012203238904476 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.262360572814941, "transform": { "location": { "x": 612.75, "y": 4297.32861328125, "z": 370.1549987792969 }, "rotation": { "roll": 0.01180832926183939, "pitch": -0.2743208706378937, "yaw": -0.0896606519818306 } }, "velocity": { "x": 8.26225471496582, "y": -0.020866338163614273, "z": -0.036185234785079956 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.061585426330566, "transform": { "location": { "x": 653.7874755859375, "y": 4297.10302734375, "z": 369.9377746582031 }, "rotation": { "roll": -0.00012207030522404239, "pitch": -0.3055143356323242, "yaw": -0.3267516791820526 } }, "velocity": { "x": 8.061342239379883, "y": -0.04617898911237717, "z": -0.04221487417817116 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.055367469787598, "transform": { "location": { "x": 652.4773559570312, "y": 4293.859375, "z": 369.9388732910156 }, "rotation": { "roll": -0.00033569333027116954, "pitch": -0.3068872094154358, "yaw": -0.3102417290210724 } }, "velocity": { "x": 8.055130004882812, "y": -0.04520486295223236, "z": -0.04214625805616379 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.026485443115234, "transform": { "location": { "x": 693.950927734375, "y": 4296.8662109375, "z": 369.7169494628906 }, "rotation": { "roll": 0.0008678631857037544, "pitch": -0.3332517445087433, "yaw": -0.3511351943016052 } }, "velocity": { "x": 8.02620792388916, "y": -0.04907678812742233, "z": -0.045116323977708817 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.086338996887207, "transform": { "location": { "x": 694.677978515625, "y": 4293.62353515625, "z": 369.7159729003906 }, "rotation": { "roll": -0.0010681153507903218, "pitch": -0.3279993236064911, "yaw": -0.1790160983800888 } }, "velocity": { "x": 8.086074829101562, "y": -0.04688022658228874, "z": -0.04552270472049713 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 736.4088134765625, "y": 4296.5078125, "z": 369.474609375 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -1.0694578886032104 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 735.7949829101562, "y": 4293.27294921875, "z": 369.47955322265625 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -1.0694578886032104 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 11.985060691833496, "transform": { "location": { "x": 705.3910522460938, "y": 4286.84814453125, "z": 369.6500244140625 }, "rotation": { "roll": -0.0005187986535020173, "pitch": 0.301908016204834, "yaw": 179.6673583984375 } }, "velocity": { "x": -11.984654426574707, "y": 0.06946706026792526, "z": 0.07005243003368378 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.315271854400635, "transform": { "location": { "x": 678.42724609375, "y": 4287.0087890625, "z": 369.8142395019531 }, "rotation": { "roll": -3.051761814276688e-05, "pitch": 0.13531969487667084, "yaw": 179.7597198486328 } }, "velocity": { "x": -7.315046787261963, "y": 0.03982764482498169, "z": 0.041315678507089615 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.2998355031013489, "transform": { "location": { "x": 618.3858032226562, "y": 4287.416015625, "z": 370.1202697753906 }, "rotation": { "roll": 0.006487271282821894, "pitch": 0.04050302132964134, "yaw": -179.75257873535156 } }, "velocity": { "x": -0.2997397780418396, "y": 0.007384457625448704, "z": 0.001693086582235992 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0011700624600052834, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00041993739432655275, "pitch": 0.272633820772171, "yaw": 179.66146850585938 } }, "velocity": { "x": 1.3253204087959602e-05, "y": 5.4389402066590264e-06, "z": 0.0011699747992679477 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.412545204162598, "transform": { "location": { "x": 691.5089111328125, "y": 4290.1796875, "z": 369.7381591796875 }, "rotation": { "roll": -0.000518798828125, "pitch": 0.3783378303050995, "yaw": 179.64013671875 } }, "velocity": { "x": -8.412242889404297, "y": 0.05193266645073891, "z": 0.04882000759243965 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.47659683227539, "transform": { "location": { "x": 673.0095825195312, "y": 4290.29052734375, "z": 369.8419494628906 }, "rotation": { "roll": -9.155286534223706e-05, "pitch": 0.3491660952568054, "yaw": 179.64561462402344 } }, "velocity": { "x": -8.476308822631836, "y": 0.051257822662591934, "z": 0.047490958124399185 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043935775756836, "transform": { "location": { "x": 653.9085693359375, "y": 4290.400390625, "z": 369.9762268066406 }, "rotation": { "roll": 0.0006757531082257628, "pitch": 0.3080073595046997, "yaw": 179.64590454101562 } }, "velocity": { "x": -8.04367733001709, "y": 0.04957771301269531, "z": 0.04124296084046364 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.8212890625, "transform": { "location": { "x": 711.30224609375, "y": 4290.06103515625, "z": 369.6215515136719 }, "rotation": { "roll": 0.003529268316924572, "pitch": 0.6794466972351074, "yaw": 179.6720428466797 } }, "velocity": { "x": -8.820985794067383, "y": 0.05222558230161667, "z": 0.05123528465628624 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.024846602231264114, "expert_target_speed": 10.0, "target_point": [ 30.90822335066122, 0.21395417650572088 ], "target_point_next": [ 81.90690188621767, 0.57750335689353 ] }, "215": { "acceleration": [ -0.25025367736816406, -0.7030445337295532, 0.008272342383861542 ], "angular_velocity": [ -0.6082242131233215, -0.29096606373786926, 1.0911738872528076 ], "forward_vector": [ -0.9998484253883362, 0.014885134994983673, 0.009030934423208237 ], "right_vector": [ -0.014870570041239262, -0.999888002872467, 0.0016777219716459513 ], "location": [ 660.1878662109375, 4287.2275390625, 369.9033203125 ], "rotation": [ -0.0961303561925888, 0.51744145154953, 179.14707946777344 ], "velocity": [ -5.253533840179443, 0.01748906634747982, 0.02904849871993065 ], "speed": 5.253562950736602, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 17.725257873535156, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.642735481262207, "transform": { "location": { "x": 610.6339111328125, "y": 4294.08349609375, "z": 370.1624450683594 }, "rotation": { "roll": 0.004799653775990009, "pitch": 0.08879928290843964, "yaw": -0.1088867112994194 } }, "velocity": { "x": 7.642648220062256, "y": -0.010440132580697536, "z": -0.034925442188978195 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.042749404907227, "transform": { "location": { "x": 614.7869262695312, "y": 4297.3232421875, "z": 370.1457214355469 }, "rotation": { "roll": 0.007600207347422838, "pitch": -0.2784121632575989, "yaw": -0.1925658881664276 } }, "velocity": { "x": 8.042608261108398, "y": -0.029404781758785248, "z": -0.037481650710105896 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.086899757385254, "transform": { "location": { "x": 655.8073120117188, "y": 4297.09130859375, "z": 369.9270324707031 }, "rotation": { "roll": 0.0006448030471801758, "pitch": -0.3054801821708679, "yaw": -0.3333739638328552 } }, "velocity": { "x": 8.086648941040039, "y": -0.04712263494729996, "z": -0.04275314137339592 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.029985427856445, "transform": { "location": { "x": 654.4869384765625, "y": 4293.84716796875, "z": 369.92816162109375 }, "rotation": { "roll": -0.0014648436335846782, "pitch": -0.30636128783226013, "yaw": -0.3167724311351776 } }, "velocity": { "x": 8.029751777648926, "y": -0.04435832053422928, "z": -0.042221393436193466 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030153274536133, "transform": { "location": { "x": 695.9576416015625, "y": 4296.8544921875, "z": 369.70550537109375 }, "rotation": { "roll": -0.00036621085018850863, "pitch": -0.33260971307754517, "yaw": -0.3217163383960724 } }, "velocity": { "x": 8.029889106750488, "y": -0.04694409668445587, "z": -0.04517339542508125 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.02004337310791, "transform": { "location": { "x": 696.6911010742188, "y": 4293.6123046875, "z": 369.70440673828125 }, "rotation": { "roll": -0.002624511020258069, "pitch": -0.3303898870944977, "yaw": -0.1762695014476776 } }, "velocity": { "x": 8.01978874206543, "y": -0.045332301408052444, "z": -0.04510780796408653 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22414, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 738.4916381835938, "y": 4296.4697265625, "z": 369.46319580078125 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -1.0694578886032104 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22413, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 737.8778076171875, "y": 4293.23193359375, "z": 369.4669494628906 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -1.0694578886032104 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 11.333826065063477, "transform": { "location": { "x": 702.525634765625, "y": 4286.86474609375, "z": 369.6666259765625 }, "rotation": { "roll": 0.0011745006777346134, "pitch": 0.3134373724460602, "yaw": 179.66891479492188 } }, "velocity": { "x": -11.333452224731445, "y": 0.06551013141870499, "z": 0.06463580578565598 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.5505080223083496, "transform": { "location": { "x": 677.2605590820312, "y": 4287.017578125, "z": 369.8268127441406 }, "rotation": { "roll": -0.005340575240552425, "pitch": -0.6445307731628418, "yaw": 179.95901489257812 } }, "velocity": { "x": -3.5504095554351807, "y": 0.019508156925439835, "z": 0.0178416445851326 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.962052583694458, "transform": { "location": { "x": 618.2651977539062, "y": 4287.416015625, "z": 370.12066650390625 }, "rotation": { "roll": 0.0013641787227243185, "pitch": 0.11206290870904922, "yaw": -179.74630737304688 } }, "velocity": { "x": -0.9620422124862671, "y": -0.0026241233572363853, "z": 0.003605098696425557 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0012334106722846627, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00041993739432655275, "pitch": 0.272633820772171, "yaw": 179.66146850585938 } }, "velocity": { "x": 8.597932719567325e-06, "y": 3.358376488904469e-05, "z": 0.0012329233577474952 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.779362678527832, "transform": { "location": { "x": 689.3731079101562, "y": 4290.19287109375, "z": 369.7510070800781 }, "rotation": { "roll": 0.001407708739861846, "pitch": 0.30086299777030945, "yaw": 179.67648315429688 } }, "velocity": { "x": -8.779078483581543, "y": 0.0505087710916996, "z": 0.0494537428021431 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.515972137451172, "transform": { "location": { "x": 670.9130859375, "y": 4290.30224609375, "z": 369.8537292480469 }, "rotation": { "roll": -0.000152587890625, "pitch": 0.32009679079055786, "yaw": 179.6864013671875 } }, "velocity": { "x": -8.515708923339844, "y": 0.04912830889225006, "z": 0.04544888436794281 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007403373718262, "transform": { "location": { "x": 651.9024047851562, "y": 4290.41162109375, "z": 369.9869079589844 }, "rotation": { "roll": -0.0007629393367096782, "pitch": 0.30699649453163147, "yaw": 179.64617919921875 } }, "velocity": { "x": -8.007143020629883, "y": 0.04944032430648804, "z": 0.04150193929672241 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.912394523620605, "transform": { "location": { "x": 709.0343017578125, "y": 4290.07470703125, "z": 369.6345520019531 }, "rotation": { "roll": 0.00186165829654783, "pitch": 0.43534940481185913, "yaw": 179.67367553710938 } }, "velocity": { "x": -8.912087440490723, "y": 0.05272332951426506, "z": 0.05195273458957672 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.032139308750629425, "expert_target_speed": 10.0, "target_point": [ 29.648976640524122, 0.2787683487506407 ], "target_point_next": [ 80.64689528032605, 0.7366709450869253 ] }, "220": { "acceleration": [ -0.4119873046875, 0.24118930101394653, -0.0014162063598632812 ], "angular_velocity": [ 0.49301502108573914, -0.19371022284030914, 5.234476566314697 ], "forward_vector": [ -0.9999762177467346, -0.001124029979109764, 0.006800240837037563 ], "right_vector": [ 0.0011354312300682068, -0.9999979734420776, 0.0016729577910155058 ], "location": [ 658.887939453125, 4287.22265625, 369.9107360839844 ], "rotation": [ -0.09585568308830261, 0.3896281123161316, -179.9355926513672 ], "velocity": [ -5.224308967590332, -0.04258003085851669, 0.02913673408329487 ], "speed": 5.224482486129385, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 16.427444458007812, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.638998031616211, "transform": { "location": { "x": 612.7568359375, "y": 4294.07958984375, "z": 370.1534423828125 }, "rotation": { "roll": 0.008729109540581703, "pitch": -0.032347775995731354, "yaw": -0.1494140475988388 } }, "velocity": { "x": 8.638858795166016, "y": -0.026466170325875282, "z": -0.04134221374988556 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.268013000488281, "transform": { "location": { "x": 616.8267822265625, "y": 4297.3154296875, "z": 370.13592529296875 }, "rotation": { "roll": 0.003804102074354887, "pitch": -0.27423208951950073, "yaw": -0.2431335151195526 } }, "velocity": { "x": 8.267833709716797, "y": -0.03726251795887947, "z": -0.03986794501543045 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.045271873474121, "transform": { "location": { "x": 657.8226318359375, "y": 4297.07958984375, "z": 369.9162902832031 }, "rotation": { "roll": -0.0005187987699173391, "pitch": -0.3080073595046997, "yaw": -0.3348388373851776 } }, "velocity": { "x": 8.045014381408691, "y": -0.04696107283234596, "z": -0.04395116865634918 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.079384803771973, "transform": { "location": { "x": 656.501953125, "y": 4293.8359375, "z": 369.9174499511719 }, "rotation": { "roll": -0.00048828125, "pitch": -0.30737897753715515, "yaw": -0.3170776069164276 } }, "velocity": { "x": 8.079147338867188, "y": -0.044671930372714996, "z": -0.04286424070596695 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.032097816467285, "transform": { "location": { "x": 697.9656372070312, "y": 4296.8427734375, "z": 369.6939392089844 }, "rotation": { "roll": 0.0003027187194675207, "pitch": -0.33370935916900635, "yaw": -0.3497925102710724 } }, "velocity": { "x": 8.031825065612793, "y": -0.048088040202856064, "z": -0.045503973960876465 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.085881233215332, "transform": { "location": { "x": 698.7046508789062, "y": 4293.6005859375, "z": 369.69287109375 }, "rotation": { "roll": -0.0008850097074173391, "pitch": -0.3318173885345459, "yaw": -0.1784362643957138 } }, "velocity": { "x": 8.085619926452637, "y": -0.046384647488594055, "z": -0.04553025960922241 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 11.649003982543945, "transform": { "location": { "x": 699.6387939453125, "y": 4286.88134765625, "z": 369.6830139160156 }, "rotation": { "roll": 0.0009516539867036045, "pitch": 0.3359086811542511, "yaw": 179.66624450683594 } }, "velocity": { "x": -11.648615837097168, "y": 0.06803502887487411, "z": 0.06651178002357483 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.5814616680145264, "transform": { "location": { "x": 676.3690185546875, "y": 4287.0205078125, "z": 369.8250732421875 }, "rotation": { "roll": 0.00018092789105139673, "pitch": 0.17612324655056, "yaw": 179.87261962890625 } }, "velocity": { "x": -3.5813679695129395, "y": 0.01807701773941517, "z": 0.018538665026426315 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.813645839691162, "transform": { "location": { "x": 617.9017333984375, "y": 4287.416015625, "z": 370.1209716796875 }, "rotation": { "roll": 0.0031329563353210688, "pitch": 0.487368106842041, "yaw": -179.7845916748047 } }, "velocity": { "x": -1.8136265277862549, "y": -0.003367642406374216, "z": 0.007671575527638197 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0013333495007827878, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 4.969909696228569e-06, "y": 3.4280044928891584e-05, "z": 0.0013328994391486049 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.498849868774414, "transform": { "location": { "x": 687.2060546875, "y": 4290.2060546875, "z": 369.7629089355469 }, "rotation": { "roll": 0.00046525412471964955, "pitch": 0.3372679054737091, "yaw": 179.644775390625 } }, "velocity": { "x": -8.498565673828125, "y": 0.05012129992246628, "z": 0.04815042391419411 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.792939186096191, "transform": { "location": { "x": 668.7151489257812, "y": 4290.314453125, "z": 369.8659973144531 }, "rotation": { "roll": -0.00027465823222883046, "pitch": 0.2838284969329834, "yaw": 179.65736389160156 } }, "velocity": { "x": -8.792659759521484, "y": 0.05099787563085556, "z": 0.04806768149137497 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.04365062713623, "transform": { "location": { "x": 649.8958740234375, "y": 4290.423828125, "z": 369.99755859375 }, "rotation": { "roll": -0.0005798338679596782, "pitch": 0.30586951971054077, "yaw": 179.64634704589844 } }, "velocity": { "x": -8.043391227722168, "y": 0.04970311000943184, "z": 0.041279323399066925 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.241097450256348, "transform": { "location": { "x": 706.9093627929688, "y": 4290.08740234375, "z": 369.6469421386719 }, "rotation": { "roll": -0.00048828122089616954, "pitch": 0.2497936636209488, "yaw": 179.6445770263672 } }, "velocity": { "x": -8.240802764892578, "y": 0.04921509325504303, "z": 0.049298934638500214 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.03769799694418907, "expert_target_speed": 10.0, "target_point": [ 28.349708410999384, -0.1993433102010181 ], "target_point_next": [ 79.34842207099224, -0.5579313825715513 ] }, "225": { "acceleration": [ 1.2814044952392578, 0.2682020366191864, -0.09838905185461044 ], "angular_velocity": [ 0.2813519835472107, -0.4266613721847534, -1.2738600969314575 ], "forward_vector": [ -0.9999878406524658, 0.00035109888995066285, 0.004917243495583534 ], "right_vector": [ -0.0003528760571498424, -0.9999998807907104, -0.00036054986412636936 ], "location": [ 657.6016845703125, 4287.22314453125, 369.91796875 ], "rotation": [ 0.020658235996961594, 0.2817384600639343, 179.97988891601562 ], "velocity": [ -4.993365287780762, 0.02833113819360733, 0.023243607953190804 ], "speed": 4.993445659122085, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 15.144006729125977, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.1100492477417, "transform": { "location": { "x": 614.8418579101562, "y": 4294.072265625, "z": 370.146484375 }, "rotation": { "roll": 0.005332923959940672, "pitch": -0.4025235176086426, "yaw": -0.2091369777917862 } }, "velocity": { "x": 8.109888076782227, "y": -0.030760902911424637, "z": -0.04082974046468735 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.04820442199707, "transform": { "location": { "x": 618.8651733398438, "y": 4297.30615234375, "z": 370.1261291503906 }, "rotation": { "roll": 0.003529780311509967, "pitch": -0.27863073348999023, "yaw": -0.2837218940258026 } }, "velocity": { "x": 8.048001289367676, "y": -0.04089213162660599, "z": -0.03994385525584221 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.089555740356445, "transform": { "location": { "x": 659.8399047851562, "y": 4297.06787109375, "z": 369.9053955078125 }, "rotation": { "roll": -6.103538908064365e-05, "pitch": -0.30983784794807434, "yaw": -0.3347778022289276 } }, "velocity": { "x": 8.089292526245117, "y": -0.04724832996726036, "z": -0.044933341443538666 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.01867389678955, "transform": { "location": { "x": 658.5130615234375, "y": 4293.82373046875, "z": 369.90667724609375 }, "rotation": { "roll": 0.0010301594156771898, "pitch": -0.3080073595046997, "yaw": -0.3240050673484802 } }, "velocity": { "x": 8.018424987792969, "y": -0.04551326110959053, "z": -0.04382773116230965 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029158592224121, "transform": { "location": { "x": 699.9730834960938, "y": 4296.8310546875, "z": 369.6823425292969 }, "rotation": { "roll": 0.000702858786098659, "pitch": -0.3364277780056, "yaw": -0.3276672065258026 } }, "velocity": { "x": 8.028888702392578, "y": -0.04781442508101463, "z": -0.045198846608400345 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.021068572998047, "transform": { "location": { "x": 700.7177124023438, "y": 4293.5888671875, "z": 369.68121337890625 }, "rotation": { "roll": 0.0006726447027176619, "pitch": -0.3338869512081146, "yaw": -0.1755370944738388 } }, "velocity": { "x": 8.020796775817871, "y": -0.04802819713950157, "z": -0.04526180028915405 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 10.4921875, "transform": { "location": { "x": 696.8660888671875, "y": 4286.8974609375, "z": 369.69921875 }, "rotation": { "roll": -0.000457763671875, "pitch": 0.308656245470047, "yaw": 179.66217041015625 } }, "velocity": { "x": -10.49183464050293, "y": 0.061913177371025085, "z": 0.059857241809368134 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.338714122772217, "transform": { "location": { "x": 675.3846435546875, "y": 4287.025390625, "z": 369.8272705078125 }, "rotation": { "roll": 0.004712704569101334, "pitch": 0.573401153087616, "yaw": 179.79623413085938 } }, "velocity": { "x": -4.338583469390869, "y": 0.023626195266842842, "z": 0.023992367088794708 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.2704732418060303, "transform": { "location": { "x": 617.3551025390625, "y": 4287.4140625, "z": 370.12347412109375 }, "rotation": { "roll": 0.0038964522536844015, "pitch": 0.5290868878364563, "yaw": -179.81182861328125 } }, "velocity": { "x": -2.270449638366699, "y": -0.00445225415751338, "z": 0.009323968552052975 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.745515823364258, "transform": { "location": { "x": 685.0670166015625, "y": 4290.21826171875, "z": 369.7752990722656 }, "rotation": { "roll": -0.00030517581035383046, "pitch": 0.3051728308200836, "yaw": 179.67941284179688 } }, "velocity": { "x": -8.74522590637207, "y": 0.05177320912480354, "z": 0.04898422956466675 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.872076511383057, "transform": { "location": { "x": 666.6254272460938, "y": 4290.32568359375, "z": 369.8767395019531 }, "rotation": { "roll": -0.000396728515625, "pitch": 0.370728999376297, "yaw": 179.65965270996094 } }, "velocity": { "x": -7.871830940246582, "y": 0.04461578652262688, "z": 0.043327681720256805 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007601737976074, "transform": { "location": { "x": 647.8897705078125, "y": 4290.43505859375, "z": 370.0082092285156 }, "rotation": { "roll": -0.0016784666804596782, "pitch": 0.30552801489830017, "yaw": 179.64622497558594 } }, "velocity": { "x": -8.007342338562012, "y": 0.04956221580505371, "z": 0.041223134845495224 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.816584587097168, "transform": { "location": { "x": 704.7977294921875, "y": 4290.10009765625, "z": 369.65924072265625 }, "rotation": { "roll": 0.0005805918481200933, "pitch": 0.4025781452655792, "yaw": 179.66372680664062 } }, "velocity": { "x": -8.816277503967285, "y": 0.05341007560491562, "z": 0.05065801367163658 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.020100772380828857, "expert_target_speed": 10.0, "target_point": [ 27.063716605676, -0.1574944506375094 ], "target_point_next": [ 78.06290366542761, -0.4408663335968167 ] }, "230": { "acceleration": [ 4.463205337524414, 0.06972059607505798, -0.048016346991062164 ], "angular_velocity": [ -0.03355815261602402, -1.0103538036346436, -1.2897052764892578 ], "forward_vector": [ -0.9999789595603943, 0.006357534322887659, 0.0012778040254488587 ], "right_vector": [ -0.006358420941978693, -0.999979555606842, -0.0006908628856763244 ], "location": [ 656.4518432617188, 4287.23388671875, 369.9246826171875 ], "rotation": [ 0.039583563804626465, 0.07321279495954514, 179.6357421875 ], "velocity": [ -4.113406658172607, 0.05844144523143768, 0.02260805107653141 ], "speed": 4.113821792204845, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 13.997895240783691, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.92838191986084, "transform": { "location": { "x": 616.8359985351562, "y": 4294.06494140625, "z": 370.1365051269531 }, "rotation": { "roll": 0.0019348515197634697, "pitch": -0.38158899545669556, "yaw": -0.2403564453125 } }, "velocity": { "x": 7.928201198577881, "y": -0.03578343614935875, "z": -0.039851244539022446 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.274133682250977, "transform": { "location": { "x": 620.9066162109375, "y": 4297.29541015625, "z": 370.1160888671875 }, "rotation": { "roll": 0.0011323333019390702, "pitch": -0.28067293763160706, "yaw": -0.303466796875 } }, "velocity": { "x": 8.273917198181152, "y": -0.04363756254315376, "z": -0.04100397601723671 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.049399375915527, "transform": { "location": { "x": 661.8571166992188, "y": 4297.05615234375, "z": 369.89447021484375 }, "rotation": { "roll": -6.103527994127944e-05, "pitch": -0.3097763955593109, "yaw": -0.3349914252758026 } }, "velocity": { "x": 8.049139976501465, "y": -0.0470319464802742, "z": -0.04419662058353424 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.080503463745117, "transform": { "location": { "x": 660.5258178710938, "y": 4293.8125, "z": 369.89581298828125 }, "rotation": { "roll": 0.0014865549746900797, "pitch": -0.30874502658843994, "yaw": -0.3253173530101776 } }, "velocity": { "x": 8.08024787902832, "y": -0.045872583985328674, "z": -0.044979024678468704 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.03082275390625, "transform": { "location": { "x": 701.98046875, "y": 4296.8193359375, "z": 369.6707458496094 }, "rotation": { "roll": 0.00017747425590641797, "pitch": -0.33569011092185974, "yaw": -0.3547668755054474 } }, "velocity": { "x": 8.030553817749023, "y": -0.04778323695063591, "z": -0.04524243250489235 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.085637092590332, "transform": { "location": { "x": 702.7313842773438, "y": 4293.57666015625, "z": 369.6695861816406 }, "rotation": { "roll": -0.000732421875, "pitch": -0.33144858479499817, "yaw": -0.1919250339269638 } }, "velocity": { "x": 8.085373878479004, "y": -0.04677798971533775, "z": -0.04558971896767616 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 579.4269409179688, "y": 4297.4423828125, "z": 370.4910583496094 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 9.088765144348145, "transform": { "location": { "x": 694.425537109375, "y": 4286.91162109375, "z": 369.71331787109375 }, "rotation": { "roll": -0.00042724609375, "pitch": 0.2967580556869507, "yaw": 179.6632537841797 } }, "velocity": { "x": -9.088459968566895, "y": 0.05333587899804115, "z": 0.051869068294763565 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.058295249938965, "transform": { "location": { "x": 674.1724243164062, "y": 4287.03173828125, "z": 369.83428955078125 }, "rotation": { "roll": 0.0030411502812057734, "pitch": 0.5573229193687439, "yaw": 179.73568725585938 } }, "velocity": { "x": -5.05812931060791, "y": 0.028816193342208862, "z": 0.02913396805524826 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.3928346633911133, "transform": { "location": { "x": 617.1235961914062, "y": 4287.41357421875, "z": 370.1272888183594 }, "rotation": { "roll": 0.000668157881591469, "pitch": -0.2175278514623642, "yaw": -179.8243865966797 } }, "velocity": { "x": -0.39282840490341187, "y": -0.0007150654564611614, "z": 0.0020958995446562767 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.000773437088355422, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": -5.684792654392368e-07, "y": 4.215107765048742e-06, "z": 0.0007734253886155784 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.054247856140137, "transform": { "location": { "x": 682.9501342773438, "y": 4290.23095703125, "z": 369.78668212890625 }, "rotation": { "roll": -0.0005798339261673391, "pitch": 0.37031233310699463, "yaw": 179.647705078125 } }, "velocity": { "x": -8.053982734680176, "y": 0.046943288296461105, "z": 0.04541534185409546 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.793240070343018, "transform": { "location": { "x": 664.854736328125, "y": 4290.337890625, "z": 369.8860778808594 }, "rotation": { "roll": 8.866289863362908e-05, "pitch": 0.4071817100048065, "yaw": 179.9427032470703 } }, "velocity": { "x": -6.793021202087402, "y": 0.0398307628929615, "z": 0.03720901533961296 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.042945861816406, "transform": { "location": { "x": 645.8832397460938, "y": 4290.447265625, "z": 370.01873779296875 }, "rotation": { "roll": -9.155277075478807e-05, "pitch": 0.3040800094604492, "yaw": 179.64622497558594 } }, "velocity": { "x": -8.042683601379395, "y": 0.04965105280280113, "z": 0.04193515703082085 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.406057357788086, "transform": { "location": { "x": 702.5391845703125, "y": 4290.11376953125, "z": 369.6723327636719 }, "rotation": { "roll": -0.0007629393367096782, "pitch": 0.44178342819213867, "yaw": 179.6964874267578 } }, "velocity": { "x": -9.405739784240723, "y": 0.05488484352827072, "z": 0.054361581802368164 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.004136462230235338, "expert_target_speed": 10.0, "target_point": [ 25.91428802668682, 0.008490883178023767 ], "target_point_next": [ 76.91425718272001, 0.0314356701773949 ] }, "235": { "acceleration": [ 3.8808679580688477, -0.001716017723083496, -0.013515278697013855 ], "angular_velocity": [ -0.05156069993972778, -0.2426711916923523, -0.5163315534591675 ], "forward_vector": [ -0.9999271631240845, 0.011988254263997078, -0.001390694989822805 ], "right_vector": [ -0.011987516656517982, -0.9999279975891113, -0.0005373040330596268 ], "location": [ 655.5638427734375, 4287.24951171875, 369.9300231933594 ], "rotation": [ 0.03078528493642807, -0.07968097925186157, 179.3131103515625 ], "velocity": [ -3.0765750408172607, 0.06874018162488937, 0.016725949943065643 ], "speed": 3.077342878905364, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 13.113824844360352, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.104500770568848, "transform": { "location": { "x": 618.8397827148438, "y": 4294.0556640625, "z": 370.12554931640625 }, "rotation": { "roll": 0.0032404621597379446, "pitch": -0.23223325610160828, "yaw": -0.2775879204273224 } }, "velocity": { "x": 8.1043062210083, "y": -0.04104087874293327, "z": -0.03825988620519638 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.9408488273620605, "transform": { "location": { "x": 622.6163330078125, "y": 4297.287109375, "z": 370.1112060546875 }, "rotation": { "roll": 0.004900102503597736, "pitch": -0.7240000367164612, "yaw": -0.4438475966453552 } }, "velocity": { "x": 5.940668106079102, "y": -0.035926152020692825, "z": -0.02932737208902836 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084392547607422, "transform": { "location": { "x": 663.8735961914062, "y": 4297.04443359375, "z": 369.8835754394531 }, "rotation": { "roll": -0.00036621076287701726, "pitch": -0.31033647060394287, "yaw": -0.3349914252758026 } }, "velocity": { "x": 8.08413028717041, "y": -0.04726150259375572, "z": -0.04467063397169113 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.022355079650879, "transform": { "location": { "x": 662.53857421875, "y": 4293.80029296875, "z": 369.88494873046875 }, "rotation": { "roll": 0.00013460668560583144, "pitch": -0.3097763955593109, "yaw": -0.3291930556297302 } }, "velocity": { "x": 8.022095680236816, "y": -0.046118564903736115, "z": -0.045050058513879776 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030254364013672, "transform": { "location": { "x": 703.9880981445312, "y": 4296.8076171875, "z": 369.65911865234375 }, "rotation": { "roll": 0.0001259709824807942, "pitch": -0.33609309792518616, "yaw": -0.3306884765625 } }, "velocity": { "x": 8.029979705810547, "y": -0.04831570014357567, "z": -0.04556262493133545 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.021069526672363, "transform": { "location": { "x": 704.7442016601562, "y": 4293.5654296875, "z": 369.6579284667969 }, "rotation": { "roll": -0.0015563960187137127, "pitch": -0.3350549042224884, "yaw": -0.1682739108800888 } }, "velocity": { "x": 8.020803451538086, "y": -0.04653686285018921, "z": -0.04585402086377144 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 577.5385131835938, "y": 4294.20361328125, "z": 370.37213134765625 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 581.5005493164062, "y": 4297.4306640625, "z": 370.30908203125 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 7.931816101074219, "transform": { "location": { "x": 692.3171997070312, "y": 4286.92431640625, "z": 369.725341796875 }, "rotation": { "roll": -0.0009155271109193563, "pitch": 0.29849973320961, "yaw": 179.6637725830078 } }, "velocity": { "x": -7.93155574798584, "y": 0.0465555377304554, "z": 0.04432873800396919 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.2441277503967285, "transform": { "location": { "x": 672.8833618164062, "y": 4287.0390625, "z": 369.8430480957031 }, "rotation": { "roll": 0.0014286995865404606, "pitch": 0.3610711097717285, "yaw": 179.69772338867188 } }, "velocity": { "x": -5.243959903717041, "y": 0.030056316405534744, "z": 0.029221514239907265 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.2525184154510498, "transform": { "location": { "x": 616.9052734375, "y": 4287.41357421875, "z": 370.12640380859375 }, "rotation": { "roll": 0.0017956886440515518, "pitch": 0.31088969111442566, "yaw": -179.88458251953125 } }, "velocity": { "x": -1.2525007724761963, "y": -0.001896845642477274, "z": 0.006372213363647461 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0011518094688653946, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 1.52337552208337e-05, "y": 9.01076964510139e-06, "z": 0.0011516734957695007 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.6848344802856445, "transform": { "location": { "x": 681.22412109375, "y": 4290.2373046875, "z": 369.7950439453125 }, "rotation": { "roll": -0.0017395010218024254, "pitch": 0.5204535722732544, "yaw": 179.17288208007812 } }, "velocity": { "x": -5.684624671936035, "y": 0.036535587161779404, "z": 0.03241386264562607 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.217587471008301, "transform": { "location": { "x": 663.1192016601562, "y": 4290.3466796875, "z": 369.8965148925781 }, "rotation": { "roll": -0.0007019042386673391, "pitch": 0.28791293501853943, "yaw": 179.8007354736328 } }, "velocity": { "x": -7.217371463775635, "y": 0.04098514840006828, "z": 0.03797626495361328 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.00739860534668, "transform": { "location": { "x": 643.8771362304688, "y": 4290.45849609375, "z": 370.02923583984375 }, "rotation": { "roll": 0.001688603893853724, "pitch": 0.3002414405345917, "yaw": 179.6463165283203 } }, "velocity": { "x": -8.007142066955566, "y": 0.04938801750540733, "z": 0.040824029594659805 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 10.207168579101562, "transform": { "location": { "x": 700.0560302734375, "y": 4290.1279296875, "z": 369.68670654296875 }, "rotation": { "roll": -0.0018920890288427472, "pitch": 0.4975314438343048, "yaw": 179.68496704101562 } }, "velocity": { "x": -10.206838607788086, "y": 0.058187875896692276, "z": 0.05784953758120537 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.02609710767865181, "expert_target_speed": 0, "target_point": [ 25.025705383701595, 0.1593912041154694 ], "target_point_next": [ 76.02473679214529, 0.46951340609599707 ] }, "240": { "acceleration": [ 3.4092044830322266, -0.05179300904273987, -0.019778069108724594 ], "angular_velocity": [ -0.08783405274152756, 0.05814555659890175, -1.8591816425323486 ], "forward_vector": [ -0.9998598098754883, 0.016656946390867233, -0.0016889562830328941 ], "right_vector": [ -0.016656599938869476, -0.9998612403869629, -0.00021971893147565424 ], "location": [ 654.9164428710938, 4287.26416015625, 369.93359375 ], "rotation": [ 0.012588986195623875, -0.09677011519670486, 179.0455780029297 ], "velocity": [ -2.1634466648101807, 0.0592162124812603, 0.012119149789214134 ], "speed": 2.1642569235880753, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.469939231872559, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.148488998413086, "transform": { "location": { "x": 620.87744140625, "y": 4294.04541015625, "z": 370.1159362792969 }, "rotation": { "roll": 0.0008389875874854624, "pitch": -0.2492062747478485, "yaw": -0.299468994140625 } }, "velocity": { "x": 8.148284912109375, "y": -0.042452216148376465, "z": -0.03908119723200798 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.489340782165527, "transform": { "location": { "x": 624.0225219726562, "y": 4297.27880859375, "z": 370.1025390625 }, "rotation": { "roll": 0.0014168857596814632, "pitch": -0.5000654458999634, "yaw": -0.4591674506664276 } }, "velocity": { "x": 5.489160537719727, "y": -0.034597791731357574, "z": -0.0278926994651556 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.0535888671875, "transform": { "location": { "x": 665.8907470703125, "y": 4297.03271484375, "z": 369.87261962890625 }, "rotation": { "roll": -0.0005493162898346782, "pitch": -0.31310951709747314, "yaw": -0.3350829482078552 } }, "velocity": { "x": 8.053323745727539, "y": -0.04708992317318916, "z": -0.04533849284052849 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076744079589844, "transform": { "location": { "x": 664.55078125, "y": 4293.7890625, "z": 369.8740234375 }, "rotation": { "roll": -0.0015869138296693563, "pitch": -0.3117298185825348, "yaw": -0.3323058485984802 } }, "velocity": { "x": 8.076483726501465, "y": -0.04703671857714653, "z": -0.04466085508465767 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.03049373626709, "transform": { "location": { "x": 705.9955444335938, "y": 4296.7958984375, "z": 369.6474914550781 }, "rotation": { "roll": 0.0003217585035599768, "pitch": -0.33715176582336426, "yaw": -0.3538207709789276 } }, "velocity": { "x": 8.030217170715332, "y": -0.04887514188885689, "z": -0.04524162784218788 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.086060523986816, "transform": { "location": { "x": 706.7579345703125, "y": 4293.5537109375, "z": 369.6462707519531 }, "rotation": { "roll": -0.00012207027612021193, "pitch": -0.33312880992889404, "yaw": -0.2028503566980362 } }, "velocity": { "x": 8.085785865783691, "y": -0.04778439924120903, "z": -0.046453800052404404 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 579.621337890625, "y": 4294.19091796875, "z": 370.3284606933594 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 583.5836791992188, "y": 4297.41796875, "z": 370.29345703125 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 7.276006698608398, "transform": { "location": { "x": 690.441650390625, "y": 4286.93603515625, "z": 369.7359313964844 }, "rotation": { "roll": 0.00029410840943455696, "pitch": 0.30863574147224426, "yaw": 179.66061401367188 } }, "velocity": { "x": -7.275761127471924, "y": 0.04381372779607773, "z": 0.040682096034288406 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.0156049728393555, "transform": { "location": { "x": 671.3331298828125, "y": 4287.0478515625, "z": 369.8493957519531 }, "rotation": { "roll": 0.002100869780406356, "pitch": 0.6287530064582825, "yaw": 179.6627197265625 } }, "velocity": { "x": -7.0153727531433105, "y": 0.04227322340011597, "z": 0.038367852568626404 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.1178057193756104, "transform": { "location": { "x": 616.4814453125, "y": 4287.4130859375, "z": 370.1275634765625 }, "rotation": { "roll": 0.00198655528947711, "pitch": 0.5475967526435852, "yaw": -179.873779296875 } }, "velocity": { "x": -2.117774724960327, "y": -0.004207204096019268, "z": 0.010661802254617214 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0011632959358394146, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 6.036795639374759e-06, "y": 3.1692128686700016e-05, "z": 0.0011628485517576337 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.26922082901001, "transform": { "location": { "x": 679.8900146484375, "y": 4290.24755859375, "z": 369.8035583496094 }, "rotation": { "roll": -0.002960204379633069, "pitch": 0.3926880359649658, "yaw": 179.459716796875 } }, "velocity": { "x": -5.26902961730957, "y": 0.03381511941552162, "z": 0.02952188439667225 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.27395248413086, "transform": { "location": { "x": 661.231689453125, "y": 4290.357421875, "z": 369.9071044921875 }, "rotation": { "roll": -0.0010681150015443563, "pitch": 0.22648222744464874, "yaw": 179.7137908935547 } }, "velocity": { "x": -8.273676872253418, "y": 0.05066390335559845, "z": 0.044640932232141495 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.044023513793945, "transform": { "location": { "x": 641.8705444335938, "y": 4290.470703125, "z": 370.0397644042969 }, "rotation": { "roll": 0.0022908702958375216, "pitch": 0.3013206124305725, "yaw": 179.64630126953125 } }, "velocity": { "x": -8.04376220703125, "y": 0.04957135394215584, "z": 0.04191068559885025 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.26298999786377, "transform": { "location": { "x": 697.618896484375, "y": 4290.14208984375, "z": 369.70068359375 }, "rotation": { "roll": -0.0005493163480423391, "pitch": 0.23005442321300507, "yaw": 179.64862060546875 } }, "velocity": { "x": -9.262670516967773, "y": 0.05562439188361168, "z": 0.053023651242256165 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.02646750584244728, "expert_target_speed": 0, "target_point": [ 24.377134147677705, 0.280113369009237 ], "target_point_next": [ 75.37416135828965, 0.8283797820709196 ] }, "245": { "acceleration": [ 0.21002085506916046, -0.010088866576552391, -0.008988962508738041 ], "angular_velocity": [ -0.013624120503664017, 0.15064279735088348, -0.000370144029147923 ], "forward_vector": [ -0.9997699856758118, 0.019725879654288292, -0.008412260562181473 ], "right_vector": [ -0.019730012863874435, -0.9998052716255188, 0.00040851443191058934 ], "location": [ 654.6485595703125, 4287.2705078125, 369.93646240234375 ], "rotation": [ -0.023406982421875, -0.4819927513599396, 178.8696746826172 ], "velocity": [ 0.0004773767141159624, 2.664649764483329e-05, -0.00029353334684856236 ], "speed": 0.0004781198207739242, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.203642845153809, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.025014877319336, "transform": { "location": { "x": 622.8963012695312, "y": 4294.03466796875, "z": 370.1065979003906 }, "rotation": { "roll": 0.0019518525805324316, "pitch": -0.31423649191856384, "yaw": -0.3141784369945526 } }, "velocity": { "x": 8.024788856506348, "y": -0.0441787987947464, "z": -0.04093938320875168 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.896153926849365, "transform": { "location": { "x": 625.564697265625, "y": 4297.2685546875, "z": 370.0906066894531 }, "rotation": { "roll": -0.001922607421875, "pitch": 0.015968982130289078, "yaw": -0.3475341498851776 } }, "velocity": { "x": 6.895944118499756, "y": -0.04179208353161812, "z": -0.03386876359581947 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.083709716796875, "transform": { "location": { "x": 667.9077758789062, "y": 4297.02099609375, "z": 369.8616027832031 }, "rotation": { "roll": 0.00017617922276258469, "pitch": -0.31375154852867126, "yaw": -0.3368224799633026 } }, "velocity": { "x": 8.083443641662598, "y": -0.047690730541944504, "z": -0.04502495005726814 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.025459289550781, "transform": { "location": { "x": 666.5632934570312, "y": 4293.77734375, "z": 369.8630676269531 }, "rotation": { "roll": 0.000705240061506629, "pitch": -0.3152405321598053, "yaw": -0.33291617035865784 } }, "velocity": { "x": 8.025202751159668, "y": -0.04654502123594284, "z": -0.04416980221867561 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030302047729492, "transform": { "location": { "x": 708.0028686523438, "y": 4296.7841796875, "z": 369.6358642578125 }, "rotation": { "roll": 0.00045504633453674614, "pitch": -0.33715176582336426, "yaw": -0.3311767280101776 } }, "velocity": { "x": 8.03002643585205, "y": -0.048384442925453186, "z": -0.045740384608507156 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.020703315734863, "transform": { "location": { "x": 708.770751953125, "y": 4293.5419921875, "z": 369.6345520019531 }, "rotation": { "roll": -0.0008544921292923391, "pitch": -0.33493196964263916, "yaw": -0.1689147800207138 } }, "velocity": { "x": 8.020437240600586, "y": -0.046122875064611435, "z": -0.046195678412914276 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 581.7042846679688, "y": 4294.17919921875, "z": 370.2981872558594 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 585.6668090820312, "y": 4297.40576171875, "z": 370.2779541015625 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 8.17734146118164, "transform": { "location": { "x": 688.5296630859375, "y": 4286.94775390625, "z": 369.74652099609375 }, "rotation": { "roll": 0.00039735680911689997, "pitch": 0.33807384967803955, "yaw": 179.6591339111328 } }, "velocity": { "x": -8.177069664001465, "y": 0.04868653044104576, "z": 0.04551742598414421 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.20157527923584, "transform": { "location": { "x": 669.532958984375, "y": 4287.05712890625, "z": 369.8609313964844 }, "rotation": { "roll": 0.0032012928277254105, "pitch": 0.41007769107818604, "yaw": 179.5005645751953 } }, "velocity": { "x": -6.201357841491699, "y": 0.038937244564294815, "z": 0.034393806010484695 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.0176676511764526, "transform": { "location": { "x": 615.963134765625, "y": 4287.41259765625, "z": 370.13104248046875 }, "rotation": { "roll": 0.008172141388058662, "pitch": 0.2638775110244751, "yaw": -179.79595947265625 } }, "velocity": { "x": -1.0176258087158203, "y": 0.00784220639616251, "z": 0.004871807061135769 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015631273854523897, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 2.1314061086741276e-05, "y": 9.849993148236535e-06, "z": 0.001562951016239822 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.668919086456299, "transform": { "location": { "x": 678.5165405273438, "y": 4290.2568359375, "z": 369.81201171875 }, "rotation": { "roll": 0.00021015814854763448, "pitch": 0.2902010679244995, "yaw": 179.61219787597656 } }, "velocity": { "x": -5.6687469482421875, "y": 0.03170524910092354, "z": 0.030744018033146858 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.29282283782959, "transform": { "location": { "x": 658.9540405273438, "y": 4290.37109375, "z": 369.919677734375 }, "rotation": { "roll": 2.4611483240732923e-05, "pitch": 0.19736513495445251, "yaw": 179.7000732421875 } }, "velocity": { "x": -9.292533874511719, "y": 0.05434936285018921, "z": 0.0491434670984745 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.007672309875488, "transform": { "location": { "x": 639.8643798828125, "y": 4290.48193359375, "z": 370.05023193359375 }, "rotation": { "roll": 0.0015334220370277762, "pitch": 0.30055561661720276, "yaw": 179.64649963378906 } }, "velocity": { "x": -8.007414817810059, "y": 0.04938485100865364, "z": 0.04105956107378006 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.30051326751709, "transform": { "location": { "x": 695.5824584960938, "y": 4290.154296875, "z": 369.7123107910156 }, "rotation": { "roll": 0.00025327710318379104, "pitch": 0.008838264271616936, "yaw": 179.6654052734375 } }, "velocity": { "x": -7.300252914428711, "y": 0.044393956661224365, "z": 0.042734164744615555 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.05114933103322983, "expert_target_speed": 0, "target_point": [ 24.108202977183826, 0.3560087940464326 ], "target_point_next": [ 75.10330677805237, 1.0608270104896294 ] }, "250": { "acceleration": [ -0.015661315992474556, 0.0027998804580420256, 0.009563665837049484 ], "angular_velocity": [ 0.050070688128471375, 1.5548721551895142, 0.0003508746740408242 ], "forward_vector": [ -0.9998049736022949, 0.0197256151586771, -0.0009645221289247274 ], "right_vector": [ -0.01972585916519165, -0.9998053908348083, 0.0002444780257064849 ], "location": [ 654.6458129882812, 4287.27099609375, 369.93487548828125 ], "rotation": [ -0.01400756649672985, -0.055263057351112366, 178.86973571777344 ], "velocity": [ 0.0049616009928286076, -0.0001435037120245397, 0.0007185374270193279 ], "speed": 0.004963675828194529, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.200959205627441, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.081972122192383, "transform": { "location": { "x": 624.9080200195312, "y": 4294.02294921875, "z": 370.0962829589844 }, "rotation": { "roll": 0.0011612909147515893, "pitch": -0.29018738865852356, "yaw": -0.3222046196460724 } }, "velocity": { "x": 8.081734657287598, "y": -0.04622512683272362, "z": -0.04112262278795242 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.077532768249512, "transform": { "location": { "x": 627.4305419921875, "y": 4297.2568359375, "z": 370.08135986328125 }, "rotation": { "roll": -0.004180908203125, "pitch": 0.022478152066469193, "yaw": -0.2373962253332138 } }, "velocity": { "x": 8.077303886413574, "y": -0.045969508588314056, "z": -0.03971819207072258 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.05154037475586, "transform": { "location": { "x": 669.9244384765625, "y": 4297.00927734375, "z": 369.8505859375 }, "rotation": { "roll": -0.0002746583195403218, "pitch": -0.31304803490638733, "yaw": -0.3400573432445526 } }, "velocity": { "x": 8.051277160644531, "y": -0.047840800136327744, "z": -0.044100046157836914 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.075020790100098, "transform": { "location": { "x": 668.5758666992188, "y": 4293.765625, "z": 369.85205078125 }, "rotation": { "roll": -0.0006713866605423391, "pitch": -0.313628613948822, "yaw": -0.3334350287914276 } }, "velocity": { "x": 8.074762344360352, "y": -0.04698634520173073, "z": -0.04433958977460861 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.031000137329102, "transform": { "location": { "x": 710.0104370117188, "y": 4296.7724609375, "z": 369.6241760253906 }, "rotation": { "roll": 0.0024227267131209373, "pitch": -0.3370698094367981, "yaw": -0.36071768403053284 } }, "velocity": { "x": 8.030716896057129, "y": -0.04962300509214401, "z": -0.04562651365995407 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.08602523803711, "transform": { "location": { "x": 710.784423828125, "y": 4293.52978515625, "z": 369.6228332519531 }, "rotation": { "roll": -0.00033569338847883046, "pitch": -0.33190619945526123, "yaw": -0.2007445991039276 } }, "velocity": { "x": 8.085734367370605, "y": -0.050474222749471664, "z": -0.04638727381825447 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 583.7874145507812, "y": 4294.1669921875, "z": 370.286865234375 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.086054801940918, "transform": { "location": { "x": 587.693359375, "y": 4297.40283203125, "z": 370.2614440917969 }, "rotation": { "roll": -0.0054931640625, "pitch": -0.25650089979171753, "yaw": -0.0006713866605423391 } }, "velocity": { "x": 8.085866928100586, "y": 0.017396794632077217, "z": -0.052233923226594925 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 8.272644996643066, "transform": { "location": { "x": 686.3994140625, "y": 4286.96044921875, "z": 369.7584533691406 }, "rotation": { "roll": -0.0001831055269576609, "pitch": 0.3300347328186035, "yaw": 179.65870666503906 } }, "velocity": { "x": -8.272360801696777, "y": 0.04927131161093712, "z": 0.047660548239946365 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005470470525324345, "transform": { "location": { "x": 668.8521728515625, "y": 4287.05810546875, "z": 369.8763732910156 }, "rotation": { "roll": 0.016899725422263145, "pitch": -1.0525457859039307, "yaw": 179.2848663330078 } }, "velocity": { "x": -0.004996336996555328, "y": -0.00200760830193758, "z": -0.0009654914611019194 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0044524529948830605, "transform": { "location": { "x": 615.9515380859375, "y": 4287.4130859375, "z": 370.1325988769531 }, "rotation": { "roll": -0.0025634767953306437, "pitch": -0.14288754761219025, "yaw": -179.7698516845703 } }, "velocity": { "x": 0.004383370280265808, "y": -2.262858470203355e-05, "z": 0.000780954142101109 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.001467607798986137, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 1.5048794011818245e-05, "y": -1.4967627976147924e-05, "z": 0.001467454363591969 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.316025257110596, "transform": { "location": { "x": 676.890380859375, "y": 4290.2666015625, "z": 369.8219909667969 }, "rotation": { "roll": 5.211042708452851e-11, "pitch": 0.16819339990615845, "yaw": 179.68386840820312 } }, "velocity": { "x": -7.315799236297607, "y": 0.040152061730623245, "z": 0.041152238845825195 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.179970741271973, "transform": { "location": { "x": 656.7670288085938, "y": 4290.3837890625, "z": 369.9298095703125 }, "rotation": { "roll": -0.001373291015625, "pitch": 0.3822583556175232, "yaw": 179.64244079589844 } }, "velocity": { "x": -8.179696083068848, "y": 0.04989544302225113, "z": 0.044769398868083954 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043561935424805, "transform": { "location": { "x": 637.85791015625, "y": 4290.494140625, "z": 370.06060791015625 }, "rotation": { "roll": 6.363452121149749e-05, "pitch": 0.2999272644519806, "yaw": 179.6463623046875 } }, "velocity": { "x": -8.043299674987793, "y": 0.04974500462412834, "z": 0.04181049391627312 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.687747001647949, "transform": { "location": { "x": 693.9467163085938, "y": 4290.16455078125, "z": 369.72161865234375 }, "rotation": { "roll": -9.1552734375e-05, "pitch": -0.012055283412337303, "yaw": 179.609130859375 } }, "velocity": { "x": -5.68754243850708, "y": 0.035751063376665115, "z": 0.03239814564585686 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.03829896077513695, "expert_target_speed": 0, "target_point": [ 24.105447637475933, 0.3564198113201793 ], "target_point_next": [ 75.10055211048831, 1.0611893950422977 ] }, "255": { "acceleration": [ -0.009201383218169212, -0.0014014252228662372, -0.0054949428886175156 ], "angular_velocity": [ 0.052244264632463455, 0.5654856562614441, 1.7807085896492936e-05 ], "forward_vector": [ -0.999799907207489, 0.019724322482943535, 0.0033219989854842424 ], "right_vector": [ -0.01972389407455921, -0.9998054504394531, 0.0001619192771613598 ], "location": [ 654.6443481445312, 4287.27099609375, 369.9339904785156 ], "rotation": [ -0.009277342818677425, 0.19033686816692352, 178.8697967529297 ], "velocity": [ 0.0018434275407344103, -0.00015970185631886125, 0.0009531046962365508 ], "speed": 0.0018503323433507305, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.199504852294922, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.082520484924316, "transform": { "location": { "x": 626.93017578125, "y": 4294.01123046875, "z": 370.0861511230469 }, "rotation": { "roll": 0.0003122681810054928, "pitch": -0.2719644606113434, "yaw": -0.3254393935203552 } }, "velocity": { "x": 8.082286834716797, "y": -0.04581945016980171, "z": -0.04091671481728554 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.545619010925293, "transform": { "location": { "x": 629.5774536132812, "y": 4297.24560546875, "z": 370.07177734375 }, "rotation": { "roll": -0.00115966796875, "pitch": -0.11321721225976944, "yaw": -0.2716064453125 } }, "velocity": { "x": 8.545376777648926, "y": -0.046846404671669006, "z": -0.04404286667704582 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.085214614868164, "transform": { "location": { "x": 671.941650390625, "y": 4296.99755859375, "z": 369.8395080566406 }, "rotation": { "roll": -0.0006713867769576609, "pitch": -0.3150083124637604, "yaw": -0.340911865234375 } }, "velocity": { "x": 8.084946632385254, "y": -0.04809589684009552, "z": -0.04485397785902023 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.025880813598633, "transform": { "location": { "x": 670.5879516601562, "y": 4293.75390625, "z": 369.84112548828125 }, "rotation": { "roll": -0.0010986329289153218, "pitch": -0.31283631920814514, "yaw": -0.33325186371803284 } }, "velocity": { "x": 8.025620460510254, "y": -0.04671722277998924, "z": -0.044731419533491135 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029792785644531, "transform": { "location": { "x": 712.0180053710938, "y": 4296.7607421875, "z": 369.61248779296875 }, "rotation": { "roll": 0.0014042239636182785, "pitch": -0.3382241129875183, "yaw": -0.3352355659008026 } }, "velocity": { "x": 8.02951431274414, "y": -0.048911675810813904, "z": -0.045630138367414474 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.021403312683105, "transform": { "location": { "x": 712.7974853515625, "y": 4293.51806640625, "z": 369.6111755371094 }, "rotation": { "roll": -0.0030212404672056437, "pitch": -0.336482435464859, "yaw": -0.1817321926355362 } }, "velocity": { "x": 8.021140098571777, "y": -0.04643131047487259, "z": -0.0454263873398304 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.09611988067627, "transform": { "location": { "x": 585.8455200195312, "y": 4294.1572265625, "z": 370.2742614746094 }, "rotation": { "roll": -0.005004882346838713, "pitch": -0.2558247148990631, "yaw": -0.2161559909582138 } }, "velocity": { "x": 8.095877647399902, "y": 0.015076996758580208, "z": -0.06070378050208092 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.113638877868652, "transform": { "location": { "x": 589.7183227539062, "y": 4297.40673828125, "z": 370.2510070800781 }, "rotation": { "roll": -0.004577635787427425, "pitch": -0.2531746029853821, "yaw": 0.2700274884700775 } }, "velocity": { "x": 8.113485336303711, "y": 0.033976852893829346, "z": -0.03649434447288513 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 7.746578216552734, "transform": { "location": { "x": 684.3733520507812, "y": 4286.97216796875, "z": 369.7701721191406 }, "rotation": { "roll": 0.00035219761775806546, "pitch": 0.3102613389492035, "yaw": 179.65855407714844 } }, "velocity": { "x": -7.746316909790039, "y": 0.04610766842961311, "z": 0.043862923979759216 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6443175673484802, "transform": { "location": { "x": 668.7603149414062, "y": 4287.05859375, "z": 369.8684997558594 }, "rotation": { "roll": 0.0037219917867332697, "pitch": -0.03170573711395264, "yaw": 179.29208374023438 } }, "velocity": { "x": -0.6442824602127075, "y": 0.0050866263918578625, "z": 0.004400720354169607 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0028270867187529802, "transform": { "location": { "x": 615.9498901367188, "y": 4287.4130859375, "z": 370.1316223144531 }, "rotation": { "roll": 0.0008591408259235322, "pitch": 0.12688441574573517, "yaw": -179.76992797851562 } }, "velocity": { "x": 0.0022918563336133957, "y": -5.8646503021009266e-05, "z": 0.0016541988588869572 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015849517658352852, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 8.097067620838061e-06, "y": 1.5924200852168724e-05, "z": 0.0015848510665819049 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.428582191467285, "transform": { "location": { "x": 674.9077758789062, "y": 4290.27783203125, "z": 369.8327331542969 }, "rotation": { "roll": -0.0010375973070040345, "pitch": 0.19768615067005157, "yaw": 179.677001953125 } }, "velocity": { "x": -8.42831039428711, "y": 0.04960205778479576, "z": 0.04606634005904198 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.123237609863281, "transform": { "location": { "x": 654.7576293945312, "y": 4290.3955078125, "z": 369.9410095214844 }, "rotation": { "roll": -0.0011291500413790345, "pitch": 0.3267084062099457, "yaw": 179.6659698486328 } }, "velocity": { "x": -8.12296199798584, "y": 0.050120268017053604, "z": 0.04424509033560753 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.006704330444336, "transform": { "location": { "x": 635.851806640625, "y": 4290.505859375, "z": 370.0710144042969 }, "rotation": { "roll": -0.00054931640625, "pitch": 0.29244136810302734, "yaw": 179.64271545410156 } }, "velocity": { "x": -8.006441116333008, "y": 0.049931515008211136, "z": 0.04147017374634743 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.058919906616211, "transform": { "location": { "x": 692.6318359375, "y": 4290.17236328125, "z": 369.7292175292969 }, "rotation": { "roll": -0.0005187987117096782, "pitch": 0.13833864033222198, "yaw": 179.6409454345703 } }, "velocity": { "x": -5.058737277984619, "y": 0.03122236579656601, "z": 0.029526863247156143 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.041566383093595505, "expert_target_speed": 0, "target_point": [ 24.103983418604404, 0.35636792925083727 ], "target_point_next": [ 75.09908856371425, 1.061088880251237 ] }, "260": { "acceleration": [ -0.002678422024473548, 0.0006839199340902269, -0.004015108570456505 ], "angular_velocity": [ 0.00300615094602108, 0.1836874783039093, 0.00010434592695673928 ], "forward_vector": [ -0.999794065952301, 0.019724206998944283, 0.0047733597457408905 ], "right_vector": [ -0.019723735749721527, -0.9998054504394531, 0.00014593955711461604 ], "location": [ 654.6435546875, 4287.27099609375, 369.93365478515625 ], "rotation": [ -0.008361815474927425, 0.2734944224357605, 178.8697967529297 ], "velocity": [ 0.0006139961769804358, -1.9653327399282716e-05, 0.001301605487242341 ], "speed": 0.0006143106369129987, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198716163635254, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.090466499328613, "transform": { "location": { "x": 628.9518432617188, "y": 4293.99951171875, "z": 370.07611083984375 }, "rotation": { "roll": 3.916481728083454e-05, "pitch": -0.29110947251319885, "yaw": -0.3259277045726776 } }, "velocity": { "x": 8.090230941772461, "y": -0.04597335681319237, "z": -0.041203055530786514 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.087786674499512, "transform": { "location": { "x": 631.64697265625, "y": 4297.23388671875, "z": 370.06365966796875 }, "rotation": { "roll": 0.0005671184626407921, "pitch": -0.43514448404312134, "yaw": -0.3135680854320526 } }, "velocity": { "x": 8.087550163269043, "y": -0.04610772803425789, "z": -0.04123394936323166 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051326751708984, "transform": { "location": { "x": 673.9583740234375, "y": 4296.98583984375, "z": 369.82843017578125 }, "rotation": { "roll": 0.0002916991070378572, "pitch": -0.3164972960948944, "yaw": -0.3408813178539276 } }, "velocity": { "x": 8.051060676574707, "y": -0.04790313169360161, "z": -0.044632527977228165 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.07591438293457, "transform": { "location": { "x": 672.6009521484375, "y": 4293.7421875, "z": 369.8299865722656 }, "rotation": { "roll": 0.001081530237570405, "pitch": -0.31542494893074036, "yaw": -0.3377685546875 } }, "velocity": { "x": 8.075650215148926, "y": -0.04747824743390083, "z": -0.04492528364062309 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030674934387207, "transform": { "location": { "x": 714.025390625, "y": 4296.7490234375, "z": 369.6007995605469 }, "rotation": { "roll": 0.0014627589844167233, "pitch": -0.3378894329071045, "yaw": -0.36019885540008545 } }, "velocity": { "x": 8.030393600463867, "y": -0.049701910465955734, "z": -0.0453331358730793 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.086005210876465, "transform": { "location": { "x": 714.8109741210938, "y": 4293.50634765625, "z": 369.5994873046875 }, "rotation": { "roll": -0.0019836428109556437, "pitch": -0.33340200781822205, "yaw": -0.191497802734375 } }, "velocity": { "x": 8.08572006225586, "y": -0.04886389523744583, "z": -0.04712476581335068 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.049172401428223, "transform": { "location": { "x": 587.8633422851562, "y": 4294.16064453125, "z": 370.261474609375 }, "rotation": { "roll": -0.003936766181141138, "pitch": -0.2551553547382355, "yaw": 0.1567179411649704 } }, "velocity": { "x": 8.049016952514648, "y": 0.027939099818468094, "z": -0.04140981286764145 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.07470989227295, "transform": { "location": { "x": 591.7416381835938, "y": 4297.4150390625, "z": 370.2420959472656 }, "rotation": { "roll": -0.0024719233624637127, "pitch": -0.2559203505516052, "yaw": 0.3604338467121124 } }, "velocity": { "x": 8.074564933776855, "y": 0.031181305646896362, "z": -0.036930207163095474 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 6.265130519866943, "transform": { "location": { "x": 682.6167602539062, "y": 4286.98291015625, "z": 369.7801513671875 }, "rotation": { "roll": -0.0002136231050826609, "pitch": 0.290030300617218, "yaw": 179.66030883789062 } }, "velocity": { "x": -6.264919757843018, "y": 0.037121400237083435, "z": 0.0355418398976326 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8473929762840271, "transform": { "location": { "x": 668.5526123046875, "y": 4287.06103515625, "z": 369.8648986816406 }, "rotation": { "roll": -0.0047607421875, "pitch": 0.5696104168891907, "yaw": 179.3205108642578 } }, "velocity": { "x": -0.8473543524742126, "y": 0.005931684281677008, "z": 0.005501403473317623 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0005118807312101126, "transform": { "location": { "x": 615.9490966796875, "y": 4287.4130859375, "z": 370.1313171386719 }, "rotation": { "roll": 0.0031626401469111443, "pitch": 0.22111369669437408, "yaw": -179.76992797851562 } }, "velocity": { "x": 0.0004790708189830184, "y": -0.00016305953613482416, "z": -7.697127875871956e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0011081126285716891, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 1.4788471162319183e-05, "y": -2.036117848547292e-06, "z": 0.0011080120457336307 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.25758171081543, "transform": { "location": { "x": 672.6930541992188, "y": 4290.29052734375, "z": 369.84478759765625 }, "rotation": { "roll": -0.0007934569730423391, "pitch": 0.22094294428825378, "yaw": 179.6707305908203 } }, "velocity": { "x": -9.257293701171875, "y": 0.05340730398893356, "z": 0.04970042034983635 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.075157165527344, "transform": { "location": { "x": 652.7210083007812, "y": 4290.4072265625, "z": 369.9520568847656 }, "rotation": { "roll": -0.000518798828125, "pitch": 0.30785027146339417, "yaw": 179.63449096679688 } }, "velocity": { "x": -8.074873924255371, "y": 0.05025850608944893, "z": 0.04531179368495941 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043998718261719, "transform": { "location": { "x": 633.8451538085938, "y": 4290.517578125, "z": 370.0812072753906 }, "rotation": { "roll": 0.0009591704583726823, "pitch": 0.29319268465042114, "yaw": 179.6424560546875 } }, "velocity": { "x": -8.04373550415039, "y": 0.05020143464207649, "z": 0.041316185146570206 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.236119747161865, "transform": { "location": { "x": 691.3356323242188, "y": 4290.1796875, "z": 369.73663330078125 }, "rotation": { "roll": -0.0014343262882903218, "pitch": 0.30929145216941833, "yaw": 179.64727783203125 } }, "velocity": { "x": -5.2359418869018555, "y": 0.03139621019363403, "z": 0.02961028926074505 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04104451835155487, "expert_target_speed": 10.0, "target_point": [ 24.103190285857142, 0.3563407854042235 ], "target_point_next": [ 75.09829576699833, 1.0610374200435235 ] }, "265": { "acceleration": [ -0.001553462352603674, -0.002488093450665474, 0.002842692192643881 ], "angular_velocity": [ 0.016086585819721222, 0.0771617442369461, 1.6214595234487206e-05 ], "forward_vector": [ -0.999792218208313, 0.019723933190107346, 0.00514612253755331 ], "right_vector": [ -0.019723573699593544, -0.9998054504394531, 0.00012037327542202547 ], "location": [ 654.6433715820312, 4287.27099609375, 369.93359375 ], "rotation": [ -0.006896972190588713, 0.2948524057865143, 178.86981201171875 ], "velocity": [ 0.0002634823613334447, -5.841238817083649e-05, 0.0003905489284079522 ], "speed": 0.0002698795320613781, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198534965515137, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.055827140808105, "transform": { "location": { "x": 630.968994140625, "y": 4293.98779296875, "z": 370.0660095214844 }, "rotation": { "roll": 0.0010327897034585476, "pitch": -0.29980430006980896, "yaw": -0.3268127143383026 } }, "velocity": { "x": 8.055586814880371, "y": -0.04675307124853134, "z": -0.041082713752985 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.907951831817627, "transform": { "location": { "x": 633.6341552734375, "y": 4297.22216796875, "z": 370.0531921386719 }, "rotation": { "roll": 6.967285912651278e-07, "pitch": -0.37793484330177307, "yaw": -0.328094482421875 } }, "velocity": { "x": 7.907719612121582, "y": -0.0449003130197525, "z": -0.04079630598425865 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.085405349731445, "transform": { "location": { "x": 675.9754638671875, "y": 4296.97412109375, "z": 369.8172912597656 }, "rotation": { "roll": 4.0094932046486065e-05, "pitch": -0.3165314495563507, "yaw": -0.3446350395679474 } }, "velocity": { "x": 8.08513355255127, "y": -0.04880884662270546, "z": -0.04485749080777168 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.023564338684082, "transform": { "location": { "x": 674.6130981445312, "y": 4293.73046875, "z": 369.8189392089844 }, "rotation": { "roll": 0.0011294609867036343, "pitch": -0.31744667887687683, "yaw": -0.3454895615577698 } }, "velocity": { "x": 8.023294448852539, "y": -0.048513803631067276, "z": -0.044507648795843124 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030725479125977, "transform": { "location": { "x": 716.033203125, "y": 4296.7373046875, "z": 369.5891418457031 }, "rotation": { "roll": -0.0003051756648346782, "pitch": -0.3373088836669922, "yaw": -0.3378906548023224 } }, "velocity": { "x": 8.030445098876953, "y": -0.049408696591854095, "z": -0.04540367051959038 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.020934104919434, "transform": { "location": { "x": 716.8240356445312, "y": 4293.494140625, "z": 369.5877685546875 }, "rotation": { "roll": -0.0014343258226290345, "pitch": -0.3373703360557556, "yaw": -0.189849853515625 } }, "velocity": { "x": 8.020659446716309, "y": -0.04614830017089844, "z": -0.04777548834681511 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.076421737670898, "transform": { "location": { "x": 589.8792114257812, "y": 4294.16748046875, "z": 370.2522277832031 }, "rotation": { "roll": -0.002899169921875, "pitch": -0.25277847051620483, "yaw": 0.23456589877605438 } }, "velocity": { "x": 8.076277732849121, "y": 0.031476885080337524, "z": -0.0364270955324173 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.101740837097168, "transform": { "location": { "x": 593.763671875, "y": 4297.42138671875, "z": 370.2330322265625 }, "rotation": { "roll": 0.00019159917428623885, "pitch": -0.2610156536102295, "yaw": 0.18230117857456207 } }, "velocity": { "x": 8.101649284362793, "y": 0.008004683069884777, "z": -0.037743378430604935 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.6092560291290283, "transform": { "location": { "x": 681.7296752929688, "y": 4286.99169921875, "z": 369.78558349609375 }, "rotation": { "roll": 0.004802725277841091, "pitch": 0.20702984929084778, "yaw": -179.60496520996094 } }, "velocity": { "x": -0.6092182397842407, "y": -0.006188788916915655, "z": 0.0027907276526093483 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.807762622833252, "transform": { "location": { "x": 668.351806640625, "y": 4287.06298828125, "z": 369.86767578125 }, "rotation": { "roll": -0.002807616489008069, "pitch": 0.3547395169734955, "yaw": 179.35157775878906 } }, "velocity": { "x": -0.8077244162559509, "y": 0.005470698233693838, "z": 0.005636930465698242 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0003662833187263459, "transform": { "location": { "x": 615.94873046875, "y": 4287.4130859375, "z": 370.1311950683594 }, "rotation": { "roll": 0.0026383171789348125, "pitch": 0.2568902373313904, "yaw": -179.7698974609375 } }, "velocity": { "x": 0.0003503190237097442, "y": -0.00010406079672975466, "z": 2.472675078024622e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.001890669227577746, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00010239651601295918, "pitch": 0.2724084258079529, "yaw": 179.66148376464844 } }, "velocity": { "x": 7.148459189920686e-06, "y": -7.66124067013152e-05, "z": 0.0018891028594225645 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 10.12497329711914, "transform": { "location": { "x": 670.2601318359375, "y": 4290.30419921875, "z": 369.8580627441406 }, "rotation": { "roll": 0.000604229629971087, "pitch": 0.22452878952026367, "yaw": 179.67054748535156 } }, "velocity": { "x": -10.124656677246094, "y": 0.05821504443883896, "z": 0.05489012598991394 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.974427223205566, "transform": { "location": { "x": 650.7219848632812, "y": 4290.4189453125, "z": 369.9626770019531 }, "rotation": { "roll": 0.0016230619512498379, "pitch": 0.3127133548259735, "yaw": 179.6678466796875 } }, "velocity": { "x": -7.97418212890625, "y": 0.0464700348675251, "z": 0.04178018495440483 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.008380889892578, "transform": { "location": { "x": 631.8389892578125, "y": 4290.52978515625, "z": 370.0914001464844 }, "rotation": { "roll": 0.0007460464839823544, "pitch": 0.2931995093822479, "yaw": 179.64076232910156 } }, "velocity": { "x": -8.0081148147583, "y": 0.05155698582530022, "z": 0.04016115143895149 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.859684467315674, "transform": { "location": { "x": 689.6395874023438, "y": 4290.1904296875, "z": 369.74639892578125 }, "rotation": { "roll": 0.00022244163847062737, "pitch": 0.7025600671768188, "yaw": 179.6612548828125 } }, "velocity": { "x": -7.859415531158447, "y": 0.04653775691986084, "z": 0.04536686837673187 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.046167414635419846, "expert_target_speed": 10.0, "target_point": [ 24.103007385921362, 0.3563256806166521 ], "target_point_next": [ 75.09811320308229, 1.060997998894692 ] }, "270": { "acceleration": [ 0.0010530538856983185, 0.0008468309533782303, 0.0035808966495096684 ], "angular_velocity": [ -0.012434105388820171, 0.020450077950954437, 0.00013896329619456083 ], "forward_vector": [ -0.9997914433479309, 0.019723203033208847, 0.0052921525202691555 ], "right_vector": [ -0.019722819328308105, -0.9998054504394531, 0.00012463417078834027 ], "location": [ 654.6432495117188, 4287.27099609375, 369.93353271484375 ], "rotation": [ -0.007141112349927425, 0.30321940779685974, 178.86985778808594 ], "velocity": [ 7.799237937433645e-05, 4.1601153498049825e-05, 0.0001861808996181935 ], "speed": 8.839381886104212e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198412895202637, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.096086502075195, "transform": { "location": { "x": 632.988525390625, "y": 4293.97607421875, "z": 370.0556640625 }, "rotation": { "roll": 0.0006748797604814172, "pitch": -0.2912597358226776, "yaw": -0.3287353515625 } }, "velocity": { "x": 8.09584903717041, "y": -0.04640348628163338, "z": -0.041205428540706635 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.156720161437988, "transform": { "location": { "x": 635.6453247070312, "y": 4297.21044921875, "z": 370.0417785644531 }, "rotation": { "roll": -0.00021362311963457614, "pitch": -0.2360171675682068, "yaw": -0.3301391303539276 } }, "velocity": { "x": 8.15648078918457, "y": -0.046850766986608505, "z": -0.04132452979683876 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051877975463867, "transform": { "location": { "x": 677.9923095703125, "y": 4296.96240234375, "z": 369.8061218261719 }, "rotation": { "roll": -0.00018310548330191523, "pitch": -0.31869661808013916, "yaw": -0.3506774604320526 } }, "velocity": { "x": 8.051603317260742, "y": -0.049311745911836624, "z": -0.04455101862549782 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076860427856445, "transform": { "location": { "x": 676.6257934570312, "y": 4293.71875, "z": 369.80780029296875 }, "rotation": { "roll": 0.0005370175349526107, "pitch": -0.3168319761753082, "yaw": -0.344970703125 } }, "velocity": { "x": 8.076581001281738, "y": -0.05017721652984619, "z": -0.04465346410870552 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030252456665039, "transform": { "location": { "x": 718.0407104492188, "y": 4296.7255859375, "z": 369.57745361328125 }, "rotation": { "roll": -3.0517621780745685e-05, "pitch": -0.3373361825942993, "yaw": -0.3633117377758026 } }, "velocity": { "x": 8.029969215393066, "y": -0.0500342920422554, "z": -0.04522576183080673 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.086653709411621, "transform": { "location": { "x": 718.8377685546875, "y": 4293.482421875, "z": 369.5759582519531 }, "rotation": { "roll": -0.003204345703125, "pitch": -0.33428993821144104, "yaw": -0.172454833984375 } }, "velocity": { "x": 8.086394309997559, "y": -0.04471772909164429, "z": -0.04697801172733307 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 7.851861476898193, "transform": { "location": { "x": 591.8896484375, "y": 4294.17529296875, "z": 370.2433166503906 }, "rotation": { "roll": -0.0018005369929596782, "pitch": -0.2575664222240448, "yaw": 0.22582538425922394 } }, "velocity": { "x": 7.851752758026123, "y": 0.019391532987356186, "z": -0.03646736592054367 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.062829971313477, "transform": { "location": { "x": 595.7841186523438, "y": 4297.423828125, "z": 370.2239074707031 }, "rotation": { "roll": -0.000213623046875, "pitch": -0.26089954376220703, "yaw": -0.017822265625 } }, "velocity": { "x": 8.062746047973633, "y": -0.004532304126769304, "z": -0.036529820412397385 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.6970180869102478, "transform": { "location": { "x": 681.6448974609375, "y": 4286.99169921875, "z": 369.78546142578125 }, "rotation": { "roll": 0.005709752906113863, "pitch": 0.29312437772750854, "yaw": -179.61390686035156 } }, "velocity": { "x": -0.697009265422821, "y": 0.0015089591033756733, "z": 0.003171625081449747 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.006467819213867, "transform": { "location": { "x": 667.9771728515625, "y": 4287.0654296875, "z": 369.8686218261719 }, "rotation": { "roll": -0.004150389693677425, "pitch": 0.5033507347106934, "yaw": 179.37161254882812 } }, "velocity": { "x": -2.0063939094543457, "y": 0.013581025414168835, "z": 0.010592231526970863 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00013927946565672755, "transform": { "location": { "x": 615.9486083984375, "y": 4287.4130859375, "z": 370.1311340332031 }, "rotation": { "roll": 0.0020400064531713724, "pitch": 0.26976513862609863, "yaw": -179.7698516845703 } }, "velocity": { "x": 0.0001261791621800512, "y": 4.832288686884567e-05, "z": -3.3800712117226794e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0014298525638878345, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00046463991748169065, "pitch": 0.272579163312912, "yaw": 179.66162109375 } }, "velocity": { "x": 1.3935975403001066e-05, "y": -2.046110921583022e-06, "z": 0.0014297831803560257 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.231406211853027, "transform": { "location": { "x": 667.810791015625, "y": 4290.318359375, "z": 369.8702697753906 }, "rotation": { "roll": -0.000457763671875, "pitch": 0.36365291476249695, "yaw": 179.6638641357422 } }, "velocity": { "x": -9.231093406677246, "y": 0.05578259378671646, "z": 0.05152370408177376 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.052438735961914, "transform": { "location": { "x": 648.7177734375, "y": 4290.4306640625, "z": 369.973388671875 }, "rotation": { "roll": -0.0004272460355423391, "pitch": 0.2963755428791046, "yaw": 179.63194274902344 } }, "velocity": { "x": -8.052175521850586, "y": 0.05069345235824585, "z": 0.04079049080610275 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.044222831726074, "transform": { "location": { "x": 629.83251953125, "y": 4290.54150390625, "z": 370.1015625 }, "rotation": { "roll": -0.0003356933011673391, "pitch": 0.2929946184158325, "yaw": 179.6387939453125 } }, "velocity": { "x": -8.043960571289062, "y": 0.05071992799639702, "z": 0.040644243359565735 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.023048400878906, "transform": { "location": { "x": 687.5125122070312, "y": 4290.20263671875, "z": 369.7584228515625 }, "rotation": { "roll": 0.00026322249323129654, "pitch": 0.6052913069725037, "yaw": 179.66070556640625 } }, "velocity": { "x": -9.022747039794922, "y": 0.0533624142408371, "z": 0.05082842707633972 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04411785304546356, "expert_target_speed": 10.0, "target_point": [ 24.102885509260418, 0.35631177980474765 ], "target_point_next": [ 75.0979916624295, 1.0609597817213674 ] }, "275": { "acceleration": [ -0.0006870426004752517, 0.002768291160464287, -0.002639255253598094 ], "angular_velocity": [ -0.028268201276659966, 0.018001584336161613, 0.0002314240555278957 ], "forward_vector": [ -0.999791145324707, 0.019722959026694298, 0.005353067070245743 ], "right_vector": [ -0.019722629338502884, -0.9998054504394531, 0.00011398165224818513 ], "location": [ 654.6432495117188, 4287.27099609375, 369.93353271484375 ], "rotation": [ -0.006530761253088713, 0.3067096173763275, 178.869873046875 ], "velocity": [ 7.107239071046934e-05, 9.224697714671493e-05, 0.00039843760896474123 ], "speed": 0.00011645080297708623, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198412895202637, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063501358032227, "transform": { "location": { "x": 635.0086059570312, "y": 4293.96435546875, "z": 370.04547119140625 }, "rotation": { "roll": 0.0010903325164690614, "pitch": -0.2922911047935486, "yaw": -0.3330687880516052 } }, "velocity": { "x": 8.06325626373291, "y": -0.047769974917173386, "z": -0.04100502282381058 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.1039400100708, "transform": { "location": { "x": 637.6827392578125, "y": 4297.19873046875, "z": 370.0316467285156 }, "rotation": { "roll": 0.0014378853375092149, "pitch": -0.27450528740882874, "yaw": -0.33575439453125 } }, "velocity": { "x": 8.103696823120117, "y": -0.04749715328216553, "z": -0.04113667458295822 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084538459777832, "transform": { "location": { "x": 680.0093383789062, "y": 4296.95068359375, "z": 369.7948303222656 }, "rotation": { "roll": -0.0004272459773346782, "pitch": -0.3208003044128418, "yaw": -0.35540771484375 } }, "velocity": { "x": 8.084256172180176, "y": -0.05010094493627548, "z": -0.04529428854584694 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.023334503173828, "transform": { "location": { "x": 678.6380615234375, "y": 4293.70703125, "z": 369.796630859375 }, "rotation": { "roll": -0.0002746579993981868, "pitch": -0.32092323899269104, "yaw": -0.3475341498851776 } }, "velocity": { "x": 8.023064613342285, "y": -0.04867560788989067, "z": -0.044311005622148514 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030956268310547, "transform": { "location": { "x": 720.0481567382812, "y": 4296.7138671875, "z": 369.5657653808594 }, "rotation": { "roll": -0.0005798339261673391, "pitch": -0.3379509150981903, "yaw": -0.33758544921875 } }, "velocity": { "x": 8.03067684173584, "y": -0.049367040395736694, "z": -0.04529542848467827 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.020673751831055, "transform": { "location": { "x": 720.8508911132812, "y": 4293.470703125, "z": 369.5642395019531 }, "rotation": { "roll": -0.0014038082445040345, "pitch": -0.33514371514320374, "yaw": -0.153411865234375 } }, "velocity": { "x": 8.020415306091309, "y": -0.04416999593377113, "z": -0.04684598743915558 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 7.471786022186279, "transform": { "location": { "x": 593.7615966796875, "y": 4294.177734375, "z": 370.23492431640625 }, "rotation": { "roll": -0.000732421875, "pitch": -0.26989489793777466, "yaw": 0.05561758950352669 } }, "velocity": { "x": 7.471709251403809, "y": -0.004895838908851147, "z": -0.03349628672003746 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.091280937194824, "transform": { "location": { "x": 597.8034057617188, "y": 4297.42138671875, "z": 370.214599609375 }, "rotation": { "roll": 0.00014858072972856462, "pitch": -0.26467666029930115, "yaw": -0.1523742377758026 } }, "velocity": { "x": 8.091164588928223, "y": -0.02252458594739437, "z": -0.03706144541501999 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.4547758102416992, "transform": { "location": { "x": 681.3666381835938, "y": 4286.99169921875, "z": 369.78662109375 }, "rotation": { "roll": 0.004337359685450792, "pitch": 0.33487048745155334, "yaw": -179.733642578125 } }, "velocity": { "x": -1.4547359943389893, "y": 0.00804076623171568, "z": 0.007182550150901079 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.22245824337005615, "transform": { "location": { "x": 667.6137084960938, "y": 4287.06787109375, "z": 369.8741455078125 }, "rotation": { "roll": 0.003683180082589388, "pitch": 0.057817548513412476, "yaw": 179.33876037597656 } }, "velocity": { "x": -0.22245444357395172, "y": 0.0009519163868390024, "z": 0.0008870792225934565 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0003930129751097411, "transform": { "location": { "x": 615.9486083984375, "y": 4287.4130859375, "z": 370.1311340332031 }, "rotation": { "roll": 0.0025138824712485075, "pitch": 0.2729889750480652, "yaw": -179.7698516845703 } }, "velocity": { "x": 4.3006351916119456e-05, "y": 6.741183460690081e-05, "z": -0.00038479253998957574 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0014203200116753578, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00046463991748169065, "pitch": 0.272579163312912, "yaw": 179.66162109375 } }, "velocity": { "x": 9.104981472773943e-06, "y": 1.3356077033677138e-05, "z": 0.0014202280435711145 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.670963287353516, "transform": { "location": { "x": 665.65185546875, "y": 4290.33154296875, "z": 369.8815002441406 }, "rotation": { "roll": 0.00011196154810022563, "pitch": 0.439823180437088, "yaw": 179.65625 } }, "velocity": { "x": -7.6707072257995605, "y": 0.045763805508613586, "z": 0.04284688085317612 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.032474517822266, "transform": { "location": { "x": 646.7058715820312, "y": 4290.4423828125, "z": 369.9839782714844 }, "rotation": { "roll": 4.026434544357471e-05, "pitch": 0.30184653401374817, "yaw": 179.6666717529297 } }, "velocity": { "x": -8.032217025756836, "y": 0.04931582510471344, "z": 0.04120498523116112 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.00727367401123, "transform": { "location": { "x": 627.8263549804688, "y": 4290.55322265625, "z": 370.11163330078125 }, "rotation": { "roll": -0.00021362303232308477, "pitch": 0.2865332365036011, "yaw": 179.64218139648438 } }, "velocity": { "x": -8.00701904296875, "y": 0.049831684678792953, "z": 0.039997491985559464 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.801939010620117, "transform": { "location": { "x": 685.1803588867188, "y": 4290.216796875, "z": 369.77154541015625 }, "rotation": { "roll": 0.0025093615986406803, "pitch": 0.5394483208656311, "yaw": 179.6548309326172 } }, "velocity": { "x": -9.801602363586426, "y": 0.06012283265590668, "z": 0.05456149950623512 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.046174921095371246, "expert_target_speed": 10.0, "target_point": [ 24.102885509260418, 0.35631177980474765 ], "target_point_next": [ 75.0979916624295, 1.0609597817213674 ] }, "280": { "acceleration": [ -0.00013719202252104878, 0.0032984570134431124, -0.002202819101512432 ], "angular_velocity": [ -0.04094025865197182, -4.133006223128177e-05, 0.00029272708343341947 ], "forward_vector": [ -0.9997908473014832, 0.019722474738955498, 0.0054117171093821526 ], "right_vector": [ -0.019722262397408485, -0.9998055100440979, 9.267665154766291e-05 ], "location": [ 654.6431884765625, 4287.27099609375, 369.93353271484375 ], "rotation": [ -0.005310059059411287, 0.31007006764411926, 178.86990356445312 ], "velocity": [ 1.0356902748753782e-05, 0.00012950439122505486, 0.00010056805331259966 ], "speed": 0.00012991786936799422, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.090996742248535, "transform": { "location": { "x": 637.0278930664062, "y": 4293.95263671875, "z": 370.0350646972656 }, "rotation": { "roll": -0.00015258800704032183, "pitch": -0.29550811648368835, "yaw": -0.3354491889476776 } }, "velocity": { "x": 8.090752601623535, "y": -0.04735875874757767, "z": -0.04137610271573067 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.051451683044434, "transform": { "location": { "x": 639.6990356445312, "y": 4297.1875, "z": 370.02166748046875 }, "rotation": { "roll": 0.0015019181882962584, "pitch": -0.33176276087760925, "yaw": -0.340087890625 } }, "velocity": { "x": 8.051197052001953, "y": -0.04882632941007614, "z": -0.04143994674086571 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051787376403809, "transform": { "location": { "x": 682.0263061523438, "y": 4296.939453125, "z": 369.7835388183594 }, "rotation": { "roll": -0.00015258774510584772, "pitch": -0.32070469856262207, "yaw": -0.355712890625 } }, "velocity": { "x": 8.051509857177734, "y": -0.049950964748859406, "z": -0.044423140585422516 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.07599925994873, "transform": { "location": { "x": 680.6506958007812, "y": 4293.6953125, "z": 369.7853698730469 }, "rotation": { "roll": -0.0019226073054596782, "pitch": -0.32013094425201416, "yaw": -0.35137939453125 } }, "velocity": { "x": 8.075724601745605, "y": -0.049600329250097275, "z": -0.04443156719207764 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030030250549316, "transform": { "location": { "x": 722.055908203125, "y": 4296.7021484375, "z": 369.5541076660156 }, "rotation": { "roll": 5.107336983201094e-05, "pitch": -0.3372747302055359, "yaw": -0.3677672743797302 } }, "velocity": { "x": 8.029745101928711, "y": -0.04968546703457832, "z": -0.04588131979107857 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.085715293884277, "transform": { "location": { "x": 722.8644409179688, "y": 4293.458984375, "z": 369.5525817871094 }, "rotation": { "roll": -0.0017395018367096782, "pitch": -0.33407819271087646, "yaw": -0.1681518405675888 } }, "velocity": { "x": 8.085463523864746, "y": -0.04460133612155914, "z": -0.045720137655735016 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.341498374938965, "transform": { "location": { "x": 595.73876953125, "y": 4294.17626953125, "z": 370.22576904296875 }, "rotation": { "roll": -0.00021362306142691523, "pitch": -0.2434074431657791, "yaw": -0.0706787034869194 } }, "velocity": { "x": 8.341398239135742, "y": -0.015048589557409286, "z": -0.037857331335544586 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.023534297943115, "transform": { "location": { "x": 599.7294311523438, "y": 4297.41552734375, "z": 370.20599365234375 }, "rotation": { "roll": -0.0006103515042923391, "pitch": -0.29980430006980896, "yaw": -0.246551513671875 } }, "velocity": { "x": 7.023400783538818, "y": -0.02831456996500492, "z": -0.03281979635357857 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.253476619720459, "transform": { "location": { "x": 680.8921508789062, "y": 4286.9921875, "z": 369.78924560546875 }, "rotation": { "roll": 0.004079750739037991, "pitch": 0.3387090563774109, "yaw": -179.8705596923828 } }, "velocity": { "x": -2.2534141540527344, "y": 0.0118534741923213, "z": 0.011870832182466984 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6421765089035034, "transform": { "location": { "x": 667.3479614257812, "y": 4287.0712890625, "z": 369.87322998046875 }, "rotation": { "roll": -0.0006408687913790345, "pitch": 0.34908410906791687, "yaw": 179.4203643798828 } }, "velocity": { "x": -1.6421105861663818, "y": 0.01191714871674776, "z": 0.008628444746136665 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.315572631545365e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1311340332031 }, "rotation": { "roll": 0.001521036378107965, "pitch": 0.2771349251270294, "yaw": -179.7698516845703 } }, "velocity": { "x": 2.7066171242040582e-05, "y": 1.4899458165018586e-06, "z": -7.861346966819838e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015795667422935367, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.00046463991748169065, "pitch": 0.272579163312912, "yaw": 179.66162109375 } }, "velocity": { "x": 2.2807827917858958e-05, "y": 3.912764441338368e-05, "z": 0.0015789172612130642 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.901344299316406, "transform": { "location": { "x": 663.890380859375, "y": 4290.34228515625, "z": 369.8913269042969 }, "rotation": { "roll": 0.000782278657425195, "pitch": 0.40153998136520386, "yaw": 179.67843627929688 } }, "velocity": { "x": -6.901131629943848, "y": 0.03947485238313675, "z": 0.03710467368364334 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.02315616607666, "transform": { "location": { "x": 644.7003173828125, "y": 4290.4541015625, "z": 369.9944763183594 }, "rotation": { "roll": 0.0009519319282844663, "pitch": 0.29905980825424194, "yaw": 179.6291046142578 } }, "velocity": { "x": -8.022897720336914, "y": 0.049205683171749115, "z": 0.0415806844830513 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043222427368164, "transform": { "location": { "x": 625.8198852539062, "y": 4290.56494140625, "z": 370.1215515136719 }, "rotation": { "roll": -0.0007324218167923391, "pitch": 0.28520137071609497, "yaw": 179.6429443359375 } }, "velocity": { "x": -8.042962074279785, "y": 0.05020074173808098, "z": 0.04088030755519867 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.9497652053833, "transform": { "location": { "x": 682.8232421875, "y": 4290.23095703125, "z": 369.78472900390625 }, "rotation": { "roll": 0.0, "pitch": 0.2523481547832489, "yaw": 179.65365600585938 } }, "velocity": { "x": -8.949457168579102, "y": 0.053095534443855286, "z": 0.0518915168941021 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.046182602643966675, "expert_target_speed": 10.0, "target_point": [ 24.10282465587604, 0.3562990828812157 ], "target_point_next": [ 75.09793114504167, 1.060922768436255 ] }, "285": { "acceleration": [ -0.000353399635059759, 0.0008875094354152679, -0.0019117258489131927 ], "angular_velocity": [ -0.000545936927665025, -6.24446984147653e-05, 6.464812759077176e-05 ], "forward_vector": [ -0.9997908473014832, 0.019722474738955498, 0.0054117171093821526 ], "right_vector": [ -0.019722262397408485, -0.9998055100440979, 9.267665154766291e-05 ], "location": [ 654.6431884765625, 4287.27099609375, 369.93353271484375 ], "rotation": [ -0.005310059059411287, 0.31007006764411926, 178.86990356445312 ], "velocity": [ 1.4063045455259271e-05, 1.0948027011181694e-05, 0.0006407917244359851 ], "speed": 1.7822136317351307e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06305980682373, "transform": { "location": { "x": 639.0469970703125, "y": 4293.94091796875, "z": 370.0246887207031 }, "rotation": { "roll": -0.0004577636136673391, "pitch": -0.3010883927345276, "yaw": -0.33837890625 } }, "velocity": { "x": 8.062813758850098, "y": -0.047640424221754074, "z": -0.04125482589006424 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.060157775878906, "transform": { "location": { "x": 641.711669921875, "y": 4297.17529296875, "z": 370.0108642578125 }, "rotation": { "roll": 0.0010974580654874444, "pitch": -0.30273446440696716, "yaw": -0.3435973823070526 } }, "velocity": { "x": 8.059907913208008, "y": -0.0482519157230854, "z": -0.0412040650844574 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084982872009277, "transform": { "location": { "x": 684.0432739257812, "y": 4296.92724609375, "z": 369.772216796875 }, "rotation": { "roll": -0.00045776370097883046, "pitch": -0.3219614326953888, "yaw": -0.355682373046875 } }, "velocity": { "x": 8.084697723388672, "y": -0.05018969252705574, "z": -0.045716796070337296 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.02500057220459, "transform": { "location": { "x": 682.6629028320312, "y": 4293.68359375, "z": 369.774169921875 }, "rotation": { "roll": -0.0005187988863326609, "pitch": -0.32070469856262207, "yaw": -0.3515625 } }, "velocity": { "x": 8.024724006652832, "y": -0.04925794526934624, "z": -0.04484982788562775 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030867576599121, "transform": { "location": { "x": 724.0634155273438, "y": 4296.6904296875, "z": 369.54241943359375 }, "rotation": { "roll": -0.00021362291590776294, "pitch": -0.3372747302055359, "yaw": -0.3439941108226776 } }, "velocity": { "x": 8.0305814743042, "y": -0.050209660083055496, "z": -0.04543868824839592 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 724.8915405273438, "y": 4293.43701171875, "z": 369.5408630371094 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.112120628356934, "transform": { "location": { "x": 597.8141479492188, "y": 4294.171875, "z": 370.2164001464844 }, "rotation": { "roll": 0.0004593094636220485, "pitch": -0.26620662212371826, "yaw": -0.1544494777917862 } }, "velocity": { "x": 8.111988067626953, "y": -0.027867767959833145, "z": -0.03692971542477608 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.85370397567749, "transform": { "location": { "x": 601.4349975585938, "y": 4297.408203125, "z": 370.1978454589844 }, "rotation": { "roll": -0.0011596678523346782, "pitch": -0.2822302281856537, "yaw": -0.2825011909008026 } }, "velocity": { "x": 6.853548526763916, "y": -0.03165440633893013, "z": -0.0335216224193573 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00038267194759100676, "transform": { "location": { "x": 680.5407104492188, "y": 4286.9931640625, "z": 369.7917175292969 }, "rotation": { "roll": 0.0028349461499601603, "pitch": 0.27720320224761963, "yaw": -179.94894409179688 } }, "velocity": { "x": -2.427779145364184e-05, "y": -0.00017413333989679813, "z": 0.000339891150360927 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.3660435676574707, "transform": { "location": { "x": 666.7974853515625, "y": 4287.07568359375, "z": 369.8741760253906 }, "rotation": { "roll": -0.005737304221838713, "pitch": 0.5966101884841919, "yaw": 179.48529052734375 } }, "velocity": { "x": -2.3659579753875732, "y": 0.015078801661729813, "z": 0.013341703452169895 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.000263072521192953, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1311340332031 }, "rotation": { "roll": 0.001521036378107965, "pitch": 0.2771349251270294, "yaw": -179.7698516845703 } }, "velocity": { "x": 1.3011209375690669e-05, "y": 1.3229944670456462e-05, "z": -0.0002624172775540501 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0010953989112749696, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 1.6876234440132976e-05, "y": 9.015519026434049e-06, "z": 0.001095231855288148 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.442512035369873, "transform": { "location": { "x": 662.1102905273438, "y": 4290.3525390625, "z": 369.9019775390625 }, "rotation": { "roll": -0.0010986325796693563, "pitch": 0.2744506597518921, "yaw": 179.63890075683594 } }, "velocity": { "x": -7.44227409362793, "y": 0.04441819712519646, "z": 0.039636220782995224 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.03432846069336, "transform": { "location": { "x": 642.6929321289062, "y": 4290.46630859375, "z": 370.0050048828125 }, "rotation": { "roll": 0.0015204178635030985, "pitch": 0.2958633005619049, "yaw": 179.66200256347656 } }, "velocity": { "x": -8.034069061279297, "y": 0.049900125712156296, "z": 0.0410955511033535 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.824124813079834, "transform": { "location": { "x": 623.8220825195312, "y": 4290.57763671875, "z": 370.1315612792969 }, "rotation": { "roll": -0.0006713866023346782, "pitch": 0.2720600664615631, "yaw": 179.6394500732422 } }, "velocity": { "x": -7.823876857757568, "y": 0.047864388674497604, "z": 0.03985048085451126 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.835150718688965, "transform": { "location": { "x": 680.7579345703125, "y": 4290.2431640625, "z": 369.7962341308594 }, "rotation": { "roll": -0.0006103515042923391, "pitch": 0.12703467905521393, "yaw": 179.65646362304688 } }, "velocity": { "x": -7.8348822593688965, "y": 0.04701090604066849, "z": 0.044673413038253784 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04492900148034096, "expert_target_speed": 0, "target_point": [ 24.10282465587604, 0.3562990828812157 ], "target_point_next": [ 75.09793114504167, 1.060922768436255 ] }, "290": { "acceleration": [ -0.0004695132374763489, -0.000965361890848726, -0.007118149660527706 ], "angular_velocity": [ 0.013527658767998219, -0.003269380424171686, 6.708166438329499e-06 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.93353271484375 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ 2.7968733320449246e-06, -3.8140326068969443e-05, 0.0004319389699958265 ], "speed": 3.824273752077398e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093985557556152, "transform": { "location": { "x": 641.066650390625, "y": 4293.92919921875, "z": 370.01416015625 }, "rotation": { "roll": -0.0004882813082076609, "pitch": -0.30273446440696716, "yaw": -0.3391112983226776 } }, "velocity": { "x": 8.093740463256836, "y": -0.04786500707268715, "z": -0.04092200845479965 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.111875534057617, "transform": { "location": { "x": 643.7350463867188, "y": 4297.1640625, "z": 370.0001525878906 }, "rotation": { "roll": -0.00015258796338457614, "pitch": -0.28872573375701904, "yaw": -0.3441162109375 } }, "velocity": { "x": 8.111624717712402, "y": -0.048739418387413025, "z": -0.04119652137160301 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051849365234375, "transform": { "location": { "x": 686.060302734375, "y": 4296.91552734375, "z": 369.7608947753906 }, "rotation": { "roll": 0.0010263418080285192, "pitch": -0.32373046875, "yaw": -0.3580016791820526 } }, "velocity": { "x": 8.05156421661377, "y": -0.05034961923956871, "z": -0.045388106256723404 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.07778549194336, "transform": { "location": { "x": 684.6760864257812, "y": 4293.671875, "z": 369.7628479003906 }, "rotation": { "roll": 0.0006284467526711524, "pitch": -0.32354605197906494, "yaw": -0.350067138671875 } }, "velocity": { "x": 8.07750129699707, "y": -0.05094354972243309, "z": -0.04473032429814339 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 726.1458129882812, "y": 4296.63671875, "z": 369.5321350097656 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 726.9735717773438, "y": 4293.37353515625, "z": 369.52935791015625 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 7.913319110870361, "transform": { "location": { "x": 599.7984008789062, "y": 4294.16455078125, "z": 370.20721435546875 }, "rotation": { "roll": 0.00033062088186852634, "pitch": -0.27221718430519104, "yaw": -0.2294006198644638 } }, "velocity": { "x": 7.913160800933838, "y": -0.03412600979208946, "z": -0.036609020084142685 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.727752208709717, "transform": { "location": { "x": 603.251220703125, "y": 4297.39892578125, "z": 370.1889343261719 }, "rotation": { "roll": 0.0006508119404315948, "pitch": -0.24777193367481232, "yaw": -0.30157470703125 } }, "velocity": { "x": 7.727565288543701, "y": -0.03977324813604355, "z": -0.03612053021788597 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.7288818359375, "transform": { "location": { "x": 680.4447021484375, "y": 4286.99365234375, "z": 369.7919921875 }, "rotation": { "roll": 0.0014124492881819606, "pitch": 0.3193659782409668, "yaw": -179.97738647460938 } }, "velocity": { "x": -0.7288606762886047, "y": 0.004593041259795427, "z": 0.0031159401405602694 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.837073802947998, "transform": { "location": { "x": 666.6382446289062, "y": 4287.0771484375, "z": 369.8801574707031 }, "rotation": { "roll": -0.0007934570894576609, "pitch": -0.025333169847726822, "yaw": 179.5592498779297 } }, "velocity": { "x": -0.8370389342308044, "y": 0.005581126548349857, "z": 0.005213899537920952 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00015980942407622933, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 9.158960892818868e-06, "y": 5.8935413107974455e-05, "z": -0.00014826255210209638 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0009728832519613206, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": -8.736550398680265e-07, "y": 3.51982016582042e-05, "z": 0.0009722459362819791 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.735677719116211, "transform": { "location": { "x": 660.154052734375, "y": 4290.365234375, "z": 369.9132080078125 }, "rotation": { "roll": -0.0007019041222520173, "pitch": 0.19390906393527985, "yaw": 179.68460083007812 } }, "velocity": { "x": -8.73539924621582, "y": 0.05189108848571777, "z": 0.04659397900104523 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030134201049805, "transform": { "location": { "x": 640.6846923828125, "y": 4290.478515625, "z": 370.0155029296875 }, "rotation": { "roll": 0.0007502523949369788, "pitch": 0.29761865735054016, "yaw": 179.62164306640625 } }, "velocity": { "x": -8.029870986938477, "y": 0.05040787160396576, "z": 0.04109591245651245 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.894881248474121, "transform": { "location": { "x": 621.9912109375, "y": 4290.5888671875, "z": 370.1412658691406 }, "rotation": { "roll": 0.00036899218684993684, "pitch": 0.20231018960475922, "yaw": 179.64537048339844 } }, "velocity": { "x": -6.894667625427246, "y": 0.04256538301706314, "z": 0.03368943929672241 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.37513256072998, "transform": { "location": { "x": 678.7528076171875, "y": 4290.2548828125, "z": 369.80755615234375 }, "rotation": { "roll": 0.0005037836381234229, "pitch": 0.35723254084587097, "yaw": 179.65625 } }, "velocity": { "x": -8.374855995178223, "y": 0.05019288882613182, "z": 0.04585495963692665 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04444989562034607, "expert_target_speed": 0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "295": { "acceleration": [ 0.00019121244258712977, 0.00020838416821788996, 0.000605291104875505 ], "angular_velocity": [ -0.003113647922873497, -0.00036012029158882797, 0.00012157197488704696 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ 9.560621947457548e-06, 1.0419208592793439e-05, 3.0264554879977368e-05 ], "speed": 1.4140912266270079e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062793731689453, "transform": { "location": { "x": 643.0860595703125, "y": 4293.91748046875, "z": 370.0035705566406 }, "rotation": { "roll": -0.0010986328125, "pitch": -0.3019694685935974, "yaw": -0.339141845703125 } }, "velocity": { "x": 8.062546730041504, "y": -0.04773201048374176, "z": -0.04120580479502678 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.056593894958496, "transform": { "location": { "x": 645.7556762695312, "y": 4297.15234375, "z": 369.9897155761719 }, "rotation": { "roll": 0.0006544970092363656, "pitch": -0.30679160356521606, "yaw": -0.3452148139476776 } }, "velocity": { "x": 8.056336402893066, "y": -0.04936408996582031, "z": -0.041449688374996185 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084118843078613, "transform": { "location": { "x": 688.0773315429688, "y": 4296.90380859375, "z": 369.7494812011719 }, "rotation": { "roll": -6.10350543865934e-05, "pitch": -0.3246456980705261, "yaw": -0.35845947265625 } }, "velocity": { "x": 8.083832740783691, "y": -0.05056094005703926, "z": -0.04546019062399864 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.022717475891113, "transform": { "location": { "x": 686.6880493164062, "y": 4293.65966796875, "z": 369.75146484375 }, "rotation": { "roll": -0.0014038088265806437, "pitch": -0.32476863265037537, "yaw": -0.35247802734375 } }, "velocity": { "x": 8.02244758605957, "y": -0.04931133612990379, "z": -0.04361216351389885 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 728.228271484375, "y": 4296.58154296875, "z": 369.5218811035156 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 729.0556030273438, "y": 4293.3095703125, "z": 369.5177917480469 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.200997352600098, "transform": { "location": { "x": 601.8218383789062, "y": 4294.15576171875, "z": 370.1976623535156 }, "rotation": { "roll": 0.0005712196580134332, "pitch": -0.2636794447898865, "yaw": -0.2609252631664276 } }, "velocity": { "x": 8.20081615447998, "y": -0.03912864625453949, "z": -0.03796246275305748 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.772316932678223, "transform": { "location": { "x": 605.2741088867188, "y": 4297.38818359375, "z": 370.17926025390625 }, "rotation": { "roll": -0.00024414058134425431, "pitch": -0.2331826388835907, "yaw": -0.3135680854320526 } }, "velocity": { "x": 8.7720947265625, "y": -0.04734291881322861, "z": -0.04079858213663101 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.533281683921814, "transform": { "location": { "x": 680.1575927734375, "y": 4286.9951171875, "z": 369.7933654785156 }, "rotation": { "roll": 0.0016244621947407722, "pitch": 0.33698102831840515, "yaw": 179.9500732421875 } }, "velocity": { "x": -1.533229947090149, "y": 0.009802690707147121, "z": 0.007917728275060654 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.8010659217834473, "transform": { "location": { "x": 666.2919921875, "y": 4287.0791015625, "z": 369.8779296875 }, "rotation": { "roll": -0.0014343257062137127, "pitch": 0.49099496006965637, "yaw": 179.58966064453125 } }, "velocity": { "x": -1.8010125160217285, "y": 0.010453450493514538, "z": 0.009105033241212368 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.5984750360948965e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 1.0427720553707331e-05, "y": 1.0212160304945428e-05, "z": -5.4048745369073004e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0014559816336259246, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 1.766227069310844e-05, "y": 9.085084457183257e-06, "z": 0.001455846126191318 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.179539680480957, "transform": { "location": { "x": 657.8366088867188, "y": 4290.37841796875, "z": 369.92535400390625 }, "rotation": { "roll": -0.0009155272273346782, "pitch": 0.23719879984855652, "yaw": 179.6643524169922 } }, "velocity": { "x": -9.179250717163086, "y": 0.053816284984350204, "z": 0.04901939257979393 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.028809547424316, "transform": { "location": { "x": 638.6777954101562, "y": 4290.49072265625, "z": 370.0260009765625 }, "rotation": { "roll": -0.00033569327206350863, "pitch": 0.29772794246673584, "yaw": 179.66354370117188 } }, "velocity": { "x": -8.028549194335938, "y": 0.04979516938328743, "z": 0.04112613573670387 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.122978210449219, "transform": { "location": { "x": 620.5525512695312, "y": 4290.59765625, "z": 370.14892578125 }, "rotation": { "roll": -0.000732421875, "pitch": 0.1257437765598297, "yaw": 179.64649963378906 } }, "velocity": { "x": -5.1228132247924805, "y": 0.031730785965919495, "z": 0.026148080825805664 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.406599044799805, "transform": { "location": { "x": 676.5205078125, "y": 4290.2685546875, "z": 369.8199157714844 }, "rotation": { "roll": -0.001373291015625, "pitch": 0.49070125818252563, "yaw": 179.66317749023438 } }, "velocity": { "x": -9.406292915344238, "y": 0.05531619116663933, "z": 0.05200470983982086 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04586779698729515, "expert_target_speed": 0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "300": { "acceleration": [ -0.00010493247827980667, -0.00017404017853550613, 0.0009846091270446777 ], "angular_velocity": [ -0.008109327405691147, -0.004003929905593395, 9.636549657443538e-05 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ -5.828588882650365e-07, 2.758666596491821e-05, 0.0002829285222105682 ], "speed": 2.7592822681697616e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092752456665039, "transform": { "location": { "x": 645.105712890625, "y": 4293.90576171875, "z": 369.9930114746094 }, "rotation": { "roll": -0.000244140625, "pitch": -0.30157333612442017, "yaw": -0.3412170112133026 } }, "velocity": { "x": 8.09250259399414, "y": -0.048280782997608185, "z": -0.0412173829972744 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.08728313446045, "transform": { "location": { "x": 647.7731323242188, "y": 4297.140625, "z": 369.97906494140625 }, "rotation": { "roll": -0.0008544924203306437, "pitch": -0.30843767523765564, "yaw": -0.3502502143383026 } }, "velocity": { "x": 8.087026596069336, "y": -0.0494949147105217, "z": -0.0412374809384346 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051777839660645, "transform": { "location": { "x": 690.0941162109375, "y": 4296.89208984375, "z": 369.7380676269531 }, "rotation": { "roll": 0.00019044234068132937, "pitch": -0.3246115446090698, "yaw": -0.3585205078125 } }, "velocity": { "x": 8.051496505737305, "y": -0.05038166418671608, "z": -0.04462249204516411 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.07831859588623, "transform": { "location": { "x": 688.700927734375, "y": 4293.6484375, "z": 369.7401123046875 }, "rotation": { "roll": 0.0013389289379119873, "pitch": -0.3240651488304138, "yaw": -0.3525085151195526 } }, "velocity": { "x": 8.07804012298584, "y": -0.049646198749542236, "z": -0.04506484046578407 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 730.3109130859375, "y": 4296.55126953125, "z": 369.5105895996094 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 731.1384887695312, "y": 4293.29541015625, "z": 369.5057067871094 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.00346851348877, "transform": { "location": { "x": 603.8484497070312, "y": 4294.14599609375, "z": 370.188232421875 }, "rotation": { "roll": -0.00039672842831350863, "pitch": -0.2740476727485657, "yaw": -0.2926636040210724 } }, "velocity": { "x": 8.003273963928223, "y": -0.04198110103607178, "z": -0.036794696003198624 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.323419570922852, "transform": { "location": { "x": 607.41845703125, "y": 4297.376953125, "z": 370.1695556640625 }, "rotation": { "roll": 0.0003633884189184755, "pitch": -0.27276358008384705, "yaw": -0.317413330078125 } }, "velocity": { "x": 8.323193550109863, "y": -0.04563986137509346, "z": -0.0409548282623291 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.228496551513672, "transform": { "location": { "x": 679.6764526367188, "y": 4286.99755859375, "z": 369.7960205078125 }, "rotation": { "roll": 0.0013700939016416669, "pitch": 0.33861345052719116, "yaw": 179.84457397460938 } }, "velocity": { "x": -2.2284209728240967, "y": 0.013263685628771782, "z": 0.012678880244493484 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.010786027647554874, "transform": { "location": { "x": 665.8809204101562, "y": 4287.08154296875, "z": 369.88232421875 }, "rotation": { "roll": 0.0025095371529459953, "pitch": 0.2078768014907837, "yaw": 179.53717041015625 } }, "velocity": { "x": -0.010781321674585342, "y": -0.00025636760983616114, "z": 0.00018911932420451194 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0001593209308339283, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 1.4091394405113533e-05, "y": 2.435413989587687e-05, "z": -0.00015681666263844818 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015472184168174863, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 2.0111016056034714e-05, "y": -2.626957939355634e-05, "z": 0.0015468646306544542 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.93136215209961, "transform": { "location": { "x": 655.6018676757812, "y": 4290.3916015625, "z": 369.9365539550781 }, "rotation": { "roll": -0.00054931640625, "pitch": 0.31818434596061707, "yaw": 179.6884765625 } }, "velocity": { "x": -8.931082725524902, "y": 0.051461439579725266, "z": 0.048510827124118805 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.002959251403809, "transform": { "location": { "x": 636.6707763671875, "y": 4290.5029296875, "z": 370.0362854003906 }, "rotation": { "roll": 0.0010168015724048018, "pitch": 0.2932063341140747, "yaw": 179.6284942626953 } }, "velocity": { "x": -8.002705574035645, "y": 0.04905698075890541, "z": 0.040755320340394974 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22406, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.152947902679443, "transform": { "location": { "x": 619.281494140625, "y": 4290.60546875, "z": 370.154052734375 }, "rotation": { "roll": -0.00012207032705191523, "pitch": 0.24601657688617706, "yaw": 179.67144775390625 } }, "velocity": { "x": -5.152792930603027, "y": 0.03141345828771591, "z": 0.024701900780200958 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.515475273132324, "transform": { "location": { "x": 674.1517944335938, "y": 4290.2822265625, "z": 369.8330078125 }, "rotation": { "roll": -0.0004882811044808477, "pitch": 0.398227334022522, "yaw": 179.66372680664062 } }, "velocity": { "x": -9.515169143676758, "y": 0.05588434264063835, "z": 0.052010152488946915 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04479384049773216, "expert_target_speed": 0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "305": { "acceleration": [ -4.185139914625324e-05, -3.691263555083424e-05, 0.0012419030535966158 ], "angular_velocity": [ 0.0023942026309669018, -0.00020129505719523877, 5.3860334446653724e-05 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ 1.1450238162069581e-05, -2.537646196287824e-06, 0.00013990004663355649 ], "speed": 1.1728068987930139e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063041687011719, "transform": { "location": { "x": 647.1250610351562, "y": 4293.89404296875, "z": 369.9823303222656 }, "rotation": { "roll": -0.0003051759267691523, "pitch": -0.30474936962127686, "yaw": -0.3465880751609802 } }, "velocity": { "x": 8.062788963317871, "y": -0.048775266855955124, "z": -0.04111423343420029 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.067391395568848, "transform": { "location": { "x": 649.7925415039062, "y": 4297.12890625, "z": 369.9683837890625 }, "rotation": { "roll": -0.00015258790517691523, "pitch": -0.30352675914764404, "yaw": -0.3541564643383026 } }, "velocity": { "x": 8.067130088806152, "y": -0.04984011873602867, "z": -0.041634440422058105 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.085474014282227, "transform": { "location": { "x": 692.111328125, "y": 4296.8798828125, "z": 369.7265625 }, "rotation": { "roll": 0.0009190848795697093, "pitch": -0.3270021080970764, "yaw": -0.3597411811351776 } }, "velocity": { "x": 8.085182189941406, "y": -0.051580581814050674, "z": -0.045260921120643616 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.023477554321289, "transform": { "location": { "x": 690.7132568359375, "y": 4293.63671875, "z": 369.7286682128906 }, "rotation": { "roll": 0.0003515819844324142, "pitch": -0.3269065022468567, "yaw": -0.352630615234375 } }, "velocity": { "x": 8.023199081420898, "y": -0.04934351518750191, "z": -0.045043978840112686 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 732.393798828125, "y": 4296.53759765625, "z": 369.4985046386719 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 733.2213745117188, "y": 4293.2822265625, "z": 369.49359130859375 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.076257705688477, "transform": { "location": { "x": 605.8526611328125, "y": 4294.134765625, "z": 370.17864990234375 }, "rotation": { "roll": 4.324648034526035e-05, "pitch": -0.270871639251709, "yaw": -0.3116454780101776 } }, "velocity": { "x": 8.076051712036133, "y": -0.04394480213522911, "z": -0.03734191879630089 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.074865341186523, "transform": { "location": { "x": 609.4617309570312, "y": 4297.36474609375, "z": 370.1598205566406 }, "rotation": { "roll": 0.00058399373665452, "pitch": -0.28240782022476196, "yaw": -0.3235473334789276 } }, "velocity": { "x": 8.074647903442383, "y": -0.04570908099412918, "z": -0.03776492178440094 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0008419196237809956, "transform": { "location": { "x": 679.3021240234375, "y": 4286.99951171875, "z": 369.7986755371094 }, "rotation": { "roll": 0.0008719769539311528, "pitch": 0.27787256240844727, "yaw": 179.81033325195312 } }, "velocity": { "x": -4.157297371421009e-05, "y": -0.00012751571193803102, "z": 0.0008311679121106863 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.3741077184677124, "transform": { "location": { "x": 665.7059936523438, "y": 4287.08251953125, "z": 369.8830261230469 }, "rotation": { "roll": 0.0003291588800493628, "pitch": 0.2529560327529907, "yaw": 179.5279541015625 } }, "velocity": { "x": -1.3740595579147339, "y": 0.009094992652535439, "z": 0.007031869608908892 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.157324241939932e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 1.4673955774924252e-05, "y": 2.0836670955759473e-05, "z": -5.605151454801671e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0010429435642436147, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 1.6212574337259866e-05, "y": -6.512559139082441e-06, "z": 0.0010427972301840782 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.331036567687988, "transform": { "location": { "x": 653.4467163085938, "y": 4290.40380859375, "z": 369.94775390625 }, "rotation": { "roll": 0.001180987455882132, "pitch": 0.3567885756492615, "yaw": 179.6514892578125 } }, "velocity": { "x": -8.33077335357666, "y": 0.04860788583755493, "z": 0.04484572261571884 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.134653091430664, "transform": { "location": { "x": 634.7429809570312, "y": 4290.51416015625, "z": 370.0456848144531 }, "rotation": { "roll": 0.00045242023770697415, "pitch": 0.3490977883338928, "yaw": 179.59751892089844 } }, "velocity": { "x": -7.134434700012207, "y": 0.0421496145427227, "z": 0.036610934883356094 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.449998617172241, "transform": { "location": { "x": 714.5491333007812, "y": 4290.1435546875, "z": 369.6836242675781 }, "rotation": { "roll": 0.0, "pitch": 0.33312880992889404, "yaw": 179.66160583496094 } }, "velocity": { "x": -0.0002842635731212795, "y": 1.678885382716544e-06, "z": -2.449998617172241 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.597318649291992, "transform": { "location": { "x": 671.8895263671875, "y": 4290.29541015625, "z": 369.8453674316406 }, "rotation": { "roll": -0.0007629395113326609, "pitch": 0.19468086957931519, "yaw": 179.66404724121094 } }, "velocity": { "x": -8.597037315368652, "y": 0.05042359605431557, "z": 0.0478835292160511 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.045103855431079865, "expert_target_speed": 0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "310": { "acceleration": [ -2.5990611902670935e-05, 0.00012994385906495154, -0.004826826974749565 ], "angular_velocity": [ 0.002182872500270605, -0.00013277576363179833, 2.9831291612936184e-05 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ 1.1268667549302336e-05, -8.432236427324824e-06, 0.00013032875722274184 ], "speed": 1.407428433359946e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093048095703125, "transform": { "location": { "x": 649.144775390625, "y": 4293.88232421875, "z": 369.9717102050781 }, "rotation": { "roll": 0.0007789559313096106, "pitch": -0.30666863918304443, "yaw": -0.3521728813648224 } }, "velocity": { "x": 8.092787742614746, "y": -0.0498974584043026, "z": -0.041500747203826904 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.094058990478516, "transform": { "location": { "x": 651.81298828125, "y": 4297.1171875, "z": 369.9576416015625 }, "rotation": { "roll": -0.0003356933011673391, "pitch": -0.30578070878982544, "yaw": -0.354827880859375 } }, "velocity": { "x": 8.093792915344238, "y": -0.05011000484228134, "z": -0.04240844026207924 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051079750061035, "transform": { "location": { "x": 694.1281127929688, "y": 4296.86669921875, "z": 369.7150573730469 }, "rotation": { "roll": 0.0013452550629153848, "pitch": -0.32784906029701233, "yaw": -0.3607482314109802 } }, "velocity": { "x": 8.050800323486328, "y": -0.04961494728922844, "z": -0.04507327452301979 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076850891113281, "transform": { "location": { "x": 692.72607421875, "y": 4293.625, "z": 369.71722412109375 }, "rotation": { "roll": -0.0010375973070040345, "pitch": -0.32824522256851196, "yaw": -0.3526305854320526 } }, "velocity": { "x": 8.07657241821289, "y": -0.049772005528211594, "z": -0.04486997425556183 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22519, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 734.4766845703125, "y": 4296.5234375, "z": 369.4864807128906 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -0.496490478515625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22518, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 735.3042602539062, "y": 4293.26171875, "z": 369.4814758300781 }, "rotation": { "roll": 2.0844434511779752e-10, "pitch": -0.33316296339035034, "yaw": -1.0694578886032104 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.0806303024292, "transform": { "location": { "x": 607.8768310546875, "y": 4294.123046875, "z": 370.1690979003906 }, "rotation": { "roll": -3.0517481718561612e-05, "pitch": -0.26986759901046753, "yaw": -0.3167113661766052 } }, "velocity": { "x": 8.080421447753906, "y": -0.04462048411369324, "z": -0.037246618419885635 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.915632724761963, "transform": { "location": { "x": 611.3545532226562, "y": 4297.3544921875, "z": 370.151123046875 }, "rotation": { "roll": -3.0517585400957614e-05, "pitch": -0.308656245470047, "yaw": -0.2969360053539276 } }, "velocity": { "x": 6.915445327758789, "y": -0.03937502205371857, "z": -0.03232388570904732 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.7832996845245361, "transform": { "location": { "x": 679.197509765625, "y": 4287.00048828125, "z": 369.7989807128906 }, "rotation": { "roll": 0.0013977311318740249, "pitch": 0.3183346092700958, "yaw": 179.80979919433594 } }, "velocity": { "x": -0.7832772731781006, "y": 0.004839724395424128, "z": 0.0034102152567356825 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.462661862373352, "transform": { "location": { "x": 665.2646484375, "y": 4287.08251953125, "z": 369.88311767578125 }, "rotation": { "roll": 0.007041006814688444, "pitch": 0.5229875445365906, "yaw": 179.11952209472656 } }, "velocity": { "x": -1.4626108407974243, "y": 0.009138681925833225, "z": 0.008115949109196663 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.21087975660339e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 8.262954906967934e-06, "y": -8.657788384880405e-06, "z": -1.858938230725471e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0010206516599282622, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 1.5063918908708729e-05, "y": -7.718802521594625e-07, "z": 0.0010205402504652739 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.455533504486084, "transform": { "location": { "x": 651.5839233398438, "y": 4290.41162109375, "z": 369.9568176269531 }, "rotation": { "roll": -0.003906248603016138, "pitch": 0.4692954421043396, "yaw": 179.3045654296875 } }, "velocity": { "x": -6.455305576324463, "y": 0.04221701622009277, "z": 0.03413500636816025 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.4989800453186035, "transform": { "location": { "x": 633.0869140625, "y": 4290.52294921875, "z": 370.0540466308594 }, "rotation": { "roll": -0.0008544922457076609, "pitch": 0.3569115102291107, "yaw": 179.4612274169922 } }, "velocity": { "x": -6.498758792877197, "y": 0.042445335537195206, "z": 0.032824210822582245 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.23459982872009277, "transform": { "location": { "x": 714.5484008789062, "y": 4290.1435546875, "z": 369.5389099121094 }, "rotation": { "roll": -0.00201416015625, "pitch": 0.3337913155555725, "yaw": 179.6615447998047 } }, "velocity": { "x": 0.0013712187064811587, "y": -1.2633508049475495e-05, "z": 0.23459582030773163 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.785008907318115, "transform": { "location": { "x": 669.8748779296875, "y": 4290.30712890625, "z": 369.8564453125 }, "rotation": { "roll": -0.0003967284574173391, "pitch": 0.15833060443401337, "yaw": 179.66070556640625 } }, "velocity": { "x": -7.784751892089844, "y": 0.04616886377334595, "z": 0.04322214052081108 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04573260620236397, "expert_target_speed": 0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "315": { "acceleration": [ 1.644195435801521e-05, 8.649062510812655e-05, -0.009647711180150509 ], "angular_velocity": [ -0.0024619929026812315, 0.0016515308525413275, 8.194449765142053e-05 ], "forward_vector": [ -0.9997907280921936, 0.019721757620573044, 0.005437346640974283 ], "right_vector": [ -0.019721506163477898, -0.9998055100440979, 0.00010013337305281311 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737304221838713, 0.31153857707977295, 178.86993408203125 ], "velocity": [ 1.772254654497374e-05, 1.0622278750815894e-05, 0.00024247798137366772 ], "speed": 2.066207786982702e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063215255737305, "transform": { "location": { "x": 651.1641235351562, "y": 4293.87060546875, "z": 369.9609375 }, "rotation": { "roll": 8.155988325597718e-05, "pitch": -0.30593782663345337, "yaw": -0.3568114936351776 } }, "velocity": { "x": 8.06295394897461, "y": -0.050132300704717636, "z": -0.04128605127334595 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.060524940490723, "transform": { "location": { "x": 653.831787109375, "y": 4297.10546875, "z": 369.9469299316406 }, "rotation": { "roll": 0.000913212716113776, "pitch": -0.3088679611682892, "yaw": -0.3548584282398224 } }, "velocity": { "x": 8.060258865356445, "y": -0.04989786446094513, "z": -0.04247564077377319 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084579467773438, "transform": { "location": { "x": 696.1451416015625, "y": 4296.85498046875, "z": 369.70355224609375 }, "rotation": { "roll": 0.0005495891091413796, "pitch": -0.3280608057975769, "yaw": -0.3583678901195526 } }, "velocity": { "x": 8.084295272827148, "y": -0.050546396523714066, "z": -0.04511994123458862 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024927139282227, "transform": { "location": { "x": 694.7384033203125, "y": 4293.61279296875, "z": 369.7057189941406 }, "rotation": { "roll": -0.00027465811581350863, "pitch": -0.328429639339447, "yaw": -0.3525390625 } }, "velocity": { "x": 8.024651527404785, "y": -0.049410443753004074, "z": -0.04446707293391228 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.058436393737793, "transform": { "location": { "x": 609.8923950195312, "y": 4294.111328125, "z": 370.15960693359375 }, "rotation": { "roll": -0.0001525879488326609, "pitch": -0.2720942199230194, "yaw": -0.32012939453125 } }, "velocity": { "x": 8.058221817016602, "y": -0.045008957386016846, "z": -0.03776165470480919 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.0005269050598145, "transform": { "location": { "x": 613.0686645507812, "y": 4297.34423828125, "z": 370.1427001953125 }, "rotation": { "roll": -0.0008239744929596782, "pitch": -0.2842041552066803, "yaw": -0.2835082709789276 } }, "velocity": { "x": 7.000329971313477, "y": -0.040428560227155685, "z": -0.03357411175966263 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.5111372470855713, "transform": { "location": { "x": 678.9052124023438, "y": 4287.00244140625, "z": 369.8003845214844 }, "rotation": { "roll": 0.000952419126406312, "pitch": 0.33622288703918457, "yaw": 179.80902099609375 } }, "velocity": { "x": -1.5110931396484375, "y": 0.009007065556943417, "z": 0.007246417924761772 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0016575156478211284, "transform": { "location": { "x": 665.233642578125, "y": 4287.08056640625, "z": 369.88763427734375 }, "rotation": { "roll": 0.014494584873318672, "pitch": -0.013216415420174599, "yaw": 178.966552734375 } }, "velocity": { "x": 0.0011066176230087876, "y": 0.0010168395237997174, "z": 0.0006991372792981565 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00024409790057688951, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 1.8802656995831057e-06, "y": -5.52243136553443e-07, "z": 0.00024409002799075097 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0012785401195287704, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0010815785499289632, "pitch": 0.2725450098514557, "yaw": 179.66168212890625 } }, "velocity": { "x": 1.7256401406484656e-05, "y": -2.3598691768711433e-05, "z": 0.0012782058911398053 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.254456043243408, "transform": { "location": { "x": 650.0215454101562, "y": 4290.4228515625, "z": 369.96600341796875 }, "rotation": { "roll": -0.0010681150015443563, "pitch": 0.3535305857658386, "yaw": 179.43228149414062 } }, "velocity": { "x": -6.254234313964844, "y": 0.04076202213764191, "z": 0.033296383917331696 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.046935558319092, "transform": { "location": { "x": 631.4071044921875, "y": 4290.53466796875, "z": 370.0634765625 }, "rotation": { "roll": -0.000762939453125, "pitch": 0.25407618284225464, "yaw": 179.59971618652344 } }, "velocity": { "x": -7.046725273132324, "y": 0.04230894148349762, "z": 0.034230154007673264 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.09637521207332611, "transform": { "location": { "x": 714.5487060546875, "y": 4290.1435546875, "z": 369.58740234375 }, "rotation": { "roll": -0.001678466796875, "pitch": 0.33353176712989807, "yaw": 179.66160583496094 } }, "velocity": { "x": 0.0005712244310416281, "y": -6.640756328124553e-05, "z": 0.09637349843978882 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.456661224365234, "transform": { "location": { "x": 667.8558959960938, "y": 4290.31884765625, "z": 369.86761474609375 }, "rotation": { "roll": -0.00027465811581350863, "pitch": 0.38408201932907104, "yaw": 179.65699768066406 } }, "velocity": { "x": -8.456389427185059, "y": 0.05063692480325699, "z": 0.04507182911038399 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04396849498152733, "expert_target_speed": 10.0, "target_point": [ 24.102824995658363, 0.3562760966362265 ], "target_point_next": [ 75.0979321567823, 1.0608511494676245 ] }, "320": { "acceleration": [ -0.0004392653936520219, -0.00029765686485916376, -0.021053723990917206 ], "angular_velocity": [ -0.0011428316356614232, -0.0005058762617409229, 9.009897621581331e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 9.366385711473413e-06, 1.6283988770737778e-06, 3.597383329179138e-05 ], "speed": 9.506885094443314e-06, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092500686645508, "transform": { "location": { "x": 653.183837890625, "y": 4293.859375, "z": 369.9502258300781 }, "rotation": { "roll": -0.0008239743765443563, "pitch": -0.30670279264450073, "yaw": -0.3574218451976776 } }, "velocity": { "x": 8.09223747253418, "y": -0.050447747111320496, "z": -0.04131969437003136 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093564987182617, "transform": { "location": { "x": 655.8512573242188, "y": 4297.09326171875, "z": 369.9361877441406 }, "rotation": { "roll": 0.0003224060928914696, "pitch": -0.3071194291114807, "yaw": -0.3592529296875 } }, "velocity": { "x": 8.093279838562012, "y": -0.05224609375, "z": -0.043499939143657684 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051863670349121, "transform": { "location": { "x": 698.1619262695312, "y": 4296.84228515625, "z": 369.69195556640625 }, "rotation": { "roll": 0.0006030680960975587, "pitch": -0.3306289613246918, "yaw": -0.3576659858226776 } }, "velocity": { "x": 8.051589012145996, "y": -0.04923064261674881, "z": -0.044694285839796066 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076811790466309, "transform": { "location": { "x": 696.751220703125, "y": 4293.6015625, "z": 369.6941833496094 }, "rotation": { "roll": 8.830250590108335e-05, "pitch": -0.3283681571483612, "yaw": -0.352447509765625 } }, "velocity": { "x": 8.076531410217285, "y": -0.04968409612774849, "z": -0.04535960406064987 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.06200122833252, "transform": { "location": { "x": 611.9069213867188, "y": 4294.10009765625, "z": 370.1499938964844 }, "rotation": { "roll": -0.00048828122089616954, "pitch": -0.27367883920669556, "yaw": -0.3259582221508026 } }, "velocity": { "x": 8.061782836914062, "y": -0.04599433392286301, "z": -0.03761833906173706 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.723565578460693, "transform": { "location": { "x": 614.9197387695312, "y": 4297.33349609375, "z": 370.133544921875 }, "rotation": { "roll": -0.00015258787607308477, "pitch": -0.25219789147377014, "yaw": -0.3157958686351776 } }, "velocity": { "x": 7.723344326019287, "y": -0.0452493317425251, "z": -0.03699309751391411 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.224440097808838, "transform": { "location": { "x": 678.4295043945312, "y": 4287.0048828125, "z": 369.80303955078125 }, "rotation": { "roll": 0.0001165648500318639, "pitch": 0.33777332305908203, "yaw": 179.77377319335938 } }, "velocity": { "x": -2.2243704795837402, "y": 0.013439308851957321, "z": 0.01136469841003418 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0022747910115867853, "transform": { "location": { "x": 665.231689453125, "y": 4287.08056640625, "z": 369.8853454589844 }, "rotation": { "roll": -0.003906249301508069, "pitch": 0.27087846398353577, "yaw": 178.96669006347656 } }, "velocity": { "x": 0.0019177151843905449, "y": 0.00035482182283885777, "z": 0.0011709582759067416 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.6844718377105892e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 5.602911187452264e-06, "y": 6.346442660287721e-06, "z": -2.547487019910477e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0012286273995414376, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0008372616721317172, "pitch": 0.2728523910045624, "yaw": 179.66180419921875 } }, "velocity": { "x": 2.563360976637341e-05, "y": 3.1506082450505346e-05, "z": 0.001227955799549818 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.61598014831543, "transform": { "location": { "x": 648.3975830078125, "y": 4290.43359375, "z": 369.9752197265625 }, "rotation": { "roll": 0.0005591562949120998, "pitch": 0.2761786878108978, "yaw": 179.5854949951172 } }, "velocity": { "x": -6.615782737731934, "y": 0.038846977055072784, "z": 0.033178117126226425 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.33264446258545, "transform": { "location": { "x": 629.5490112304688, "y": 4290.54638671875, "z": 370.0734558105469 }, "rotation": { "roll": 0.001278592157177627, "pitch": 0.17585687339305878, "yaw": 179.59771728515625 } }, "velocity": { "x": -8.332401275634766, "y": 0.04763594642281532, "z": 0.04229947179555893 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.1105372905731201, "transform": { "location": { "x": 714.4306640625, "y": 4290.14306640625, "z": 369.5959777832031 }, "rotation": { "roll": 0.000183766707777977, "pitch": 0.36440423130989075, "yaw": 179.70204162597656 } }, "velocity": { "x": -1.110496997833252, "y": -0.005913326982408762, "z": 0.007391681428998709 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.829617500305176, "transform": { "location": { "x": 665.7943725585938, "y": 4290.3310546875, "z": 369.8786926269531 }, "rotation": { "roll": -0.0003356934175826609, "pitch": 0.240101620554924, "yaw": 179.6573486328125 } }, "velocity": { "x": -7.829354286193848, "y": 0.0468253567814827, "z": 0.04395507648587227 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04564576596021652, "expert_target_speed": 10.0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "325": { "acceleration": [ -5.852729009347968e-05, -0.00020226917695254087, 0.0010494005400687456 ], "angular_velocity": [ -0.007867465727031231, -0.003606012323871255, 9.665753896115348e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 6.435811314986495e-07, 2.5775063477340154e-05, 0.00029428303241729736 ], "speed": 2.5783097058610617e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063535690307617, "transform": { "location": { "x": 655.203125, "y": 4293.84716796875, "z": 369.93951416015625 }, "rotation": { "roll": -0.001251220703125, "pitch": -0.30874502658843994, "yaw": -0.3575744032859802 } }, "velocity": { "x": 8.063270568847656, "y": -0.050124391913414, "z": -0.04203569144010544 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063433647155762, "transform": { "location": { "x": 657.8705444335938, "y": 4297.080078125, "z": 369.9254150390625 }, "rotation": { "roll": 0.00016668904572725296, "pitch": -0.3086220920085907, "yaw": -0.36126708984375 } }, "velocity": { "x": 8.063149452209473, "y": -0.05072183534502983, "z": -0.04481406509876251 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084944725036621, "transform": { "location": { "x": 700.1791381835938, "y": 4296.83056640625, "z": 369.6802673339844 }, "rotation": { "roll": 0.000645839492790401, "pitch": -0.3320291340351105, "yaw": -0.351806640625 } }, "velocity": { "x": 8.08466625213623, "y": -0.049528349190950394, "z": -0.0451604388654232 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024951934814453, "transform": { "location": { "x": 698.7635498046875, "y": 4293.58984375, "z": 369.6826171875 }, "rotation": { "roll": -0.0007324219332076609, "pitch": -0.3315100371837616, "yaw": -0.3527527153491974 } }, "velocity": { "x": 8.024672508239746, "y": -0.049464404582977295, "z": -0.045175373554229736 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 576.3676147460938, "y": 4297.4609375, "z": 370.48455810546875 }, "rotation": { "roll": 1.0422129131937297e-10, "pitch": -0.23452819883823395, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.086028099060059, "transform": { "location": { "x": 613.9268798828125, "y": 4294.087890625, "z": 370.1402893066406 }, "rotation": { "roll": -0.0006408689077943563, "pitch": -0.27569374442100525, "yaw": -0.3282775580883026 } }, "velocity": { "x": 8.085800170898438, "y": -0.04719676077365875, "z": -0.038141656666994095 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.785710334777832, "transform": { "location": { "x": 616.9839477539062, "y": 4297.32177734375, "z": 370.1234436035156 }, "rotation": { "roll": 0.0005307064275257289, "pitch": -0.2375812828540802, "yaw": -0.349090576171875 } }, "velocity": { "x": 8.785462379455566, "y": -0.05183050408959389, "z": -0.04084641486406326 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00046758833923377097, "transform": { "location": { "x": 678.113037109375, "y": 4287.0068359375, "z": 369.8052673339844 }, "rotation": { "roll": 0.0016789225628599524, "pitch": 0.27412962913513184, "yaw": 179.77769470214844 } }, "velocity": { "x": -2.118907787007629e-06, "y": -3.0547231290256605e-05, "z": -0.0004665846354328096 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.000251229852437973, "transform": { "location": { "x": 665.2308349609375, "y": 4287.08056640625, "z": 369.88470458984375 }, "rotation": { "roll": -0.005432127974927425, "pitch": 0.3510170578956604, "yaw": 178.96670532226562 } }, "velocity": { "x": -0.00018415712111163884, "y": -4.6128239773679525e-05, "z": 0.0001645441516302526 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0002109283668687567, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 2.2177695427672006e-05, "y": 5.65615737286862e-05, "z": -0.00020198938727844507 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0013833806151524186, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0008372616721317172, "pitch": 0.2728523910045624, "yaw": 179.66180419921875 } }, "velocity": { "x": 9.345374564873055e-06, "y": 2.995580689457711e-05, "z": 0.0013830246170982718 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.431083679199219, "transform": { "location": { "x": 646.4663696289062, "y": 4290.4453125, "z": 369.98638916015625 }, "rotation": { "roll": -0.00033569333027116954, "pitch": 0.1512886881828308, "yaw": 179.57760620117188 } }, "velocity": { "x": -8.430802345275879, "y": 0.05233876407146454, "z": 0.04472215473651886 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.469199180603027, "transform": { "location": { "x": 627.3826293945312, "y": 4290.5595703125, "z": 370.0837097167969 }, "rotation": { "roll": 0.00038322381442412734, "pitch": 0.24081195890903473, "yaw": 179.6570587158203 } }, "velocity": { "x": -8.468949317932129, "y": 0.04869460314512253, "z": 0.043246686458587646 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.6865702867507935, "transform": { "location": { "x": 714.0714111328125, "y": 4290.1416015625, "z": 369.5975036621094 }, "rotation": { "roll": 9.693959873402491e-05, "pitch": 0.3590288758277893, "yaw": 179.78823852539062 } }, "velocity": { "x": -1.686535120010376, "y": -0.00875923689454794, "z": 0.006484460551291704 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.785659313201904, "transform": { "location": { "x": 663.8759155273438, "y": 4290.3427734375, "z": 369.88922119140625 }, "rotation": { "roll": -0.00018310548330191523, "pitch": 0.2835962772369385, "yaw": 179.65731811523438 } }, "velocity": { "x": -7.785411357879639, "y": 0.04649375006556511, "z": 0.04119964689016342 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.046538595110177994, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "330": { "acceleration": [ -7.454828300978988e-05, -0.00011828944843728095, 0.0009862200822681189 ], "angular_velocity": [ -0.0027033507358282804, -0.002194395288825035, 7.775390986353159e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 4.77947287436109e-06, 1.3185514944780152e-05, 0.00011939016985706985 ], "speed": 1.4025019262581217e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092981338500977, "transform": { "location": { "x": 657.2227783203125, "y": 4293.83544921875, "z": 369.92877197265625 }, "rotation": { "roll": -0.00048828122089616954, "pitch": -0.3080073595046997, "yaw": -0.35665884613990784 } }, "velocity": { "x": 8.092707633972168, "y": -0.050373852252960205, "z": -0.04347442835569382 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.09245491027832, "transform": { "location": { "x": 659.89013671875, "y": 4297.06884765625, "z": 369.9145202636719 }, "rotation": { "roll": -0.0010986328125, "pitch": -0.31194838881492615, "yaw": -0.35491943359375 } }, "velocity": { "x": 8.09217643737793, "y": -0.050045352429151535, "z": -0.04473450034856796 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051234245300293, "transform": { "location": { "x": 702.1959228515625, "y": 4296.81884765625, "z": 369.6686096191406 }, "rotation": { "roll": 0.0003622024378273636, "pitch": -0.3315100371837616, "yaw": -0.3527222275733948 } }, "velocity": { "x": 8.050951957702637, "y": -0.0496431440114975, "z": -0.04572012275457382 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076446533203125, "transform": { "location": { "x": 700.7763671875, "y": 4293.578125, "z": 369.67095947265625 }, "rotation": { "roll": 0.0008307661628350616, "pitch": -0.3321520686149597, "yaw": -0.352783203125 } }, "velocity": { "x": 8.076163291931152, "y": -0.04967307299375534, "z": -0.04604317620396614 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 578.44921875, "y": 4297.44873046875, "z": 370.4034423828125 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.044368743896484, "transform": { "location": { "x": 615.9420776367188, "y": 4294.07666015625, "z": 370.130615234375 }, "rotation": { "roll": -6.103525083744898e-05, "pitch": -0.27538639307022095, "yaw": -0.33416748046875 } }, "velocity": { "x": 8.044145584106445, "y": -0.04694114997982979, "z": -0.03727191314101219 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.235209465026855, "transform": { "location": { "x": 619.1068725585938, "y": 4297.30810546875, "z": 370.11370849609375 }, "rotation": { "roll": -0.0010681151179596782, "pitch": -0.2825649082660675, "yaw": -0.2222594916820526 } }, "velocity": { "x": 8.234977722167969, "y": -0.04667248949408531, "z": -0.04044641554355621 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.7602076530456543, "transform": { "location": { "x": 678.0156860351562, "y": 4287.0068359375, "z": 369.8055114746094 }, "rotation": { "roll": 0.0012361196568235755, "pitch": 0.3210052251815796, "yaw": 179.79103088378906 } }, "velocity": { "x": -0.7601960301399231, "y": 0.002935227705165744, "z": 0.002997379284352064 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0006482107564806938, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.003936767112463713, "pitch": 0.31741252541542053, "yaw": 178.96670532226562 } }, "velocity": { "x": -0.00018290973093826324, "y": 1.7440979718230665e-05, "z": 0.0006216245237737894 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.574422099627554e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": -8.68022380018374e-06, "y": 3.53660034306813e-05, "z": -7.762712630210444e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0012304621050134301, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": -0.000213623046875, "pitch": 0.2730231285095215, "yaw": 179.66180419921875 } }, "velocity": { "x": 2.5495699446764775e-05, "y": -2.7311591111356393e-05, "z": 0.0012298946967348456 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.079536437988281, "transform": { "location": { "x": 644.3878173828125, "y": 4290.45849609375, "z": 369.9961242675781 }, "rotation": { "roll": 0.0012309809681028128, "pitch": 0.2981582283973694, "yaw": 179.65444946289062 } }, "velocity": { "x": -8.079279899597168, "y": 0.04719645529985428, "z": 0.04372843727469444 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.862670421600342, "transform": { "location": { "x": 625.3544921875, "y": 4290.5712890625, "z": 370.0929870605469 }, "rotation": { "roll": -0.0005187987117096782, "pitch": 0.3308270275592804, "yaw": 179.6346893310547 } }, "velocity": { "x": -7.862422466278076, "y": 0.04777922108769417, "z": 0.04023323953151703 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.258779764175415, "transform": { "location": { "x": 713.575439453125, "y": 4290.140625, "z": 369.6000671386719 }, "rotation": { "roll": 0.001764580374583602, "pitch": 0.35284072160720825, "yaw": 179.91812133789062 } }, "velocity": { "x": -2.25870680809021, "y": -0.013094472698867321, "z": 0.012537621892988682 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.43830680847168, "transform": { "location": { "x": 661.8208618164062, "y": 4290.3544921875, "z": 369.90032958984375 }, "rotation": { "roll": -0.00033569333027116954, "pitch": 0.4119286835193634, "yaw": 179.6571807861328 } }, "velocity": { "x": -8.438039779663086, "y": 0.05048315227031708, "z": 0.04416254907846451 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04560936987400055, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "335": { "acceleration": [ -5.7467805163469166e-05, -0.00037014862755313516, 0.0010809802915900946 ], "angular_velocity": [ 0.011064332909882069, 0.0015383078716695309, -2.1246652977424674e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 1.8326416466152295e-05, -4.9944574129767716e-05, 0.0005449637537822127 ], "speed": 5.320073331726472e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062886238098145, "transform": { "location": { "x": 659.2421875, "y": 4293.8232421875, "z": 369.9178771972656 }, "rotation": { "roll": 0.001831553061492741, "pitch": -0.30993348360061646, "yaw": -0.3571167290210724 } }, "velocity": { "x": 8.062606811523438, "y": -0.050265610218048096, "z": -0.04456501454114914 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063512802124023, "transform": { "location": { "x": 661.9095458984375, "y": 4297.056640625, "z": 369.9035949707031 }, "rotation": { "roll": -0.00027465829043649137, "pitch": -0.31198254227638245, "yaw": -0.353668212890625 } }, "velocity": { "x": 8.063234329223633, "y": -0.04977579414844513, "z": -0.04475989565253258 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084853172302246, "transform": { "location": { "x": 704.2129516601562, "y": 4296.80712890625, "z": 369.6568908691406 }, "rotation": { "roll": 0.0010694712400436401, "pitch": -0.33193352818489075, "yaw": -0.353363037109375 } }, "velocity": { "x": 8.08457088470459, "y": -0.04982326924800873, "z": -0.045654911547899246 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024685859680176, "transform": { "location": { "x": 702.7886352539062, "y": 4293.56591796875, "z": 369.65936279296875 }, "rotation": { "roll": -0.0007324219332076609, "pitch": -0.331783264875412, "yaw": -0.3525696098804474 } }, "velocity": { "x": 8.024398803710938, "y": -0.04939782992005348, "z": -0.04646160081028938 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 580.5308227539062, "y": 4297.43603515625, "z": 370.32232666015625 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 577.1810913085938, "y": 4294.2060546875, "z": 370.4520568847656 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.089569091796875, "transform": { "location": { "x": 617.9593505859375, "y": 4294.06494140625, "z": 370.1209411621094 }, "rotation": { "roll": -9.155269071925431e-05, "pitch": -0.27493560314178467, "yaw": -0.3413390815258026 } }, "velocity": { "x": 8.089340209960938, "y": -0.04826933890581131, "z": -0.03717241808772087 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.085155487060547, "transform": { "location": { "x": 621.137939453125, "y": 4297.29541015625, "z": 370.10382080078125 }, "rotation": { "roll": -0.001007080078125, "pitch": -0.29168322682380676, "yaw": -0.1104736253619194 } }, "velocity": { "x": 8.08493423461914, "y": -0.043889060616493225, "z": -0.04062482714653015 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.4691921472549438, "transform": { "location": { "x": 677.7325439453125, "y": 4287.0087890625, "z": 369.8068542480469 }, "rotation": { "roll": 0.00042022488196380436, "pitch": 0.33603161573410034, "yaw": 179.79396057128906 } }, "velocity": { "x": -1.4691545963287354, "y": 0.007698036730289459, "z": 0.007127094082534313 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.00021628112881444395, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8850402832031 }, "rotation": { "roll": -0.0038146967999637127, "pitch": 0.3111902177333832, "yaw": 178.96670532226562 } }, "velocity": { "x": 4.559908120427281e-05, "y": 3.1001145543996245e-05, "z": 0.00020913434855174273 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.8196658857050352e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 8.387267371290363e-06, "y": -1.6729678691262961e-06, "z": -1.606154728506226e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0009405292803421617, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0008545123273506761, "pitch": 0.272633820772171, "yaw": 179.6618194580078 } }, "velocity": { "x": 1.3032182323513553e-05, "y": 2.272487290611025e-05, "z": 0.0009401643765158951 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.896109104156494, "transform": { "location": { "x": 642.408203125, "y": 4290.47021484375, "z": 370.00634765625 }, "rotation": { "roll": 0.0020882762037217617, "pitch": 0.31700271368026733, "yaw": 179.63449096679688 } }, "velocity": { "x": -7.895860195159912, "y": 0.04765435680747032, "z": 0.04079022258520126 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.65199089050293, "transform": { "location": { "x": 623.40576171875, "y": 4290.58349609375, "z": 370.10296630859375 }, "rotation": { "roll": 0.0003439011925365776, "pitch": 0.3072150647640228, "yaw": 179.68299865722656 } }, "velocity": { "x": -7.651778221130371, "y": 0.04325072839856148, "z": 0.03723567724227905 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.7975597381591797, "transform": { "location": { "x": 712.9406127929688, "y": 4290.13818359375, "z": 369.6037902832031 }, "rotation": { "roll": 0.0018381742993369699, "pitch": 0.3527519404888153, "yaw": -179.9512939453125 } }, "velocity": { "x": -2.79746675491333, "y": -0.016756881028413773, "z": 0.015486306510865688 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.5981245040893555, "transform": { "location": { "x": 659.81640625, "y": 4290.36669921875, "z": 369.91107177734375 }, "rotation": { "roll": 0.00018406972230877727, "pitch": 0.20881253480911255, "yaw": 179.65419006347656 } }, "velocity": { "x": -7.597875118255615, "y": 0.04580848291516304, "z": 0.04113828390836716 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.0448039285838604, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "340": { "acceleration": [ -5.607289494946599e-06, -0.00018025381723418832, 0.0013969207648187876 ], "angular_velocity": [ 0.003855637740343809, 0.00022773993259761482, 4.7121055104071274e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 1.3879612197342794e-05, -4.84728980154614e-06, 0.0002809603756759316 ], "speed": 1.4701695588223833e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092926979064941, "transform": { "location": { "x": 661.2618408203125, "y": 4293.81201171875, "z": 369.906982421875 }, "rotation": { "roll": 0.0010866991942748427, "pitch": -0.31136780977249146, "yaw": -0.3577880859375 } }, "velocity": { "x": 8.092644691467285, "y": -0.05052753910422325, "z": -0.04477434232831001 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093398094177246, "transform": { "location": { "x": 663.92919921875, "y": 4297.044921875, "z": 369.89263916015625 }, "rotation": { "roll": -0.000946044921875, "pitch": -0.3117913007736206, "yaw": -0.3475646376609802 } }, "velocity": { "x": 8.093125343322754, "y": -0.04913514479994774, "z": -0.0447920486330986 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.052001953125, "transform": { "location": { "x": 706.2298583984375, "y": 4296.79541015625, "z": 369.645263671875 }, "rotation": { "roll": -0.00048828116268850863, "pitch": -0.33260971307754517, "yaw": -0.3533629775047302 } }, "velocity": { "x": 8.05172061920166, "y": -0.04967345669865608, "z": -0.0453556589782238 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076889038085938, "transform": { "location": { "x": 704.8015747070312, "y": 4293.5546875, "z": 369.64764404296875 }, "rotation": { "roll": -0.00018310542509425431, "pitch": -0.3327599763870239, "yaw": -0.3527221977710724 } }, "velocity": { "x": 8.076605796813965, "y": -0.04968836158514023, "z": -0.04590335115790367 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 582.6135864257812, "y": 4297.423828125, "z": 370.29638671875 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 579.2626953125, "y": 4294.19384765625, "z": 370.3709716796875 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.049827575683594, "transform": { "location": { "x": 619.9765014648438, "y": 4294.05322265625, "z": 370.1112365722656 }, "rotation": { "roll": -0.0007629393367096782, "pitch": -0.2789244055747986, "yaw": -0.3403320014476776 } }, "velocity": { "x": 8.049591064453125, "y": -0.04756937921047211, "z": -0.03924392908811569 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.801535129547119, "transform": { "location": { "x": 622.9736328125, "y": 4297.28564453125, "z": 370.09490966796875 }, "rotation": { "roll": -0.0017700191820040345, "pitch": -0.32064321637153625, "yaw": -0.1408691108226776 } }, "velocity": { "x": 6.801353454589844, "y": -0.037384115159511566, "z": -0.03286862373352051 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.090244770050049, "transform": { "location": { "x": 677.2617797851562, "y": 4287.01123046875, "z": 369.8095703125 }, "rotation": { "roll": 0.002290362026542425, "pitch": 0.33448800444602966, "yaw": 179.7630157470703 } }, "velocity": { "x": -2.090179204940796, "y": 0.012828292325139046, "z": 0.010457477532327175 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0006361206178553402, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.003997802268713713, "pitch": 0.31331440806388855, "yaw": 178.9667205810547 } }, "velocity": { "x": 2.19329449464567e-05, "y": 8.026206160138827e-06, "z": 0.0006356917438097298 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00019338764832355082, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 8.202046046790201e-06, "y": 1.4128576367511414e-05, "z": 0.00019269637414254248 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0013783900067210197, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0008545123273506761, "pitch": 0.272633820772171, "yaw": 179.6618194580078 } }, "velocity": { "x": 2.086762287945021e-05, "y": -3.785520311794244e-05, "z": 0.0013777121203020215 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.095071792602539, "transform": { "location": { "x": 640.404296875, "y": 4290.482421875, "z": 370.01708984375 }, "rotation": { "roll": 0.00037432261160574853, "pitch": 0.2832410931587219, "yaw": 179.67889404296875 } }, "velocity": { "x": -8.094822883605957, "y": 0.048037074506282806, "z": 0.041424646973609924 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.7282304763793945, "transform": { "location": { "x": 621.6950073242188, "y": 4290.5966796875, "z": 370.1101989746094 }, "rotation": { "roll": 0.0027461627032607794, "pitch": 0.444194495677948, "yaw": -179.89413452148438 } }, "velocity": { "x": -5.728102684020996, "y": 0.02492900751531124, "z": 0.028951749205589294 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.415299892425537, "transform": { "location": { "x": 712.1637573242188, "y": 4290.13427734375, "z": 369.6083068847656 }, "rotation": { "roll": 0.0032114600762724876, "pitch": 0.3535783886909485, "yaw": -179.83444213867188 } }, "velocity": { "x": -3.415177583694458, "y": -0.022217845544219017, "z": 0.018468398600816727 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.400170803070068, "transform": { "location": { "x": 657.9729614257812, "y": 4290.3779296875, "z": 369.9210205078125 }, "rotation": { "roll": -0.00079345703125, "pitch": 0.2516719698905945, "yaw": 179.6541290283203 } }, "velocity": { "x": -7.3999223709106445, "y": 0.04468339681625366, "z": 0.04100142419338226 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.045003507286310196, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "345": { "acceleration": [ -0.00011073945643147454, 0.0001608805760042742, -0.010279473848640919 ], "angular_velocity": [ -0.0010171298636123538, -0.0008958969847299159, 7.019850454526022e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 8.426793101534713e-06, 7.112002549547469e-06, 2.951553324237466e-05 ], "speed": 1.1026850059778755e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06347942352295, "transform": { "location": { "x": 663.28125, "y": 4293.7998046875, "z": 369.8960876464844 }, "rotation": { "roll": 0.00025306595489382744, "pitch": -0.31167516112327576, "yaw": -0.35626220703125 } }, "velocity": { "x": 8.063193321228027, "y": -0.05100914463400841, "z": -0.04485907033085823 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06275463104248, "transform": { "location": { "x": 665.9486083984375, "y": 4297.033203125, "z": 369.8816833496094 }, "rotation": { "roll": 0.00032868742709979415, "pitch": -0.315062940120697, "yaw": -0.3499145805835724 } }, "velocity": { "x": 8.062479972839355, "y": -0.049269504845142365, "z": -0.04476139321923256 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084711074829102, "transform": { "location": { "x": 708.2468872070312, "y": 4296.78369140625, "z": 369.6335754394531 }, "rotation": { "roll": -0.0005187987699173391, "pitch": -0.333074152469635, "yaw": -0.3533019721508026 } }, "velocity": { "x": 8.084425926208496, "y": -0.04986542463302612, "z": -0.04605773836374283 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024558067321777, "transform": { "location": { "x": 706.8138427734375, "y": 4293.54248046875, "z": 369.6359558105469 }, "rotation": { "roll": -0.0017395013710483909, "pitch": -0.333074152469635, "yaw": -0.3557433784008026 } }, "velocity": { "x": 8.024271965026855, "y": -0.05013527348637581, "z": -0.045702386647462845 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 584.6967163085938, "y": 4297.41162109375, "z": 370.2833557128906 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 581.3446044921875, "y": 4294.18115234375, "z": 370.3043212890625 }, "rotation": { "roll": 5.211066994581515e-11, "pitch": -0.24142667651176453, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.083220481872559, "transform": { "location": { "x": 621.9929809570312, "y": 4294.041015625, "z": 370.1013488769531 }, "rotation": { "roll": 1.7681157260085456e-05, "pitch": -0.2841768264770508, "yaw": -0.339080810546875 } }, "velocity": { "x": 8.082976341247559, "y": -0.04784784093499184, "z": -0.04076327756047249 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.052111625671387, "transform": { "location": { "x": 624.6836547851562, "y": 4297.27734375, "z": 370.0861511230469 }, "rotation": { "roll": 0.00017222625319845974, "pitch": -0.284784734249115, "yaw": -0.3069457411766052 } }, "velocity": { "x": 7.051910400390625, "y": -0.04088332876563072, "z": -0.03421066328883171 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.8284796476364136, "transform": { "location": { "x": 676.808349609375, "y": 4287.01318359375, "z": 369.8121337890625 }, "rotation": { "roll": 0.001715336344204843, "pitch": 0.3164904713630676, "yaw": 179.7352752685547 } }, "velocity": { "x": -1.8284205198287964, "y": 0.01152592059224844, "z": 0.00913175567984581 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0004637851088773459, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.003997802268713713, "pitch": 0.31331440806388855, "yaw": 178.9667205810547 } }, "velocity": { "x": 2.1220779672148637e-05, "y": -3.667846158350585e-06, "z": 0.0004632848431356251 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0004042337532155216, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 3.232959716115147e-05, "y": -5.511782364919782e-05, "z": 0.00039915129309520125 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0013129954459145665, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0009324320708401501, "pitch": 0.27275675535202026, "yaw": 179.66188049316406 } }, "velocity": { "x": 1.3955607755633537e-05, "y": 7.560549875051947e-06, "z": 0.0013128995196893811 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.02707576751709, "transform": { "location": { "x": 638.38671875, "y": 4290.49365234375, "z": 370.0274658203125 }, "rotation": { "roll": -0.0002136229886673391, "pitch": 0.299988716840744, "yaw": 179.64247131347656 } }, "velocity": { "x": -8.02683162689209, "y": 0.047553934156894684, "z": 0.04081954061985016 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22407, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.153841972351074, "transform": { "location": { "x": 620.3914794921875, "y": 4290.60205078125, "z": 370.1172180175781 }, "rotation": { "roll": -0.0008239743183366954, "pitch": 0.35767650604248047, "yaw": -179.84393310546875 } }, "velocity": { "x": -5.153693675994873, "y": 0.030047444626688957, "z": 0.02504473552107811 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.2136430740356445, "transform": { "location": { "x": 711.2108154296875, "y": 4290.12841796875, "z": 369.61370849609375 }, "rotation": { "roll": 0.0039918688125908375, "pitch": 0.35883763432502747, "yaw": -179.73829650878906 } }, "velocity": { "x": -4.213469982147217, "y": -0.028711259365081787, "z": 0.02515442855656147 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.111292839050293, "transform": { "location": { "x": 656.020751953125, "y": 4290.39013671875, "z": 369.9315490722656 }, "rotation": { "roll": -0.00021362301777116954, "pitch": 0.4066148102283478, "yaw": 179.654052734375 } }, "velocity": { "x": -8.111035346984863, "y": 0.04892341420054436, "z": 0.042211294174194336 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04552089050412178, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "350": { "acceleration": [ 0.0009082742035388947, -0.00025767029728740454, 0.0018326874123886228 ], "angular_velocity": [ -0.0005251403199508786, 0.008984744548797607, 5.193351171328686e-05 ], "forward_vector": [ -0.9997907876968384, 0.01971961371600628, 0.00543841952458024 ], "right_vector": [ -0.019719360396265984, -0.9998055696487427, 0.0001001333657768555 ], "location": [ 654.6431884765625, 4287.27099609375, 369.9335021972656 ], "rotation": [ -0.005737303756177425, 0.3116000294685364, 178.87005615234375 ], "velocity": [ 4.228919715387747e-05, 5.069655344414059e-06, 0.0003318824165035039 ], "speed": 4.259198987169611e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.198352813720703, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092741012573242, "transform": { "location": { "x": 665.3009033203125, "y": 4293.7880859375, "z": 369.8851013183594 }, "rotation": { "roll": -0.00021362307597883046, "pitch": -0.315062940120697, "yaw": -0.357696533203125 } }, "velocity": { "x": 8.092458724975586, "y": -0.050540126860141754, "z": -0.044883184134960175 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093124389648438, "transform": { "location": { "x": 667.96826171875, "y": 4297.021484375, "z": 369.87060546875 }, "rotation": { "roll": -0.0003356934175826609, "pitch": -0.315677672624588, "yaw": -0.3511047065258026 } }, "velocity": { "x": 8.09284782409668, "y": -0.049607712775468826, "z": -0.0447576567530632 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.052104949951172, "transform": { "location": { "x": 710.2637329101562, "y": 4296.77197265625, "z": 369.6218566894531 }, "rotation": { "roll": 0.0006228911806829274, "pitch": -0.3341396749019623, "yaw": -0.353546142578125 } }, "velocity": { "x": 8.051809310913086, "y": -0.04964233189821243, "z": -0.04782845452427864 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076741218566895, "transform": { "location": { "x": 708.8267211914062, "y": 4293.52978515625, "z": 369.6242980957031 }, "rotation": { "roll": 0.0005214520497247577, "pitch": -0.3330058455467224, "yaw": -0.3641356825828552 } }, "velocity": { "x": 8.076447486877441, "y": -0.051407698541879654, "z": -0.045858848839998245 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.022318840026855, "transform": { "location": { "x": 586.7460327148438, "y": 4297.4091796875, "z": 370.2869567871094 }, "rotation": { "roll": -0.022796630859375, "pitch": -0.2691572606563568, "yaw": 0.013953236863017082 } }, "velocity": { "x": 8.021929740905762, "y": 0.03421671688556671, "z": 0.07120528817176819 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 583.427734375, "y": 4294.1689453125, "z": 370.29119873046875 }, "rotation": { "roll": 5.211069423194381e-11, "pitch": -0.24831834435462952, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.05281925201416, "transform": { "location": { "x": 624.010009765625, "y": 4294.02978515625, "z": 370.09136962890625 }, "rotation": { "roll": 0.0004370354290585965, "pitch": -0.2835621237754822, "yaw": -0.342132568359375 } }, "velocity": { "x": 8.052573204040527, "y": -0.04813650995492935, "z": -0.04061140492558479 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.751002311706543, "transform": { "location": { "x": 626.5565185546875, "y": 4297.2666015625, "z": 370.07666015625 }, "rotation": { "roll": 9.350084292236716e-05, "pitch": -0.2601618766784668, "yaw": -0.344879150390625 } }, "velocity": { "x": 7.750768184661865, "y": -0.04728434979915619, "z": -0.037340354174375534 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.751275658607483, "transform": { "location": { "x": 676.3226928710938, "y": 4287.0166015625, "z": 369.8148498535156 }, "rotation": { "roll": 0.001445559086278081, "pitch": 0.3148238956928253, "yaw": 179.7113037109375 } }, "velocity": { "x": -1.751212239265442, "y": 0.011016206815838814, "z": 0.010042314417660236 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.1372888517798856e-05, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.003997802268713713, "pitch": 0.31331440806388855, "yaw": 178.9667205810547 } }, "velocity": { "x": 1.5919544239295647e-05, "y": 9.135190339293331e-06, "z": 3.707873111125082e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.002924106316641e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 4.633143362298142e-07, "y": -9.264094842365012e-06, "z": -3.8939724618103355e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015574911376461387, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0009324320708401501, "pitch": 0.27275675535202026, "yaw": 179.66188049316406 } }, "velocity": { "x": 2.0073726773262024e-05, "y": -3.987853415310383e-05, "z": 0.001556851202622056 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.014615058898926, "transform": { "location": { "x": 636.3844604492188, "y": 4290.50537109375, "z": 370.0377502441406 }, "rotation": { "roll": 0.000560429529286921, "pitch": 0.2931790351867676, "yaw": 179.68185424804688 } }, "velocity": { "x": -8.014379501342773, "y": 0.045364346355199814, "z": 0.04131898656487465 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.178765296936035, "transform": { "location": { "x": 710.0341186523438, "y": 4290.12451171875, "z": 369.6207275390625 }, "rotation": { "roll": 0.005750220734626055, "pitch": 0.36587271094322205, "yaw": -179.78683471679688 } }, "velocity": { "x": -5.178658962249756, "y": -0.006017335690557957, "z": 0.032648295164108276 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.7681884765625, "transform": { "location": { "x": 654.0196533203125, "y": 4290.4013671875, "z": 369.942138671875 }, "rotation": { "roll": 0.0003082193434238434, "pitch": 0.28052952885627747, "yaw": 179.65679931640625 } }, "velocity": { "x": -7.76793909072876, "y": 0.046475671231746674, "z": 0.04139738902449608 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.04328421503305435, "expert_target_speed": 0, "target_point": [ 24.102825675157245, 0.3562301241452761 ], "target_point_next": [ 75.0979341800587, 1.0607079115274685 ] }, "355": { "acceleration": [ 0.5373746156692505, -0.25413626432418823, 0.005379484500735998 ], "angular_velocity": [ -0.27986782789230347, -0.09597370773553848, -0.6606730222702026 ], "forward_vector": [ -0.9997793436050415, 0.02022373303771019, 0.005688040051609278 ], "right_vector": [ -0.0202241912484169, -0.9997954964637756, -2.3238359062816016e-05 ], "location": [ 654.6365356445312, 4287.27197265625, 369.9334716796875 ], "rotation": [ 0.001331481384113431, 0.32590246200561523, 178.84117126464844 ], "velocity": [ -0.03754317760467529, 0.0025066216476261616, 0.0014763163635507226 ], "speed": 0.0376267635698387, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.191814422607422, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062566757202148, "transform": { "location": { "x": 667.3203125, "y": 4293.775390625, "z": 369.87408447265625 }, "rotation": { "roll": -9.155277075478807e-05, "pitch": -0.31658607721328735, "yaw": -0.3601073622703552 } }, "velocity": { "x": 8.062281608581543, "y": -0.050736501812934875, "z": -0.045124683529138565 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063602447509766, "transform": { "location": { "x": 669.9876708984375, "y": 4297.009765625, "z": 369.8595886230469 }, "rotation": { "roll": -0.000518798828125, "pitch": -0.31545910239219666, "yaw": -0.351409912109375 } }, "velocity": { "x": 8.063325881958008, "y": -0.04945996031165123, "z": -0.044831421226263046 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084420204162598, "transform": { "location": { "x": 712.2809448242188, "y": 4296.76025390625, "z": 369.6100769042969 }, "rotation": { "roll": 0.0005007729632779956, "pitch": -0.3333132266998291, "yaw": -0.3533324897289276 } }, "velocity": { "x": 8.084123611450195, "y": -0.04987500235438347, "z": -0.048031456768512726 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024336814880371, "transform": { "location": { "x": 710.8388671875, "y": 4293.51611328125, "z": 369.61260986328125 }, "rotation": { "roll": -0.0001220703125, "pitch": -0.33284875750541687, "yaw": -0.3653564155101776 } }, "velocity": { "x": 8.02404499053955, "y": -0.051121506839990616, "z": -0.045509256422519684 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.202971458435059, "transform": { "location": { "x": 588.7749633789062, "y": 4297.4150390625, "z": 370.29290771484375 }, "rotation": { "roll": -0.005584716331213713, "pitch": -0.2559203505516052, "yaw": 0.19749589264392853 } }, "velocity": { "x": 8.202910423278809, "y": 0.03004901111125946, "z": -0.009399328380823135 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.020581245422363, "transform": { "location": { "x": 585.4990234375, "y": 4294.158203125, "z": 370.2782287597656 }, "rotation": { "roll": -0.0399475023150444, "pitch": -0.30349260568618774, "yaw": -0.26986685395240784 } }, "velocity": { "x": 8.02038288116455, "y": 0.008830761536955833, "z": -0.055755242705345154 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.08394718170166, "transform": { "location": { "x": 626.027099609375, "y": 4294.01806640625, "z": 370.08135986328125 }, "rotation": { "roll": -0.00021362297411542386, "pitch": -0.28343918919563293, "yaw": -0.3427124321460724 } }, "velocity": { "x": 8.083702087402344, "y": -0.04834587872028351, "z": -0.040417157113552094 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.839653968811035, "transform": { "location": { "x": 628.6605224609375, "y": 4297.25341796875, "z": 370.0660705566406 }, "rotation": { "roll": -0.00036621096660383046, "pitch": -0.2503059208393097, "yaw": -0.3300475776195526 } }, "velocity": { "x": 8.839372634887695, "y": -0.054312318563461304, "z": -0.045069318264722824 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.0356204509735107, "transform": { "location": { "x": 675.87109375, "y": 4287.01904296875, "z": 369.8173828125 }, "rotation": { "roll": 0.0011777934851124883, "pitch": 0.32057490944862366, "yaw": 179.6968536376953 } }, "velocity": { "x": -2.0355584621429443, "y": 0.012315627187490463, "z": 0.01000676117837429 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0006135030998848379, "transform": { "location": { "x": 665.2312622070312, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.31474876403808594, "yaw": 178.96681213378906 } }, "velocity": { "x": 2.0229108486091718e-05, "y": -6.78482820148929e-06, "z": 0.0006131319678388536 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.428837433399167e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 7.606036888319068e-06, "y": -5.582915946433786e-06, "z": 2.2380894733942114e-05 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0010354022961109877, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.000670367619022727, "pitch": 0.27279090881347656, "yaw": 179.66189575195312 } }, "velocity": { "x": 1.897238144010771e-05, "y": -4.6809353079879656e-05, "z": 0.001034169690683484 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.04134464263916, "transform": { "location": { "x": 634.3766479492188, "y": 4290.51708984375, "z": 370.0480651855469 }, "rotation": { "roll": -0.0003051756648346782, "pitch": 0.28629419207572937, "yaw": 179.64712524414062 } }, "velocity": { "x": -8.04110336303711, "y": 0.04695125296711922, "z": 0.0410531684756279 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.427443981170654, "transform": { "location": { "x": 708.7123413085938, "y": 4290.12255859375, "z": 369.6286926269531 }, "rotation": { "roll": 0.004682963714003563, "pitch": 0.34780004620552063, "yaw": -179.8992156982422 } }, "velocity": { "x": -5.4273600578308105, "y": -0.002956800162792206, "z": 0.02999977022409439 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.579052448272705, "transform": { "location": { "x": 652.1264038085938, "y": 4290.4130859375, "z": 369.95220947265625 }, "rotation": { "roll": -0.001220703125, "pitch": 0.27046865224838257, "yaw": 179.6573486328125 } }, "velocity": { "x": -7.578807353973389, "y": 0.045412804931402206, "z": 0.0406678207218647 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.041399452835321426, "expert_target_speed": 0, "target_point": [ 24.09597167058764, 0.3692316173225509 ], "target_point_next": [ 75.0907182814072, 1.0994360256175453 ] }, "360": { "acceleration": [ -2.09737491607666, 0.44484570622444153, -0.006336783990263939 ], "angular_velocity": [ 0.45237043499946594, 0.8703795671463013, -2.5860414505004883 ], "forward_vector": [ -0.9996263980865479, 0.026316853240132332, 0.0073829214088618755 ], "right_vector": [ -0.026325654238462448, -0.9996528029441833, -0.0010973740136250854 ], "location": [ 654.5860595703125, 4287.28076171875, 369.93353271484375 ], "rotation": [ 0.0628766268491745, 0.4230140745639801, 178.491943359375 ], "velocity": [ -0.501225471496582, 0.0971875935792923, 0.0020885849371552467 ], "speed": 0.5105608696548382, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 12.142333984375, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.09376049041748, "transform": { "location": { "x": 669.3399658203125, "y": 4293.76220703125, "z": 369.8630065917969 }, "rotation": { "roll": 1.76037174242083e-05, "pitch": -0.31450968980789185, "yaw": -0.36074820160865784 } }, "velocity": { "x": 8.093475341796875, "y": -0.050935883074998856, "z": -0.04492967575788498 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092711448669434, "transform": { "location": { "x": 672.00732421875, "y": 4296.998046875, "z": 369.8485107421875 }, "rotation": { "roll": -0.0003051756648346782, "pitch": -0.3168661296367645, "yaw": -0.3513183891773224 } }, "velocity": { "x": 8.092432975769043, "y": -0.04962003976106644, "z": -0.04509430751204491 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051750183105469, "transform": { "location": { "x": 714.2977294921875, "y": 4296.74853515625, "z": 369.5983581542969 }, "rotation": { "roll": 0.000403527170419693, "pitch": -0.3330058455467224, "yaw": -0.3534240424633026 } }, "velocity": { "x": 8.0514554977417, "y": -0.04965062811970711, "z": -0.0478636734187603 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076690673828125, "transform": { "location": { "x": 712.851806640625, "y": 4293.50390625, "z": 369.6009216308594 }, "rotation": { "roll": -0.00021362306142691523, "pitch": -0.33398255705833435, "yaw": -0.35833740234375 } }, "velocity": { "x": 8.07641315460205, "y": -0.049006231129169464, "z": -0.045579805970191956 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.010807037353516, "transform": { "location": { "x": 590.80078125, "y": 4297.4228515625, "z": 370.2869873046875 }, "rotation": { "roll": -0.004333494696766138, "pitch": -0.25598180294036865, "yaw": 0.21544750034809113 } }, "velocity": { "x": 8.010690689086914, "y": 0.029756052419543266, "z": -0.031218137592077255 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.20748233795166, "transform": { "location": { "x": 587.5283203125, "y": 4294.1640625, "z": 370.2654724121094 }, "rotation": { "roll": -0.04241943359375, "pitch": -0.2909523844718933, "yaw": 0.1753896027803421 } }, "velocity": { "x": 8.207310676574707, "y": 0.027065807953476906, "z": -0.045599766075611115 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.05121898651123, "transform": { "location": { "x": 628.0437622070312, "y": 4294.00634765625, "z": 370.0713195800781 }, "rotation": { "roll": -0.00015258796338457614, "pitch": -0.2848461866378784, "yaw": -0.3427734375 } }, "velocity": { "x": 8.050970077514648, "y": -0.048157479614019394, "z": -0.04099183529615402 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.274120330810547, "transform": { "location": { "x": 630.7907104492188, "y": 4297.24072265625, "z": 370.0558166503906 }, "rotation": { "roll": -0.0001525878324173391, "pitch": -0.3019694685935974, "yaw": -0.3088989555835724 } }, "velocity": { "x": 8.2738618850708, "y": -0.04952464625239372, "z": -0.04287680983543396 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.23702582716941833, "transform": { "location": { "x": 675.429443359375, "y": 4287.02197265625, "z": 369.8199768066406 }, "rotation": { "roll": 0.0009158534230664372, "pitch": 0.2898595631122589, "yaw": 179.669189453125 } }, "velocity": { "x": -0.23701855540275574, "y": 0.0010391975520178676, "z": 0.0015392303466796875 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0032612334471195936, "transform": { "location": { "x": 665.232177734375, "y": 4287.08056640625, "z": 369.8850402832031 }, "rotation": { "roll": -0.003631591796875, "pitch": 0.3127748370170593, "yaw": 178.9664306640625 } }, "velocity": { "x": 0.0032128780148923397, "y": -0.0005200307932682335, "z": 0.00020646094344556332 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.1779139640566427e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 8.552036888431758e-06, "y": -9.441145607524959e-07, "z": -8.044838978094049e-06 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0008945853915065527, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": -0.0001220703125, "pitch": 0.27225133776664734, "yaw": 179.66189575195312 } }, "velocity": { "x": 1.331858311459655e-05, "y": -1.8331901401325013e-06, "z": 0.0008944843430072069 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.026820182800293, "transform": { "location": { "x": 632.3677978515625, "y": 4290.529296875, "z": 370.0582275390625 }, "rotation": { "roll": 4.3419251596787944e-05, "pitch": 0.2904127836227417, "yaw": 179.67739868164062 } }, "velocity": { "x": -8.026571273803711, "y": 0.04804994538426399, "z": 0.04107416048645973 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.492401599884033, "transform": { "location": { "x": 707.2251586914062, "y": 4290.12158203125, "z": 369.6370544433594 }, "rotation": { "roll": 0.00286421668715775, "pitch": 0.3633318841457367, "yaw": -179.9927215576172 } }, "velocity": { "x": -6.492292881011963, "y": -0.0007418504101224244, "z": 0.03752705454826355 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.131479263305664, "transform": { "location": { "x": 650.162109375, "y": 4290.4248046875, "z": 369.9627685546875 }, "rotation": { "roll": -0.0008544920710846782, "pitch": 0.38523632287979126, "yaw": 179.65708923339844 } }, "velocity": { "x": -8.1312255859375, "y": 0.04877929762005806, "z": 0.04169527813792229 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.04019122198224068, "expert_target_speed": 10.0, "target_point": [ 24.042583786569637, 0.5235447910454183 ], "target_point_next": [ 75.03193269965948, 1.5645432534702688 ] }, "365": { "acceleration": [ -4.163782596588135, 1.1987495422363281, 0.0030656810849905014 ], "angular_velocity": [ 0.644495964050293, 0.6700392961502075, -8.655590057373047 ], "forward_vector": [ -0.9984977841377258, 0.053792815655469894, 0.010414172895252705 ], "right_vector": [ -0.053827960044145584, -0.9985453486442566, -0.0031243874691426754 ], "location": [ 654.356689453125, 4287.328125, 369.93408203125 ], "rotation": [ 0.17902421951293945, 0.5966989398002625, 176.91624450683594 ], "velocity": [ -1.3558475971221924, 0.3272787034511566, 0.006297921761870384 ], "speed": 1.394788176159625, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 11.918387413024902, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062976837158203, "transform": { "location": { "x": 671.359375, "y": 4293.74951171875, "z": 369.85198974609375 }, "rotation": { "roll": -0.00045776375918649137, "pitch": -0.3161626160144806, "yaw": -0.3608397841453552 } }, "velocity": { "x": 8.062692642211914, "y": -0.05078177899122238, "z": -0.04483509063720703 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063127517700195, "transform": { "location": { "x": 674.0265502929688, "y": 4296.986328125, "z": 369.83740234375 }, "rotation": { "roll": 0.0008292424608953297, "pitch": -0.3190585970878601, "yaw": -0.3543701171875 } }, "velocity": { "x": 8.062850952148438, "y": -0.04987068474292755, "z": -0.044493094086647034 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084768295288086, "transform": { "location": { "x": 716.3148193359375, "y": 4296.73583984375, "z": 369.5866394042969 }, "rotation": { "roll": 0.0012835554080083966, "pitch": -0.33373668789863586, "yaw": -0.3598022162914276 } }, "velocity": { "x": 8.084457397460938, "y": -0.05171583592891693, "z": -0.04847877100110054 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024560928344727, "transform": { "location": { "x": 714.8640747070312, "y": 4293.4921875, "z": 369.5892639160156 }, "rotation": { "roll": -0.0015258790226653218, "pitch": -0.3338869512081146, "yaw": -0.35137939453125 } }, "velocity": { "x": 8.024273872375488, "y": -0.0493149571120739, "z": -0.04673966392874718 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.194587707519531, "transform": { "location": { "x": 592.8272705078125, "y": 4297.42724609375, "z": 370.2783508300781 }, "rotation": { "roll": 0.007122270297259092, "pitch": -0.25826993584632874, "yaw": 0.10107129067182541 } }, "velocity": { "x": 8.194511413574219, "y": -0.005518604535609484, "z": -0.034920211881399155 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.010412216186523, "transform": { "location": { "x": 589.5546875, "y": 4294.17041015625, "z": 370.2550964355469 }, "rotation": { "roll": -0.0189514122903347, "pitch": -0.27429354190826416, "yaw": 0.19518022239208221 } }, "velocity": { "x": 8.010271072387695, "y": 0.027575118467211723, "z": -0.03880387544631958 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.084771156311035, "transform": { "location": { "x": 630.0609741210938, "y": 4293.99462890625, "z": 370.0612487792969 }, "rotation": { "roll": 0.00033338068169541657, "pitch": -0.2917173504829407, "yaw": -0.34259033203125 } }, "velocity": { "x": 8.084524154663086, "y": -0.04835064709186554, "z": -0.040694817900657654 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.077796936035156, "transform": { "location": { "x": 632.8241577148438, "y": 4297.2294921875, "z": 370.04541015625 }, "rotation": { "roll": -0.00033569333027116954, "pitch": -0.30090397596359253, "yaw": -0.3532409369945526 } }, "velocity": { "x": 8.077543258666992, "y": -0.04895773157477379, "z": -0.04127577692270279 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0010095367906615138, "transform": { "location": { "x": 675.427978515625, "y": 4287.02197265625, "z": 369.8199462890625 }, "rotation": { "roll": 0.00159358698874712, "pitch": 0.2957744896411896, "yaw": 179.66790771484375 } }, "velocity": { "x": 4.683747829403728e-05, "y": -1.8393480786471628e-05, "z": 0.0010082819499075413 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.009424411691725254, "transform": { "location": { "x": 665.234375, "y": 4287.08056640625, "z": 369.8849792480469 }, "rotation": { "roll": -0.004364012274891138, "pitch": 0.3144140839576721, "yaw": 178.96566772460938 } }, "velocity": { "x": 0.009403552860021591, "y": 0.00036158031434752047, "z": 0.0005118370172567666 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0001873443106887862, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 2.858322113752365e-05, "y": 3.9456746890209615e-05, "z": 0.0001808979141060263 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0007356361020356417, "transform": { "location": { "x": 605.6221313476562, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": -0.0001220703125, "pitch": 0.27225133776664734, "yaw": 179.66189575195312 } }, "velocity": { "x": -8.21683534013573e-06, "y": -9.829169357544743e-06, "z": 0.0007355245761573315 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.028757095336914, "transform": { "location": { "x": 630.361328125, "y": 4290.54052734375, "z": 370.06842041015625 }, "rotation": { "roll": -0.00015258786152116954, "pitch": 0.2895658612251282, "yaw": 179.63632202148438 } }, "velocity": { "x": -8.028508186340332, "y": 0.04811864718794823, "z": 0.04105142503976822 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.631580352783203, "transform": { "location": { "x": 705.4554443359375, "y": 4290.12109375, "z": 369.647216796875 }, "rotation": { "roll": 0.002926173619925976, "pitch": 0.3723955452442169, "yaw": 179.95236206054688 } }, "velocity": { "x": -7.631449222564697, "y": 0.008321423083543777, "z": 0.043937768787145615 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.811411380767822, "transform": { "location": { "x": 648.149169921875, "y": 4290.43701171875, "z": 369.9733581542969 }, "rotation": { "roll": -0.000213623046875, "pitch": 0.278036504983902, "yaw": 179.65721130371094 } }, "velocity": { "x": -7.811163902282715, "y": 0.04673086106777191, "z": 0.04106748476624489 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.02827528305351734, "expert_target_speed": 10.0, "target_point": [ 23.787510362937077, 1.219416733142049 ], "target_point_next": [ 74.72895359167525, 3.662108312697736 ] }, "370": { "acceleration": [ -4.182171821594238, 1.0680198669433594, 0.018240362405776978 ], "angular_velocity": [ 0.11085193604230881, 0.332439124584198, -12.927480697631836 ], "forward_vector": [ -0.9945659637451172, 0.10340287536382675, 0.01209956593811512 ], "right_vector": [ -0.10345697402954102, -0.9946261048316956, -0.003932887688279152 ], "location": [ 653.9022827148438, 4287.4326171875, 369.93609619140625 ], "rotation": [ 0.22535495460033417, 0.6932709813117981, 174.0644073486328 ], "velocity": [ -2.278748035430908, 0.595623791217804, 0.011622562073171139 ], "speed": 2.3553047169410783, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 11.477086067199707, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.09300422668457, "transform": { "location": { "x": 673.37890625, "y": 4293.73681640625, "z": 369.8408508300781 }, "rotation": { "roll": 1.1108504622825421e-05, "pitch": -0.3187580704689026, "yaw": -0.3589172065258026 } }, "velocity": { "x": 8.092730522155762, "y": -0.04900280013680458, "z": -0.04506115987896919 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092910766601562, "transform": { "location": { "x": 676.0462646484375, "y": 4296.9736328125, "z": 369.82623291015625 }, "rotation": { "roll": 0.00016109550779219717, "pitch": -0.318143367767334, "yaw": -0.3597716689109802 } }, "velocity": { "x": 8.092625617980957, "y": -0.05079389363527298, "z": -0.04501715674996376 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.051905632019043, "transform": { "location": { "x": 718.33154296875, "y": 4296.7236328125, "z": 369.5748596191406 }, "rotation": { "roll": -0.0010681151179596782, "pitch": -0.3335864245891571, "yaw": -0.3597716689109802 } }, "velocity": { "x": 8.05160903930664, "y": -0.049496009945869446, "z": -0.04834670573472977 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076587677001953, "transform": { "location": { "x": 716.876708984375, "y": 4293.47998046875, "z": 369.5775451660156 }, "rotation": { "roll": -0.0014038084773346782, "pitch": -0.334651917219162, "yaw": -0.3404845893383026 } }, "velocity": { "x": 8.076313018798828, "y": -0.046283919364213943, "z": -0.04781695827841759 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.002521514892578, "transform": { "location": { "x": 594.850830078125, "y": 4297.42626953125, "z": 370.2693786621094 }, "rotation": { "roll": 0.0030788229778409004, "pitch": -0.2630237340927124, "yaw": -0.0517578050494194 } }, "velocity": { "x": 8.002427101135254, "y": -0.013420498929917812, "z": -0.036417100578546524 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.198951721191406, "transform": { "location": { "x": 591.5819702148438, "y": 4294.177734375, "z": 370.24566650390625 }, "rotation": { "roll": -0.007843016646802425, "pitch": -0.2599774897098541, "yaw": 0.19288596510887146 } }, "velocity": { "x": 8.198819160461426, "y": 0.027874931693077087, "z": -0.03746380656957626 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.052031517028809, "transform": { "location": { "x": 632.0778198242188, "y": 4293.98291015625, "z": 370.05096435546875 }, "rotation": { "roll": 0.0008663908229209483, "pitch": -0.2924140393733978, "yaw": -0.3427123427391052 } }, "velocity": { "x": 8.051779747009277, "y": -0.048132989555597305, "z": -0.041622016578912735 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.782928943634033, "transform": { "location": { "x": 634.6307983398438, "y": 4297.21826171875, "z": 370.0365295410156 }, "rotation": { "roll": 0.0003772537165787071, "pitch": -0.32674941420555115, "yaw": -0.3023681640625 } }, "velocity": { "x": 6.782715797424316, "y": -0.04074893519282341, "z": -0.03510732203722 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00033998166327364743, "transform": { "location": { "x": 675.4277954101562, "y": 4287.02197265625, "z": 369.8197937011719 }, "rotation": { "roll": 0.0015083602629601955, "pitch": 0.3118254244327545, "yaw": 179.6679229736328 } }, "velocity": { "x": 1.434210662409896e-05, "y": -6.682096136501059e-05, "z": 0.00033304173848591745 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.49920493364334106, "transform": { "location": { "x": 665.19140625, "y": 4287.0810546875, "z": 369.88470458984375 }, "rotation": { "roll": -0.006469726096838713, "pitch": 0.3926538825035095, "yaw": 178.9923553466797 } }, "velocity": { "x": -0.4991903305053711, "y": 0.0030134813860058784, "z": 0.0023461913224309683 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00024413193750660866, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 7.908940460765734e-06, "y": 1.4441499843087513e-05, "z": 0.00024357605434488505 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0015049829380586743, "transform": { "location": { "x": 605.6220703125, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 0.0006284653209149837, "pitch": 0.2726406455039978, "yaw": 179.66192626953125 } }, "velocity": { "x": 2.6247724235872738e-05, "y": -4.355959390522912e-05, "z": 0.001504123443737626 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.032197952270508, "transform": { "location": { "x": 628.3535766601562, "y": 4290.55224609375, "z": 370.0785217285156 }, "rotation": { "roll": 0.000308564689476043, "pitch": 0.28489401936531067, "yaw": 179.6760711669922 } }, "velocity": { "x": -8.031947135925293, "y": 0.04790785536170006, "z": 0.04162495583295822 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.789615631103516, "transform": { "location": { "x": 703.4464111328125, "y": 4290.12451171875, "z": 369.6589050292969 }, "rotation": { "roll": 0.0013301181606948376, "pitch": 0.3738093972206116, "yaw": 179.8633575439453 } }, "velocity": { "x": -8.78943920135498, "y": 0.024856355041265488, "z": 0.04990174248814583 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.562650680541992, "transform": { "location": { "x": 646.2508544921875, "y": 4290.4482421875, "z": 369.98333740234375 }, "rotation": { "roll": -0.001251220703125, "pitch": 0.2571566104888916, "yaw": 179.6571807861328 } }, "velocity": { "x": -7.56240701675415, "y": 0.04530622437596321, "z": 0.04039744287729263 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.07238401472568512, "expert_target_speed": 10.0, "target_point": [ 23.234604676899743, 2.458351729793999 ], "target_point_next": [ 73.99142765787684, 7.4325151023966765 ] }, "375": { "acceleration": [ -6.039137840270996, 1.0874438285827637, 0.02268236130475998 ], "angular_velocity": [ -0.22484856843948364, 0.7218566536903381, -11.5306978225708 ], "forward_vector": [ -0.9871338605880737, 0.15921740233898163, 0.01471799984574318 ], "right_vector": [ -0.15927478671073914, -0.9872303605079651, -0.0028060281183570623 ], "location": [ 653.1583251953125, 4287.60888671875, 369.9394836425781 ], "rotation": [ 0.16079118847846985, 0.843309760093689, 170.8375244140625 ], "velocity": [ -3.6702795028686523, 0.9003487229347229, 0.019161280244588852 ], "speed": 3.7790977034297417, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 10.759819984436035, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06328296661377, "transform": { "location": { "x": 675.398193359375, "y": 4293.72509765625, "z": 369.8297119140625 }, "rotation": { "roll": -0.00036621096660383046, "pitch": -0.319031298160553, "yaw": -0.3511962890625 } }, "velocity": { "x": 8.063014030456543, "y": -0.048622775822877884, "z": -0.044486477971076965 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062972068786621, "transform": { "location": { "x": 678.0654296875, "y": 4296.9619140625, "z": 369.8150329589844 }, "rotation": { "roll": -0.00024414055224042386, "pitch": -0.3213194012641907, "yaw": -0.357269287109375 } }, "velocity": { "x": 8.062689781188965, "y": -0.050230879336595535, "z": -0.045038845390081406 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 8.084397315979004, "transform": { "location": { "x": 720.3487548828125, "y": 4296.7119140625, "z": 369.5631103515625 }, "rotation": { "roll": -3.051770545425825e-05, "pitch": -0.33245259523391724, "yaw": -0.35720816254615784 } }, "velocity": { "x": 8.08410358428955, "y": -0.05037231370806694, "z": -0.047039903700351715 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.024577140808105, "transform": { "location": { "x": 718.8890380859375, "y": 4293.46875, "z": 369.5657653808594 }, "rotation": { "roll": -3.0517507184413262e-05, "pitch": -0.3344128727912903, "yaw": -0.3360595703125 } }, "velocity": { "x": 8.02429485321045, "y": -0.047088831663131714, "z": -0.048141736537218094 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.103158950805664, "transform": { "location": { "x": 596.8330078125, "y": 4297.42236328125, "z": 370.26092529296875 }, "rotation": { "roll": 0.00344604323618114, "pitch": -0.33428993821144104, "yaw": -0.1095580905675888 } }, "velocity": { "x": 7.1030473709106445, "y": -0.023293387144804, "z": -0.03233740106225014 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.001631736755371, "transform": { "location": { "x": 593.6058349609375, "y": 4294.1787109375, "z": 370.2365417480469 }, "rotation": { "roll": 0.022540654987096786, "pitch": -0.2702637314796448, "yaw": 0.009916641749441624 } }, "velocity": { "x": 8.001544952392578, "y": -0.007572081405669451, "z": -0.03655093535780907 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.083701133728027, "transform": { "location": { "x": 634.0948486328125, "y": 4293.97119140625, "z": 370.0406799316406 }, "rotation": { "roll": 0.00040481003816239536, "pitch": -0.29134854674339294, "yaw": -0.3423766791820526 } }, "velocity": { "x": 8.083452224731445, "y": -0.048320572823286057, "z": -0.04118623211979866 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.134866714477539, "transform": { "location": { "x": 636.3505249023438, "y": 4297.20849609375, "z": 370.0273742675781 }, "rotation": { "roll": 0.0009550066315568984, "pitch": -0.28906041383743286, "yaw": -0.3314819633960724 } }, "velocity": { "x": 7.134640216827393, "y": -0.044143278151750565, "z": -0.03579321876168251 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0011664441553875804, "transform": { "location": { "x": 675.4277954101562, "y": 4287.02197265625, "z": 369.8197937011719 }, "rotation": { "roll": 0.0009193727164529264, "pitch": 0.3142569959163666, "yaw": 179.66796875 } }, "velocity": { "x": 1.6606412827968597e-05, "y": -7.947631092974916e-05, "z": 0.0011636149138212204 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.1128966808319092, "transform": { "location": { "x": 665.0, "y": 4287.08349609375, "z": 369.8849792480469 }, "rotation": { "roll": -0.008087157271802425, "pitch": 0.47425416111946106, "yaw": 179.09500122070312 } }, "velocity": { "x": -1.1128370761871338, "y": 0.010148641653358936, "z": 0.00544458394870162 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.4336794265545905e-05, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 2.5171786433020316e-07, "y": -1.364626587019302e-05, "z": -4.388592515169876e-06 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.025748278945684433, "transform": { "location": { "x": 605.6204833984375, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": 5.567778862314299e-05, "pitch": 0.2749970555305481, "yaw": 179.6610870361328 } }, "velocity": { "x": -0.02571146935224533, "y": 0.0007478268817067146, "z": 0.0011553955264389515 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.029786109924316, "transform": { "location": { "x": 626.3458251953125, "y": 4290.56396484375, "z": 370.0885314941406 }, "rotation": { "roll": -0.0006408692570403218, "pitch": 0.28074806928634644, "yaw": 179.6384735107422 } }, "velocity": { "x": -8.02953815460205, "y": 0.047925371676683426, "z": 0.041016414761543274 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 9.708125114440918, "transform": { "location": { "x": 701.1181640625, "y": 4290.13134765625, "z": 369.67236328125 }, "rotation": { "roll": 0.0013306583277881145, "pitch": 0.36743682622909546, "yaw": 179.78387451171875 } }, "velocity": { "x": -9.707904815673828, "y": 0.034245625138282776, "z": 0.05571442469954491 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.288443565368652, "transform": { "location": { "x": 644.2664184570312, "y": 4290.46044921875, "z": 369.9938659667969 }, "rotation": { "roll": 0.0005791576113551855, "pitch": 0.4054536819458008, "yaw": 179.65692138671875 } }, "velocity": { "x": -8.288187026977539, "y": 0.04958517849445343, "z": 0.0423588827252388 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.03906583413481712, "expert_target_speed": 10.0, "target_point": [ 22.296851509109803, 3.8178854994996834 ], "target_point_next": [ 72.6932023431462, 11.641260921419969 ] }, "380": { "acceleration": [ -5.538616180419922, 0.3751826286315918, 0.08511751890182495 ], "angular_velocity": [ -0.874407172203064, 0.28128597140312195, -2.0524470806121826 ], "forward_vector": [ -0.9818704128265381, 0.18887731432914734, 0.01599625125527382 ], "right_vector": [ -0.18888171017169952, -0.9819990396499634, 0.0012493946123868227 ], "location": [ 652.0567626953125, 4287.84765625, 369.9452209472656 ], "rotation": [ -0.0715942233800888, 0.916556715965271, 169.11131286621094 ], "velocity": [ -5.064417839050293, 1.0383156538009644, 0.02973521128296852 ], "speed": 5.169760869268419, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 9.707199096679688, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.916043758392334, "transform": { "location": { "x": 714.3043823242188, "y": 4290.14501953125, "z": 369.98883056640625 }, "rotation": { "roll": 0.0, "pitch": 0.33312880992889404, "yaw": 179.66160583496094 } }, "velocity": { "x": -4.894244194030762, "y": 0.028905829414725304, "z": -0.46154287457466125 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093663215637207, "transform": { "location": { "x": 677.4178466796875, "y": 4293.712890625, "z": 369.8185119628906 }, "rotation": { "roll": 0.00010092574666487053, "pitch": -0.319577693939209, "yaw": -0.3452148139476776 } }, "velocity": { "x": 8.093391418457031, "y": -0.048847127705812454, "z": -0.0448949821293354 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093185424804688, "transform": { "location": { "x": 680.0849609375, "y": 4296.94970703125, "z": 369.8038330078125 }, "rotation": { "roll": -0.00018310546875, "pitch": -0.3234230875968933, "yaw": -0.3578490912914276 } }, "velocity": { "x": 8.092897415161133, "y": -0.051540784537792206, "z": -0.04491163790225983 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 722.3787231445312, "y": 4296.6943359375, "z": 369.5516357421875 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 8.076419830322266, "transform": { "location": { "x": 720.9017944335938, "y": 4293.45654296875, "z": 369.55401611328125 }, "rotation": { "roll": -0.0018615720327943563, "pitch": -0.3322203755378723, "yaw": -0.3364257514476776 } }, "velocity": { "x": 8.07614517211914, "y": -0.047400496900081635, "z": -0.0468406043946743 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.8008713722229, "transform": { "location": { "x": 598.3688354492188, "y": 4297.4169921875, "z": 370.2543640136719 }, "rotation": { "roll": -0.00021362309053074569, "pitch": -0.3945253789424896, "yaw": -0.1623229831457138 } }, "velocity": { "x": 5.800760746002197, "y": -0.022168194875121117, "z": -0.028109095990657806 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.190461158752441, "transform": { "location": { "x": 595.630859375, "y": 4294.17578125, "z": 370.2272644042969 }, "rotation": { "roll": 0.014951925724744797, "pitch": -0.2622655928134918, "yaw": -0.087799072265625 } }, "velocity": { "x": 8.190360069274902, "y": -0.01553909108042717, "z": -0.03758411854505539 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051851272583008, "transform": { "location": { "x": 636.1116333007812, "y": 4293.95947265625, "z": 370.03045654296875 }, "rotation": { "roll": 0.0002315395831828937, "pitch": -0.29168322682380676, "yaw": -0.345245361328125 } }, "velocity": { "x": 8.051597595214844, "y": -0.04852117598056793, "z": -0.04154764115810394 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.77699613571167, "transform": { "location": { "x": 638.2427368164062, "y": 4297.1962890625, "z": 370.01751708984375 }, "rotation": { "roll": 0.0013718182453885674, "pitch": -0.2758508324623108, "yaw": -0.3190002143383026 } }, "velocity": { "x": 7.776752948760986, "y": -0.04598839208483696, "z": -0.04085714742541313 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.3547266125679016, "transform": { "location": { "x": 675.3985595703125, "y": 4287.02197265625, "z": 369.8199768066406 }, "rotation": { "roll": 0.0014783210353925824, "pitch": 0.322842538356781, "yaw": 179.67088317871094 } }, "velocity": { "x": -0.3547094762325287, "y": 0.002594048622995615, "z": 0.002330522518604994 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.1884312629699707, "transform": { "location": { "x": 664.5941162109375, "y": 4287.08740234375, "z": 369.8866271972656 }, "rotation": { "roll": -0.009002684615552425, "pitch": 0.5446733832359314, "yaw": 179.2325897216797 } }, "velocity": { "x": -2.188349485397339, "y": 0.015096690505743027, "z": 0.011401806026697159 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0002905535220634192, "transform": { "location": { "x": 615.9485473632812, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0025631869211792946, "pitch": 0.2796688973903656, "yaw": -179.76983642578125 } }, "velocity": { "x": 3.398992021175218e-06, "y": -1.7704353012959473e-05, "z": -0.00028999370988458395 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.5921894311904907, "transform": { "location": { "x": 605.5686645507812, "y": 4287.53662109375, "z": 370.21868896484375 }, "rotation": { "roll": -0.0010681150015443563, "pitch": 0.31631287932395935, "yaw": 179.687255859375 } }, "velocity": { "x": -0.5921810865402222, "y": -0.00237483624368906, "z": 0.0020617865957319736 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.03074836730957, "transform": { "location": { "x": 624.3380126953125, "y": 4290.576171875, "z": 370.0984802246094 }, "rotation": { "roll": -0.0003356933011673391, "pitch": 0.2812739908695221, "yaw": 179.6796112060547 } }, "velocity": { "x": -8.030501365661621, "y": 0.04761417210102081, "z": 0.041115205734968185 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 10.35080337524414, "transform": { "location": { "x": 698.6068115234375, "y": 4290.1416015625, "z": 369.6869812011719 }, "rotation": { "roll": -0.0007324218167923391, "pitch": 0.3553405702114105, "yaw": 179.719970703125 } }, "velocity": { "x": -10.350517272949219, "y": 0.0487908311188221, "z": 0.059535376727581024 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.794981479644775, "transform": { "location": { "x": 642.2413940429688, "y": 4290.4716796875, "z": 370.00433349609375 }, "rotation": { "roll": 0.0017638599965721369, "pitch": 0.25454747676849365, "yaw": 179.6568603515625 } }, "velocity": { "x": -7.794737339019775, "y": 0.046617262065410614, "z": 0.04036227986216545 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.3749672472476959, "expert_target_speed": 10.0, "target_point": [ 21.044891100674977, 4.514195264357525 ], "target_point_next": [ 71.18270435321942, 13.852132008230104 ] }, "385": { "acceleration": [ 0.14482498168945312, 0.2324962615966797, -0.007966235280036926 ], "angular_velocity": [ -0.13351872563362122, -1.3735547065734863, 0.8051883578300476 ], "forward_vector": [ -0.9801134467124939, 0.1981419324874878, 0.010834719054400921 ], "right_vector": [ -0.19814607501029968, -0.9801722168922424, 0.0007009027758613229 ], "location": [ 650.7501220703125, 4288.11669921875, 369.9533386230469 ], "rotation": [ -0.0401611328125, 0.6207958459854126, 168.5709991455078 ], "velocity": [ -5.227729797363281, 1.1127084493637085, 0.02906951867043972 ], "speed": 5.344836660509404, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 8.480224609375, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.902761936187744, "transform": { "location": { "x": 713.0896606445312, "y": 4290.1513671875, "z": 369.603271484375 }, "rotation": { "roll": 0.0107456985861063, "pitch": 0.3463520407676697, "yaw": 179.71408081054688 } }, "velocity": { "x": -4.725740432739258, "y": -0.026098135858774185, "z": -1.3052849769592285 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063342094421387, "transform": { "location": { "x": 679.4371948242188, "y": 4293.70166015625, "z": 369.8072814941406 }, "rotation": { "roll": -0.001007080078125, "pitch": -0.323115736246109, "yaw": -0.3445434272289276 } }, "velocity": { "x": 8.06307315826416, "y": -0.048558734357357025, "z": -0.04446542635560036 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063196182250977, "transform": { "location": { "x": 682.1043701171875, "y": 4296.9375, "z": 369.79248046875 }, "rotation": { "roll": -0.0007324220496229827, "pitch": -0.3230884075164795, "yaw": -0.3579100966453552 } }, "velocity": { "x": 8.062915802001953, "y": -0.05011046677827835, "z": -0.04489566385746002 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 724.4615478515625, "y": 4296.65283203125, "z": 369.54107666015625 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": 722.9564819335938, "y": 4293.42724609375, "z": 369.5438537597656 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.011682987213135, "transform": { "location": { "x": 599.8432006835938, "y": 4297.41162109375, "z": 370.24652099609375 }, "rotation": { "roll": -0.0018005369929596782, "pitch": -0.2802426517009735, "yaw": -0.2372741401195526 } }, "velocity": { "x": 6.0115580558776855, "y": -0.025655891746282578, "z": -0.02902947925031185 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.953454494476318, "transform": { "location": { "x": 597.334228515625, "y": 4294.171875, "z": 370.2215881347656 }, "rotation": { "roll": 0.014683923684060574, "pitch": -0.8322994709014893, "yaw": -0.1863403171300888 } }, "velocity": { "x": 5.953347682952881, "y": -0.02166365273296833, "z": -0.028359074145555496 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.085187911987305, "transform": { "location": { "x": 638.1288452148438, "y": 4293.94775390625, "z": 370.02008056640625 }, "rotation": { "roll": 0.00041863805381581187, "pitch": -0.29666242003440857, "yaw": -0.3490905165672302 } }, "velocity": { "x": 8.084932327270508, "y": -0.04923023283481598, "z": -0.04142323508858681 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.666608810424805, "transform": { "location": { "x": 640.357666015625, "y": 4297.18310546875, "z": 370.00640869140625 }, "rotation": { "roll": 0.00012576236622408032, "pitch": -0.27255186438560486, "yaw": -0.294097900390625 } }, "velocity": { "x": 8.666342735290527, "y": -0.05136775225400925, "z": -0.04444648325443268 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.065875768661499, "transform": { "location": { "x": 675.2223510742188, "y": 4287.02294921875, "z": 369.82080078125 }, "rotation": { "roll": 0.00229519116692245, "pitch": 0.3316466510295868, "yaw": 179.7013702392578 } }, "velocity": { "x": -1.0658445358276367, "y": 0.00654261652380228, "z": 0.004873695317655802 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.0180253982543945, "transform": { "location": { "x": 663.8189086914062, "y": 4287.09375, "z": 369.8894958496094 }, "rotation": { "roll": -0.009307861328125, "pitch": 0.7097590565681458, "yaw": 179.350341796875 } }, "velocity": { "x": -4.017874240875244, "y": 0.0272215623408556, "z": 0.02171059511601925 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.007024080492556095, "transform": { "location": { "x": 615.9473876953125, "y": 4287.4130859375, "z": 370.1310729980469 }, "rotation": { "roll": 0.0019173898035660386, "pitch": 0.2841290235519409, "yaw": -179.7743377685547 } }, "velocity": { "x": 0.007005048915743828, "y": -0.0004916031030006707, "z": -0.00015912055096123368 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.3105746507644653, "transform": { "location": { "x": 605.326904296875, "y": 4287.53564453125, "z": 370.2195129394531 }, "rotation": { "roll": -0.0015869142953306437, "pitch": 0.34581246972084045, "yaw": 179.71588134765625 } }, "velocity": { "x": -1.3105453252792358, "y": -0.006002903915941715, "z": 0.006381711922585964 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030265808105469, "transform": { "location": { "x": 622.3302001953125, "y": 4290.58740234375, "z": 370.1083984375 }, "rotation": { "roll": -0.0009155272273346782, "pitch": 0.28145840764045715, "yaw": 179.63819885253906 } }, "velocity": { "x": -8.030000686645508, "y": 0.05053545907139778, "z": 0.041250236332416534 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.009543418884277, "transform": { "location": { "x": 695.93310546875, "y": 4290.154296875, "z": 369.7024230957031 }, "rotation": { "roll": 0.00107667432166636, "pitch": 0.3500335216522217, "yaw": 179.68643188476562 } }, "velocity": { "x": -11.009224891662598, "y": 0.056432146579027176, "z": 0.06188797950744629 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.5812201499938965, "transform": { "location": { "x": 640.347900390625, "y": 4290.48388671875, "z": 370.0142517089844 }, "rotation": { "roll": 0.0007940877694636583, "pitch": 0.25461578369140625, "yaw": 179.65708923339844 } }, "velocity": { "x": -7.580970764160156, "y": 0.04542412608861923, "z": 0.041424281895160675 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.7859817743301392, "expert_target_speed": 10.0, "target_point": [ 19.66734219168058, 4.717246666134551 ], "target_point_next": [ 69.71486676500257, 14.527581240567734 ] }, "390": { "acceleration": [ -5.606327056884766, 0.11995792388916016, 0.043175891041755676 ], "angular_velocity": [ -0.873439610004425, 0.55778568983078, -0.9141674041748047 ], "forward_vector": [ -0.9782090783119202, 0.20704632997512817, 0.015452723018825054 ], "right_vector": [ -0.20705121755599976, -0.9783292412757874, 0.0012999994214624166 ], "location": [ 649.166259765625, 4288.45458984375, 369.9607849121094 ], "rotation": [ -0.0744933933019638, 0.8854110240936279, 168.0492401123047 ], "velocity": [ -7.0732245445251465, 1.4669458866119385, 0.036866892129182816 ], "speed": 7.22374111465248, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 7.049124717712402, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.682293891906738, "transform": { "location": { "x": 711.916259765625, "y": 4290.14453125, "z": 369.5796813964844 }, "rotation": { "roll": 0.008943801745772362, "pitch": 0.3393784165382385, "yaw": -179.93980407714844 } }, "velocity": { "x": -4.6740403175354, "y": -0.041947588324546814, "z": 0.2747061550617218 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093111991882324, "transform": { "location": { "x": 681.456787109375, "y": 4293.68994140625, "z": 369.7960510253906 }, "rotation": { "roll": -0.00048828116268850863, "pitch": -0.3220502436161041, "yaw": -0.3418273627758026 } }, "velocity": { "x": 8.092843055725098, "y": -0.04827998951077461, "z": -0.04490288719534874 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092903137207031, "transform": { "location": { "x": 684.1239624023438, "y": 4296.92529296875, "z": 369.7811584472656 }, "rotation": { "roll": -0.0004272460355423391, "pitch": -0.3229108452796936, "yaw": -0.3567504584789276 } }, "velocity": { "x": 8.092619895935059, "y": -0.05039052292704582, "z": -0.04524357244372368 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22523, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 726.5443725585938, "y": 4296.61083984375, "z": 369.5305480957031 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": 725.039306640625, "y": 4293.38623046875, "z": 369.5349426269531 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.052579879760742, "transform": { "location": { "x": 601.584228515625, "y": 4297.40478515625, "z": 370.23675537109375 }, "rotation": { "roll": 0.0001245637977262959, "pitch": -0.1015990599989891, "yaw": -0.2858886420726776 } }, "velocity": { "x": 8.052412986755371, "y": -0.03573698550462723, "z": -0.0375610813498497 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.78808069229126, "transform": { "location": { "x": 598.788330078125, "y": 4294.166015625, "z": 370.21380615234375 }, "rotation": { "roll": 0.00956716388463974, "pitch": -0.5714409351348877, "yaw": -0.1836852878332138 } }, "velocity": { "x": 5.787981033325195, "y": -0.022669553756713867, "z": -0.02535138465464115 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.050760269165039, "transform": { "location": { "x": 640.1455688476562, "y": 4293.93603515625, "z": 370.0096130371094 }, "rotation": { "roll": -0.001251220703125, "pitch": -0.30093812942504883, "yaw": -0.349609375 } }, "velocity": { "x": 8.050504684448242, "y": -0.0491403229534626, "z": -0.04115365445613861 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.213286399841309, "transform": { "location": { "x": 642.4586791992188, "y": 4297.17138671875, "z": 369.9957580566406 }, "rotation": { "roll": 0.0005729516269639134, "pitch": -0.308929443359375, "yaw": -0.2792358100414276 } }, "velocity": { "x": 8.213027000427246, "y": -0.04796268045902252, "z": -0.04419756680727005 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.8683955669403076, "transform": { "location": { "x": 674.8578491210938, "y": 4287.02490234375, "z": 369.82281494140625 }, "rotation": { "roll": 0.0011853440664708614, "pitch": 0.33445385098457336, "yaw": 179.70388793945312 } }, "velocity": { "x": -1.8683325052261353, "y": 0.01154245249927044, "z": 0.01012308057397604 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.7328715324401855, "transform": { "location": { "x": 662.594970703125, "y": 4287.1015625, "z": 369.89654541015625 }, "rotation": { "roll": -0.005767820868641138, "pitch": 0.6846649646759033, "yaw": 179.41880798339844 } }, "velocity": { "x": -4.732720851898193, "y": 0.027015695348381996, "z": 0.026366041973233223 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.48629045486450195, "transform": { "location": { "x": 615.9033203125, "y": 4287.4130859375, "z": 370.1309814453125 }, "rotation": { "roll": 0.005452762823551893, "pitch": 0.3880845010280609, "yaw": -179.77658081054688 } }, "velocity": { "x": -0.48628488183021545, "y": 0.0003655808395706117, "z": 0.0023032473400235176 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.170285940170288, "transform": { "location": { "x": 604.8955078125, "y": 4287.53466796875, "z": 370.221435546875 }, "rotation": { "roll": -0.0016479489859193563, "pitch": 0.3605041801929474, "yaw": 179.83023071289062 } }, "velocity": { "x": -2.170243263244629, "y": -0.009429946541786194, "z": 0.009832171723246574 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030583381652832, "transform": { "location": { "x": 620.3223876953125, "y": 4290.59912109375, "z": 370.1182861328125 }, "rotation": { "roll": 0.00021004732116125524, "pitch": 0.2797303795814514, "yaw": 179.67648315429688 } }, "velocity": { "x": -8.030343055725098, "y": 0.04798598960042, "z": 0.03948867693543434 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 11.629576683044434, "transform": { "location": { "x": 693.1004028320312, "y": 4290.16943359375, "z": 369.7185974121094 }, "rotation": { "roll": 0.0015775964129716158, "pitch": 0.34922754764556885, "yaw": 179.6647186279297 } }, "velocity": { "x": -11.629199028015137, "y": 0.06695333123207092, "z": 0.06561502069234848 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.312002182006836, "transform": { "location": { "x": 638.3526611328125, "y": 4290.4951171875, "z": 370.02471923828125 }, "rotation": { "roll": 0.00038755330024287105, "pitch": 0.4074549078941345, "yaw": 179.66004943847656 } }, "velocity": { "x": -8.311756134033203, "y": 0.04920995607972145, "z": 0.04095567762851715 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.999949038028717, "expert_target_speed": 10.0, "target_point": [ 18.004070472200002, 4.898738716133504 ], "target_point_next": [ 67.960186802141, 15.164400974799008 ] }, "395": { "acceleration": [ -0.014791488647460938, -0.6090617179870605, -0.0010988116264343262 ], "angular_velocity": [ -0.7733058333396912, -1.5335875749588013, 6.453537464141846 ], "forward_vector": [ -0.9808879494667053, 0.19404976069927216, 0.014262907207012177 ], "right_vector": [ -0.19402188062667847, -0.980991542339325, 0.0033264756202697754 ], "location": [ 647.2408447265625, 4288.83740234375, 369.97125244140625 ], "rotation": [ -0.1906127631664276, 0.817232072353363, 168.80963134765625 ], "velocity": [ -7.967172622680664, 1.5126186609268188, 0.04137890785932541 ], "speed": 8.109491649479413, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 1, "distance_to_front_vehicle": 5.439555644989014, "front_vehicle_info": { "id": 22400, "type": "vehicle.nissan.patrol_2021", "location": [ 642.4937744140625, 4286.181640625, 370.0032043457031 ], "velocity": [ 0.0, 0.0, 0.0 ], "speed_kmh": 0.0, "color": "159,0,0" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.666818141937256, "transform": { "location": { "x": 710.7487182617188, "y": 4290.13671875, "z": 369.6242980957031 }, "rotation": { "roll": -0.0023498532827943563, "pitch": 0.3341396749019623, "yaw": -179.77455139160156 } }, "velocity": { "x": -4.666023254394531, "y": -0.0024065838661044836, "z": 0.08609364926815033 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062910079956055, "transform": { "location": { "x": 683.4761352539062, "y": 4293.67822265625, "z": 369.78466796875 }, "rotation": { "roll": -0.00054931640625, "pitch": -0.32354605197906494, "yaw": -0.3386535346508026 } }, "velocity": { "x": 8.062644958496094, "y": -0.04769139364361763, "z": -0.04476058483123779 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063447952270508, "transform": { "location": { "x": 686.1433715820312, "y": 4296.9140625, "z": 369.76983642578125 }, "rotation": { "roll": 0.00023638166021555662, "pitch": -0.32620298862457275, "yaw": -0.3568114936351776 } }, "velocity": { "x": 8.0631685256958, "y": -0.050180576741695404, "z": -0.044599808752536774 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22522, "type": "vehicle.audi.tt", "speed_kmh": 0.0, "transform": { "location": { "x": 727.1220092773438, "y": 4293.34619140625, "z": 369.5260009765625 }, "rotation": { "roll": 0.0, "pitch": -0.33316296339035034, "yaw": -0.338409423828125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.0906050205230713, "y": 0.9970585703849792, "z": 0.6926480531692505 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.333085060119629, "transform": { "location": { "x": 603.6930541992188, "y": 4297.39404296875, "z": 370.2278137207031 }, "rotation": { "roll": 0.00017762280185706913, "pitch": -0.20135396718978882, "yaw": -0.3105162978172302 } }, "velocity": { "x": 8.33287239074707, "y": -0.043346747756004333, "z": -0.04080059751868248 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.494414806365967, "transform": { "location": { "x": 600.4452514648438, "y": 4294.1591796875, "z": 370.2037048339844 }, "rotation": { "roll": 0.005746602080762386, "pitch": 0.08101286739110947, "yaw": -0.1944580078125 } }, "velocity": { "x": 7.494276523590088, "y": -0.0300221536308527, "z": -0.03430060297250748 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.0849609375, "transform": { "location": { "x": 642.16259765625, "y": 4293.92431640625, "z": 369.9990539550781 }, "rotation": { "roll": -0.0013427735539153218, "pitch": -0.29953110218048096, "yaw": -0.34954833984375 } }, "velocity": { "x": 8.084705352783203, "y": -0.04929929971694946, "z": -0.04121300205588341 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.05723762512207, "transform": { "location": { "x": 644.4827270507812, "y": 4297.16015625, "z": 369.9850158691406 }, "rotation": { "roll": 0.0007629970205016434, "pitch": -0.3071877360343933, "yaw": -0.3417968451976776 } }, "velocity": { "x": 8.05698299407959, "y": -0.04896538704633713, "z": -0.041243236511945724 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.0359268188476562, "transform": { "location": { "x": 674.325927734375, "y": 4287.02880859375, "z": 369.82574462890625 }, "rotation": { "roll": 0.0013577017234638333, "pitch": 0.32559511065483093, "yaw": 179.6890869140625 } }, "velocity": { "x": -2.0358517169952393, "y": 0.012597408145666122, "z": 0.01210846845060587 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.9061384201049805, "transform": { "location": { "x": 661.5909423828125, "y": 4287.10791015625, "z": 369.9054870605469 }, "rotation": { "roll": 0.0015671225264668465, "pitch": 0.21560856699943542, "yaw": 179.4229736328125 } }, "velocity": { "x": -4.905969619750977, "y": 0.03132176399230957, "z": 0.02601335383951664 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.2613959312438965, "transform": { "location": { "x": 615.6818237304688, "y": 4287.4130859375, "z": 370.1314392089844 }, "rotation": { "roll": 0.006352011580020189, "pitch": 0.5459984540939331, "yaw": -179.82933044433594 } }, "velocity": { "x": -1.2613810300827026, "y": 0.001318613300099969, "z": 0.00598608935251832 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.4204928874969482, "transform": { "location": { "x": 604.2008666992188, "y": 4287.53271484375, "z": 370.224365234375 }, "rotation": { "roll": -0.0016174315242096782, "pitch": 0.3962397277355194, "yaw": 179.9673309326172 } }, "velocity": { "x": -3.4204201698303223, "y": -0.015937961637973785, "z": 0.0155854607000947 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030939102172852, "transform": { "location": { "x": 618.3145751953125, "y": 4290.61083984375, "z": 370.1280822753906 }, "rotation": { "roll": -0.0007629393367096782, "pitch": 0.2732622027397156, "yaw": 179.64010620117188 } }, "velocity": { "x": -8.030709266662598, "y": 0.04764770716428757, "z": 0.037592094391584396 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.272356033325195, "transform": { "location": { "x": 690.1091918945312, "y": 4290.18701171875, "z": 369.73565673828125 }, "rotation": { "roll": 0.0006004146416671574, "pitch": 0.3480869233608246, "yaw": 179.64334106445312 } }, "velocity": { "x": -12.27193546295166, "y": 0.07409089058637619, "z": 0.06948627531528473 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.768209457397461, "transform": { "location": { "x": 636.3301391601562, "y": 4290.50732421875, "z": 370.0350036621094 }, "rotation": { "roll": 0.0005220499006099999, "pitch": 0.24002648890018463, "yaw": 179.66067504882812 } }, "velocity": { "x": -7.767965316772461, "y": 0.045960135757923126, "z": 0.04100675508379936 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.9008808732032776, "expert_target_speed": 10.0, "target_point": [ 16.10439500259644, 4.661247630191754 ], "target_point_next": [ 66.19234706612765, 14.263041132500927 ] }, "400": { "acceleration": [ -5.206317901611328, -0.5962800979614258, 0.025606974959373474 ], "angular_velocity": [ -0.8223453164100647, 0.22634226083755493, 7.0581464767456055 ], "forward_vector": [ -0.9854366779327393, 0.1692476123571396, 0.016428325325250626 ], "right_vector": [ -0.1691642701625824, -0.9855674505233765, 0.006346479058265686 ], "location": [ 645.0072021484375, 4289.22998046875, 369.9825439453125 ], "rotation": [ -0.363677978515625, 0.9413161277770996, 170.2545928955078 ], "velocity": [ -9.721373558044434, 1.5373977422714233, 0.05068586394190788 ], "speed": 9.842189577171675, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 10.664196014404297, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 634.4213256835938, 4290.5185546875, 370.0447998046875 ], "velocity": [ -7.7521843910217285, 0.045748285949230194, 0.04083763808012009 ], "speed_kmh": 27.908736981844022, "color": "0,39,105" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.262593746185303, "transform": { "location": { "x": 709.5306396484375, "y": 4290.13427734375, "z": 369.6360778808594 }, "rotation": { "roll": -0.00012207029067212716, "pitch": 0.283008873462677, "yaw": -179.84315490722656 } }, "velocity": { "x": -5.262495994567871, "y": -0.008011964149773121, "z": 0.03099503368139267 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093297004699707, "transform": { "location": { "x": 685.4957885742188, "y": 4293.666015625, "z": 369.7733459472656 }, "rotation": { "roll": -0.0008544921875, "pitch": -0.32626447081565857, "yaw": -0.33837890625 } }, "velocity": { "x": 8.093029975891113, "y": -0.047829769551754, "z": -0.045058101415634155 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093354225158691, "transform": { "location": { "x": 688.1629638671875, "y": 4296.9013671875, "z": 369.7584228515625 }, "rotation": { "roll": -3.051769090234302e-05, "pitch": -0.3266606032848358, "yaw": -0.3600463271141052 } }, "velocity": { "x": 8.093067169189453, "y": -0.05085895583033562, "z": -0.04540541395545006 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.770367622375488, "transform": { "location": { "x": 605.690673828125, "y": 4297.3837890625, "z": 370.21917724609375 }, "rotation": { "roll": -0.00039672842831350863, "pitch": -0.30523431301116943, "yaw": -0.2881164252758026 } }, "velocity": { "x": 7.77017068862915, "y": -0.04082714393734932, "z": -0.03731314092874527 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.46229076385498, "transform": { "location": { "x": 602.4767456054688, "y": 4294.150390625, "z": 370.19384765625 }, "rotation": { "roll": 0.007992159575223923, "pitch": 0.19106769561767578, "yaw": -0.2338256686925888 } }, "velocity": { "x": 8.462100982666016, "y": -0.039688244462013245, "z": -0.04046959802508354 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.05136489868164, "transform": { "location": { "x": 644.1795043945312, "y": 4293.91259765625, "z": 369.9884948730469 }, "rotation": { "roll": 0.00030131160747259855, "pitch": -0.2999545633792877, "yaw": -0.3518371284008026 } }, "velocity": { "x": 8.051107406616211, "y": -0.04965433105826378, "z": -0.041012056171894073 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.7298736572265625, "transform": { "location": { "x": 646.2565307617188, "y": 4297.1494140625, "z": 369.9761657714844 }, "rotation": { "roll": 0.00044650223571807146, "pitch": -0.3351983428001404, "yaw": -0.2712707221508026 } }, "velocity": { "x": 6.729653358459473, "y": -0.04005229473114014, "z": -0.036866407841444016 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.33206045627593994, "transform": { "location": { "x": 674.1529541015625, "y": 4287.02978515625, "z": 369.8271484375 }, "rotation": { "roll": 0.001050086342729628, "pitch": 0.2819843590259552, "yaw": 179.6895294189453 } }, "velocity": { "x": -0.3320449888706207, "y": 0.0018168857786804438, "z": 0.0026373290456831455 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.186752796173096, "transform": { "location": { "x": 660.2333984375, "y": 4287.1171875, "z": 369.91015625 }, "rotation": { "roll": -0.0020751953125, "pitch": 0.5855520963668823, "yaw": 179.5487060546875 } }, "velocity": { "x": -6.18654203414917, "y": 0.03829437494277954, "z": 0.033752381801605225 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.1822941303253174, "transform": { "location": { "x": 615.242431640625, "y": 4287.41259765625, "z": 370.13311767578125 }, "rotation": { "roll": 0.010366781614720821, "pitch": 0.6514907479286194, "yaw": -179.93382263183594 } }, "velocity": { "x": -2.1822659969329834, "y": 0.004117635544389486, "z": 0.010264539159834385 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.756314754486084, "transform": { "location": { "x": 603.1680908203125, "y": 4287.52880859375, "z": 370.2290954589844 }, "rotation": { "roll": 0.0003364437143318355, "pitch": 0.4136977195739746, "yaw": -179.89794921875 } }, "velocity": { "x": -4.756208896636963, "y": -0.023175258189439774, "z": 0.021713485941290855 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.03058910369873, "transform": { "location": { "x": 616.3067626953125, "y": 4290.62255859375, "z": 370.1376953125 }, "rotation": { "roll": -0.0009460447472520173, "pitch": 0.27292752265930176, "yaw": 179.67257690429688 } }, "velocity": { "x": -8.030354499816895, "y": 0.04870245233178139, "z": 0.03737669065594673 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.890800476074219, "transform": { "location": { "x": 686.9610595703125, "y": 4290.2060546875, "z": 369.75347900390625 }, "rotation": { "roll": 0.00044171386980451643, "pitch": 0.3460378646850586, "yaw": 179.6414031982422 } }, "velocity": { "x": -12.890348434448242, "y": 0.07917070388793945, "z": 0.07330843061208725 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.752427101135254, "transform": { "location": { "x": 634.4213256835938, "y": 4290.5185546875, "z": 370.0447998046875 }, "rotation": { "roll": 0.000354245537891984, "pitch": 0.2765201926231384, "yaw": 179.66070556640625 } }, "velocity": { "x": -7.7521843910217285, "y": 0.045748285949230194, "z": 0.04083763808012009 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.264156311750412, "expert_target_speed": 10.0, "target_point": [ 13.948953329010273, 4.262489440266617 ], "target_point_next": [ 64.26310395413536, 12.59817341051238 ] }, "405": { "acceleration": [ -4.139423370361328, -1.9414782524108887, 0.02921365201473236 ], "angular_velocity": [ -1.2672450542449951, -0.24354049563407898, 13.556804656982422 ], "forward_vector": [ -0.9919559955596924, 0.12569904327392578, 0.014932313933968544 ], "right_vector": [ -0.12555083632469177, -0.9920317530632019, 0.0104829678311944 ], "location": [ 642.4332885742188, 4289.58447265625, 369.99627685546875 ], "rotation": [ -0.6007077693939209, 0.8555904030799866, 172.77806091308594 ], "velocity": [ -10.812055587768555, 1.2023054361343384, 0.05572345480322838 ], "speed": 10.878698653550222, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 10.09017562866211, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 632.3877563476562, 4290.53076171875, 370.05517578125 ], "velocity": [ -8.291667938232422, 0.048017311841249466, 0.04085807874798775 ], "speed_kmh": 29.85086748933773, "color": "0,39,105" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.594564437866211, "transform": { "location": { "x": 708.1915283203125, "y": 4290.13232421875, "z": 369.64306640625 }, "rotation": { "roll": 0.0030457160901278257, "pitch": 0.2844022214412689, "yaw": -179.84658813476562 } }, "velocity": { "x": -5.594478607177734, "y": -0.009509009309113026, "z": 0.029501741752028465 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063371658325195, "transform": { "location": { "x": 687.51513671875, "y": 4293.65478515625, "z": 369.7619323730469 }, "rotation": { "roll": 0.0003620747884269804, "pitch": -0.3268108665943146, "yaw": -0.3383789360523224 } }, "velocity": { "x": 8.063104629516602, "y": -0.047572992742061615, "z": -0.04520140588283539 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.062926292419434, "transform": { "location": { "x": 690.1823120117188, "y": 4296.888671875, "z": 369.7469787597656 }, "rotation": { "roll": -0.0003662110830191523, "pitch": -0.3272070288658142, "yaw": -0.3595275580883026 } }, "velocity": { "x": 8.06264877319336, "y": -0.04973568767309189, "z": -0.04492061212658882 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.138346672058105, "transform": { "location": { "x": 607.6697387695312, "y": 4297.373046875, "z": 370.2093200683594 }, "rotation": { "roll": 2.2948201149119996e-05, "pitch": -0.2517061233520508, "yaw": -0.3211975395679474 } }, "velocity": { "x": 8.138141632080078, "y": -0.04366377368569374, "z": -0.037734415382146835 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.930152893066406, "transform": { "location": { "x": 604.5269165039062, "y": 4294.14111328125, "z": 370.1856689453125 }, "rotation": { "roll": 0.005911100190132856, "pitch": -0.2286405712366104, "yaw": -0.30059814453125 } }, "velocity": { "x": 7.929958820343018, "y": -0.041708026081323624, "z": -0.03652564436197281 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.083672523498535, "transform": { "location": { "x": 646.1964721679688, "y": 4293.90087890625, "z": 369.9779357910156 }, "rotation": { "roll": -0.0007629395695403218, "pitch": -0.3009927570819855, "yaw": -0.3531188666820526 } }, "velocity": { "x": 8.083415031433105, "y": -0.04984031617641449, "z": -0.04092353582382202 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.154082775115967, "transform": { "location": { "x": 647.9733276367188, "y": 4297.1396484375, "z": 369.9666442871094 }, "rotation": { "roll": -0.0007324219332076609, "pitch": -0.29925790429115295, "yaw": -0.2884826362133026 } }, "velocity": { "x": 7.153858661651611, "y": -0.042193278670310974, "z": -0.037790220230817795 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.0575318336486816, "transform": { "location": { "x": 673.974365234375, "y": 4287.03076171875, "z": 369.82769775390625 }, "rotation": { "roll": 0.0008750454871915281, "pitch": 0.32572486996650696, "yaw": 179.66897583007812 } }, "velocity": { "x": -1.0574921369552612, "y": 0.007291072513908148, "z": 0.005550966132432222 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.486218452453613, "transform": { "location": { "x": 658.51123046875, "y": 4287.1279296875, "z": 369.9183654785156 }, "rotation": { "roll": -0.0033569331280887127, "pitch": 0.7052375078201294, "yaw": 179.6295623779297 } }, "velocity": { "x": -7.485988616943359, "y": 0.04362855851650238, "z": 0.0391920730471611 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.00996643677353859, "transform": { "location": { "x": 614.9017333984375, "y": 4287.41357421875, "z": 370.1376037597656 }, "rotation": { "roll": 0.007475384045392275, "pitch": -0.13009460270404816, "yaw": 179.91844177246094 } }, "velocity": { "x": -0.009951561689376831, "y": 0.00022693778737448156, "z": 0.0004947568522766232 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.319230079650879, "transform": { "location": { "x": 601.873291015625, "y": 4287.52392578125, "z": 370.2359924316406 }, "rotation": { "roll": 0.001955784857273102, "pitch": 0.3473014533519745, "yaw": -179.79776000976562 } }, "velocity": { "x": -5.319098949432373, "y": -0.027165157720446587, "z": 0.025596141815185547 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030922889709473, "transform": { "location": { "x": 614.2989501953125, "y": 4290.63427734375, "z": 370.1473083496094 }, "rotation": { "roll": -0.000335693359375, "pitch": 0.2729138433933258, "yaw": 179.63449096679688 } }, "velocity": { "x": -8.030689239501953, "y": 0.04865039885044098, "z": 0.03739866241812706 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 13.519937515258789, "transform": { "location": { "x": 683.6561279296875, "y": 4290.22607421875, "z": 369.77203369140625 }, "rotation": { "roll": 2.9325236027943902e-05, "pitch": 0.3442688286304474, "yaw": 179.6446075439453 } }, "velocity": { "x": -13.519466400146484, "y": 0.08331983536481857, "z": 0.0761323943734169 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.29190731048584, "transform": { "location": { "x": 632.3877563476562, "y": 4290.53076171875, "z": 370.05517578125 }, "rotation": { "roll": 0.00015872558287810534, "pitch": 0.37624093890190125, "yaw": 179.66233825683594 } }, "velocity": { "x": -8.291667938232422, "y": 0.048017311841249466, "z": 0.04085807874798775 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": -0.1537133753299713, "expert_target_speed": 10.0, "target_point": [ 11.525039066694204, 3.672312968852941 ], "target_point_next": [ 62.15740556711272, 9.78466463959999 ] }, "410": { "acceleration": [ -2.2739791870117188, -3.500983238220215, 0.024279803037643433 ], "angular_velocity": [ -1.4595732688903809, -0.5745338797569275, 17.51907730102539 ], "forward_vector": [ -0.9982280731201172, 0.05811029300093651, 0.012803918682038784 ], "right_vector": [ -0.057892683893442154, -0.9981821775436401, 0.016757113859057426 ], "location": [ 639.6177978515625, 4289.80908203125, 370.0113830566406 ], "rotation": [ -0.9602355360984802, 0.7336305975914001, 176.6683807373047 ], "velocity": [ -11.610876083374023, 0.47011610865592957, 0.06119387596845627 ], "speed": 11.620389519249546, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 9.26174545288086, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 630.38525390625, 4290.5419921875, 370.0653076171875 ], "velocity": [ -7.849167346954346, 0.04607509449124336, 0.041306305676698685 ], "speed_kmh": 28.257880544507774, "color": "0,39,105" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.191184997558594, "transform": { "location": { "x": 706.7046508789062, "y": 4290.13037109375, "z": 369.65155029296875 }, "rotation": { "roll": 0.004038732033222914, "pitch": 0.28132182359695435, "yaw": -179.85122680664062 } }, "velocity": { "x": -6.191082000732422, "y": -0.008650817908346653, "z": 0.03467021882534027 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093448638916016, "transform": { "location": { "x": 689.5348510742188, "y": 4293.642578125, "z": 369.75048828125 }, "rotation": { "roll": 0.0002011523029068485, "pitch": -0.3260800540447235, "yaw": -0.33963003754615784 } }, "velocity": { "x": 8.093175888061523, "y": -0.04895750433206558, "z": -0.0449802465736866 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.09332275390625, "transform": { "location": { "x": 692.2020263671875, "y": 4296.876953125, "z": 369.7354736328125 }, "rotation": { "roll": 0.0005356844048947096, "pitch": -0.3292492628097534, "yaw": -0.3577575385570526 } }, "velocity": { "x": 8.093040466308594, "y": -0.05051612854003906, "z": -0.044947050511837006 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.067955017089844, "transform": { "location": { "x": 609.7103271484375, "y": 4297.361328125, "z": 370.1998291015625 }, "rotation": { "roll": -0.0010681151179596782, "pitch": -0.27044814825057983, "yaw": -0.3026427626609802 } }, "velocity": { "x": 8.067755699157715, "y": -0.04279475659132004, "z": -0.03711623698472977 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.940773010253906, "transform": { "location": { "x": 606.4869995117188, "y": 4294.13037109375, "z": 370.1766357421875 }, "rotation": { "roll": 0.0046481904573738575, "pitch": -0.2921476662158966, "yaw": -0.2982177138328552 } }, "velocity": { "x": 7.940562725067139, "y": -0.043609634041786194, "z": -0.037918318063020706 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051410675048828, "transform": { "location": { "x": 648.2132568359375, "y": 4293.88916015625, "z": 369.96728515625 }, "rotation": { "roll": 0.00035487551940605044, "pitch": -0.3050840497016907, "yaw": -0.3543701469898224 } }, "velocity": { "x": 8.05114459991455, "y": -0.050505898892879486, "z": -0.04174688830971718 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.770580768585205, "transform": { "location": { "x": 649.869384765625, "y": 4297.12841796875, "z": 369.9564514160156 }, "rotation": { "roll": 0.00010485868551768363, "pitch": -0.28350064158439636, "yaw": -0.3250121772289276 } }, "velocity": { "x": 7.770330429077148, "y": -0.046734023839235306, "z": -0.0412801131606102 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 1.9003044366836548, "transform": { "location": { "x": 673.6019897460938, "y": 4287.033203125, "z": 369.8297119140625 }, "rotation": { "roll": 0.0004595941863954067, "pitch": 0.3340030610561371, "yaw": 179.6997528076172 } }, "velocity": { "x": -1.9002430438995361, "y": 0.01135939359664917, "z": 0.010224237106740475 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.555399894714355, "transform": { "location": { "x": 656.5299682617188, "y": 4287.13916015625, "z": 369.9300231933594 }, "rotation": { "roll": -0.0024108877405524254, "pitch": 0.5781686305999756, "yaw": 179.65896606445312 } }, "velocity": { "x": -8.555145263671875, "y": 0.047931794077157974, "z": 0.04539277032017708 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.14333975315094, "transform": { "location": { "x": 614.7162475585938, "y": 4287.41357421875, "z": 370.13702392578125 }, "rotation": { "roll": 0.0038838693872094154, "pitch": 0.2742047607898712, "yaw": 179.91851806640625 } }, "velocity": { "x": -1.1433213949203491, "y": 0.0027460267301648855, "z": 0.005864791572093964 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.821112155914307, "transform": { "location": { "x": 600.4576416015625, "y": 4287.51806640625, "z": 370.24267578125 }, "rotation": { "roll": 0.010581505484879017, "pitch": 0.33073824644088745, "yaw": -179.82989501953125 } }, "velocity": { "x": -5.821051597595215, "y": -0.003460480133071542, "z": 0.026252498850226402 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030451774597168, "transform": { "location": { "x": 612.2911376953125, "y": 4290.646484375, "z": 370.1569519042969 }, "rotation": { "roll": 0.0004787550133187324, "pitch": 0.2731460928916931, "yaw": 179.67340087890625 } }, "velocity": { "x": -8.03022575378418, "y": 0.04685194417834282, "z": 0.03775833174586296 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 14.140442848205566, "transform": { "location": { "x": 680.1956787109375, "y": 4290.24755859375, "z": 369.79150390625 }, "rotation": { "roll": -6.10350543865934e-05, "pitch": 0.34171435236930847, "yaw": 179.64874267578125 } }, "velocity": { "x": -14.139965057373047, "y": 0.08671484142541885, "z": 0.07735525071620941 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.849411487579346, "transform": { "location": { "x": 630.38525390625, "y": 4290.5419921875, "z": 370.0653076171875 }, "rotation": { "roll": 0.0004092032613698393, "pitch": 0.25014883279800415, "yaw": 179.66416931152344 } }, "velocity": { "x": -7.849167346954346, "y": 0.04607509449124336, "z": 0.041306305676698685 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.8678697943687439, "expert_target_speed": 10.0, "target_point": [ 8.923851185825487, 2.9425249782238554 ], "target_point_next": [ 59.85425105336382, 5.605558908206547 ] }, "415": { "acceleration": [ -0.3019142150878906, -4.829062461853027, -0.005735158920288086 ], "angular_velocity": [ -1.4275919198989868, -0.7776851058006287, 25.280580520629883 ], "forward_vector": [ -0.999272882938385, -0.03687841817736626, 0.009678092785179615 ], "right_vector": [ 0.03710160404443741, -0.9990233182907104, 0.023994851857423782 ], "location": [ 636.6712646484375, 4289.802734375, 370.0273742675781 ], "rotation": [ -1.375000238418579, 0.5545225143432617, -177.88644409179688 ], "velocity": [ -11.894973754882812, -0.6539994478225708, 0.060746192932128906 ], "speed": 11.912939012145706, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 8.311583518981934, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 628.3938598632812, 4290.55419921875, 370.07537841796875 ], "velocity": [ -8.117226600646973, 0.047551631927490234, 0.041041050106287 ], "speed_kmh": 29.22289067194067, "color": "0,39,105" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.983584403991699, "transform": { "location": { "x": 704.873046875, "y": 4290.13037109375, "z": 369.6629638671875 }, "rotation": { "roll": -0.0038146970327943563, "pitch": 0.18166252970695496, "yaw": -179.96946716308594 } }, "velocity": { "x": -7.983434200286865, "y": 0.017338529229164124, "z": 0.04580726474523544 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063583374023438, "transform": { "location": { "x": 691.5541381835938, "y": 4293.63134765625, "z": 369.7390441894531 }, "rotation": { "roll": 0.0011927412124350667, "pitch": -0.3286413550376892, "yaw": -0.342864990234375 } }, "velocity": { "x": 8.063308715820312, "y": -0.049068473279476166, "z": -0.04491642490029335 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06364631652832, "transform": { "location": { "x": 694.2213134765625, "y": 4296.86474609375, "z": 369.72393798828125 }, "rotation": { "roll": -0.0007934569148346782, "pitch": -0.3307177424430847, "yaw": -0.3565978705883026 } }, "velocity": { "x": 8.063369750976562, "y": -0.049368321895599365, "z": -0.044924162328243256 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.940230846405029, "transform": { "location": { "x": 611.7003173828125, "y": 4297.35009765625, "z": 370.19049072265625 }, "rotation": { "roll": 0.0010626225266605616, "pitch": -0.2858297526836395, "yaw": -0.331573486328125 } }, "velocity": { "x": 7.94002103805542, "y": -0.04430762678384781, "z": -0.03693246841430664 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.165054321289062, "transform": { "location": { "x": 608.5182495117188, "y": 4294.119140625, "z": 370.1666564941406 }, "rotation": { "roll": 0.0017735883593559265, "pitch": -0.2045641541481018, "yaw": -0.334197998046875 } }, "velocity": { "x": 8.164840698242188, "y": -0.045955877751111984, "z": -0.036916583776474 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.085209846496582, "transform": { "location": { "x": 650.2305297851562, "y": 4293.87744140625, "z": 369.9565124511719 }, "rotation": { "roll": -0.00024414065410383046, "pitch": -0.303342342376709, "yaw": -0.3561401069164276 } }, "velocity": { "x": 8.08494758605957, "y": -0.050251249223947525, "z": -0.04140028357505798 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.671590805053711, "transform": { "location": { "x": 651.99658203125, "y": 4297.11669921875, "z": 369.9450988769531 }, "rotation": { "roll": 0.0006042947643436491, "pitch": -0.2764587104320526, "yaw": -0.435699462890625 } }, "velocity": { "x": 8.671295166015625, "y": -0.055846285074949265, "z": -0.044812411069869995 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.6344048976898193, "transform": { "location": { "x": 673.0318603515625, "y": 4287.03662109375, "z": 369.8328857421875 }, "rotation": { "roll": 0.0013228461612015963, "pitch": 0.33439236879348755, "yaw": 179.68421936035156 } }, "velocity": { "x": -2.63431453704834, "y": 0.016507258638739586, "z": 0.014279212802648544 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.586706161499023, "transform": { "location": { "x": 654.625, "y": 4287.150390625, "z": 369.94561767578125 }, "rotation": { "roll": -0.00054931640625, "pitch": -0.0980541929602623, "yaw": 179.67257690429688 } }, "velocity": { "x": -5.586537837982178, "y": 0.031551238149404526, "z": 0.029753807932138443 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.0814950466156006, "transform": { "location": { "x": 614.3167114257812, "y": 4287.4140625, "z": 370.1379699707031 }, "rotation": { "roll": 0.0026452145539224148, "pitch": 0.5456979274749756, "yaw": 179.92050170898438 } }, "velocity": { "x": -2.081467628479004, "y": 0.004317086655646563, "z": 0.009790496900677681 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.346273422241211, "transform": { "location": { "x": 598.6392211914062, "y": 4287.51708984375, "z": 370.2498474121094 }, "rotation": { "roll": 0.006951942108571529, "pitch": 0.48025789856910706, "yaw": -179.96719360351562 } }, "velocity": { "x": -8.346186637878418, "y": 0.002395888324826956, "z": 0.03804023563861847 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031171798706055, "transform": { "location": { "x": 610.2833251953125, "y": 4290.658203125, "z": 370.16644287109375 }, "rotation": { "roll": -0.0007019041804596782, "pitch": 0.27013397216796875, "yaw": 179.6293182373047 } }, "velocity": { "x": -8.030933380126953, "y": 0.04952699691057205, "z": 0.03704436123371124 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 14.762131690979004, "transform": { "location": { "x": 676.5799560546875, "y": 4290.26904296875, "z": 369.8116455078125 }, "rotation": { "roll": -0.0016174317570403218, "pitch": 0.3384631872177124, "yaw": 179.654052734375 } }, "velocity": { "x": -14.76163387298584, "y": 0.08962143957614899, "z": 0.08163240551948547 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.117469787597656, "transform": { "location": { "x": 628.3938598632812, "y": 4290.55419921875, "z": 370.07537841796875 }, "rotation": { "roll": 0.00019834109116345644, "pitch": 0.3193386495113373, "yaw": 179.66390991210938 } }, "velocity": { "x": -8.117226600646973, "y": 0.047551631927490234, "z": 0.041041050106287 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 1.0006449222564697, "expert_target_speed": 0, "target_point": [ 57.17132296034195, 0.002837615426872553 ], "target_point_next": [ 63.16580454797007, -0.254059639028394 ] }, "420": { "acceleration": [ 0.28167724609375, -2.4463534355163574, -0.0006355345249176025 ], "angular_velocity": [ 1.555465817451477, -0.29656466841697693, 12.62242317199707 ], "forward_vector": [ -0.9920578598976135, -0.12559035420417786, 0.006948176305741072 ], "right_vector": [ 0.12571996450424194, -0.9917917251586914, 0.023318616673350334 ], "location": [ 633.7030029296875, 4289.52685546875, 370.04302978515625 ], "rotation": [ -1.3362116813659668, 0.39810436964035034, -172.78497314453125 ], "velocity": [ -11.84568977355957, -1.549552083015442, 0.06068130210042 ], "speed": 11.946609471703312, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 7.41289758682251, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 626.3633422851562, 4290.5654296875, 370.08544921875 ], "velocity": [ -8.053080558776855, 0.04723816365003586, 0.04123280569911003 ], "speed_kmh": 28.991968774917428, "color": "0,39,105" }, "other_vehicles": [ { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.003568649291992, "transform": { "location": { "x": 702.7388305664062, "y": 4290.13427734375, "z": 369.67498779296875 }, "rotation": { "roll": -0.0025634763296693563, "pitch": 0.22296468913555145, "yaw": 179.90274047851562 } }, "velocity": { "x": -9.00339412689209, "y": 0.02294776402413845, "z": 0.051227930933237076 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093413352966309, "transform": { "location": { "x": 693.5737915039062, "y": 4293.619140625, "z": 369.7275390625 }, "rotation": { "roll": -0.00045776375918649137, "pitch": -0.33013716340065, "yaw": -0.3449706733226776 } }, "velocity": { "x": 8.0931396484375, "y": -0.04871588200330734, "z": -0.045407846570014954 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.09325885772705, "transform": { "location": { "x": 696.2410278320312, "y": 4296.853515625, "z": 369.71234130859375 }, "rotation": { "roll": -0.00018310548330191523, "pitch": -0.33023279905319214, "yaw": -0.3502501845359802 } }, "velocity": { "x": 8.092982292175293, "y": -0.04924548417329788, "z": -0.04528810828924179 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.096841812133789, "transform": { "location": { "x": 613.70849609375, "y": 4297.337890625, "z": 370.1806640625 }, "rotation": { "roll": 0.00027366066933609545, "pitch": -0.26641833782196045, "yaw": -0.311248779296875 } }, "velocity": { "x": 8.096625328063965, "y": -0.045837510377168655, "z": -0.03748165816068649 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.940040588378906, "transform": { "location": { "x": 610.5265502929688, "y": 4294.107421875, "z": 370.1576232910156 }, "rotation": { "roll": -0.0001525877887615934, "pitch": -0.30983784794807434, "yaw": -0.3104552626609802 } }, "velocity": { "x": 7.93983268737793, "y": -0.04402437433600426, "z": -0.03693122789263725 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.050962448120117, "transform": { "location": { "x": 652.2473754882812, "y": 4293.86474609375, "z": 369.94586181640625 }, "rotation": { "roll": -0.0015563963679596782, "pitch": -0.3050498962402344, "yaw": -0.359649658203125 } }, "velocity": { "x": 8.05069351196289, "y": -0.0506005696952343, "z": -0.041982363909482956 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.20643138885498, "transform": { "location": { "x": 654.0958862304688, "y": 4297.1025390625, "z": 369.9343566894531 }, "rotation": { "roll": 2.46885228989413e-05, "pitch": -0.31600552797317505, "yaw": -0.40472403168678284 } }, "velocity": { "x": 8.206144332885742, "y": -0.05199949070811272, "z": -0.044907767325639725 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 3.394965410232544, "transform": { "location": { "x": 672.2718505859375, "y": 4287.041015625, "z": 369.8370666503906 }, "rotation": { "roll": 0.0005780693609267473, "pitch": 0.33323124051094055, "yaw": 179.67002868652344 } }, "velocity": { "x": -3.3948562145233154, "y": 0.020925721153616905, "z": 0.017446374520659447 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0016186947468668222, "transform": { "location": { "x": 654.0684814453125, "y": 4287.1533203125, "z": 369.95709228515625 }, "rotation": { "roll": 8.54494355735369e-05, "pitch": -1.178890585899353, "yaw": 179.67115783691406 } }, "velocity": { "x": 0.0006346289883367717, "y": 1.0385861060058232e-05, "z": -0.0014890637248754501 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.13326358795166, "transform": { "location": { "x": 613.6635131835938, "y": 4287.416015625, "z": 370.140625 }, "rotation": { "roll": 0.0008630221709609032, "pitch": 0.6852591633796692, "yaw": 179.93885803222656 } }, "velocity": { "x": -3.1332266330718994, "y": 0.006663734558969736, "z": 0.013665208593010902 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.129236221313477, "transform": { "location": { "x": 596.5480346679688, "y": 4287.51806640625, "z": 370.2608947753906 }, "rotation": { "roll": 0.002834136364981532, "pitch": 0.3039911985397339, "yaw": 179.98501586914062 } }, "velocity": { "x": -8.129152297973633, "y": 0.003821613499894738, "z": 0.036758821457624435 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.029511451721191, "transform": { "location": { "x": 608.2755737304688, "y": 4290.669921875, "z": 370.1759948730469 }, "rotation": { "roll": 0.00016101635992527008, "pitch": 0.26873376965522766, "yaw": 179.6719207763672 } }, "velocity": { "x": -8.029280662536621, "y": 0.048488762229681015, "z": 0.036922063678503036 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 15.385215759277344, "transform": { "location": { "x": 672.80859375, "y": 4290.29248046875, "z": 369.83245849609375 }, "rotation": { "roll": -0.0003356933011673391, "pitch": 0.3376162350177765, "yaw": 179.66213989257812 } }, "velocity": { "x": -15.384723663330078, "y": 0.08979880064725876, "z": 0.08416974544525146 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.053324699401855, "transform": { "location": { "x": 626.3633422851562, "y": 4290.5654296875, "z": 370.08544921875 }, "rotation": { "roll": 4.516457920544781e-05, "pitch": 0.2851262390613556, "yaw": 179.66397094726562 } }, "velocity": { "x": -8.053080558776855, "y": 0.04723816365003586, "z": 0.04123280569911003 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.8164241313934326, "expert_target_speed": 0, "target_point": [ 53.965700504546476, -4.981737587640314 ], "target_point_next": [ 59.9135934158659, -5.77064545249868 ] }, "425": { "acceleration": [ 1.7664909362792969, 0.9328389167785645, -0.00018343329429626465 ], "angular_velocity": [ 3.298800230026245, -0.1491156369447708, -1.5224260091781616 ], "forward_vector": [ -0.989246666431427, -0.1461716741323471, 0.004974582698196173 ], "right_vector": [ 0.14621907472610474, -0.9891901016235352, 0.011086905375123024 ], "location": [ 630.7598876953125, 4289.12158203125, 370.058349609375 ], "rotation": [ -0.6352537870407104, 0.2850237786769867, -171.59475708007812 ], "velocity": [ -11.627569198608398, -1.6380937099456787, 0.05983400344848633 ], "speed": 11.742389725732593, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 2, "distance_to_front_vehicle": 6.557481288909912, "front_vehicle_info": { "id": 22515, "type": "vehicle.dodge.charger_2020", "location": [ 624.3662109375, 4290.57763671875, 370.0953063964844 ], "velocity": [ -7.987884998321533, 0.04627290740609169, 0.04095861315727234 ], "speed_kmh": 28.757246511988047, "color": "0,39,105" }, "other_vehicles": [ { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.450000286102295, "transform": { "location": { "x": 573.5957641601562, "y": 4297.47705078125, "z": 370.40814208984375 }, "rotation": { "roll": -5.2110628312451723e-11, "pitch": -0.23092184960842133, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": -2.450000286102295 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 9.829756736755371, "transform": { "location": { "x": 700.380615234375, "y": 4290.14013671875, "z": 369.6884765625 }, "rotation": { "roll": -0.0032958982046693563, "pitch": 0.23883120715618134, "yaw": 179.8456268310547 } }, "velocity": { "x": -9.829514503479004, "y": 0.038424957543611526, "z": 0.057251594960689545 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.06303596496582, "transform": { "location": { "x": 695.5932006835938, "y": 4293.60791015625, "z": 369.7159729003906 }, "rotation": { "roll": -0.00021362309053074569, "pitch": -0.33056747913360596, "yaw": -0.3452147841453552 } }, "velocity": { "x": 8.062764167785645, "y": -0.04858291521668434, "z": -0.04499150812625885 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063241958618164, "transform": { "location": { "x": 698.2603149414062, "y": 4296.84130859375, "z": 369.70074462890625 }, "rotation": { "roll": -0.0007019041222520173, "pitch": -0.3336205780506134, "yaw": -0.342559814453125 } }, "velocity": { "x": 8.062971115112305, "y": -0.048227619379758835, "z": -0.04523659497499466 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.011334419250488, "transform": { "location": { "x": 615.7240600585938, "y": 4297.32666015625, "z": 370.1711730957031 }, "rotation": { "roll": 0.0007172538316808641, "pitch": -0.2799079716205597, "yaw": -0.338836669921875 } }, "velocity": { "x": 8.011115074157715, "y": -0.04553017020225525, "z": -0.03786846622824669 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.051847457885742, "transform": { "location": { "x": 612.5211791992188, "y": 4294.095703125, "z": 370.1479187011719 }, "rotation": { "roll": 0.0011569815687835217, "pitch": -0.27044814825057983, "yaw": -0.3407287299633026 } }, "velocity": { "x": 8.05162239074707, "y": -0.047098830342292786, "z": -0.03742361441254616 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.084665298461914, "transform": { "location": { "x": 654.2645263671875, "y": 4293.8525390625, "z": 369.93511962890625 }, "rotation": { "roll": 0.00028396971174515784, "pitch": -0.30649104714393616, "yaw": -0.3573608100414276 } }, "velocity": { "x": 8.084400177001953, "y": -0.050246670842170715, "z": -0.041893161833286285 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.9178056716918945, "transform": { "location": { "x": 656.1179809570312, "y": 4297.08935546875, "z": 369.9235534667969 }, "rotation": { "roll": 0.000481947063235566, "pitch": -0.3138130307197571, "yaw": -0.359130859375 } }, "velocity": { "x": 7.917529582977295, "y": -0.04935602471232414, "z": -0.0440375842154026 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 4.104883670806885, "transform": { "location": { "x": 671.3312377929688, "y": 4287.046875, "z": 369.84222412109375 }, "rotation": { "roll": 0.0001572838518768549, "pitch": 0.33205646276474, "yaw": 179.66148376464844 } }, "velocity": { "x": -4.104742527008057, "y": 0.02565040998160839, "z": 0.022351521998643875 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.7443970441818237, "transform": { "location": { "x": 653.9559936523438, "y": 4287.15380859375, "z": 369.9471435546875 }, "rotation": { "roll": -0.0021057124249637127, "pitch": 0.11811445653438568, "yaw": 179.64585876464844 } }, "velocity": { "x": -0.7443633675575256, "y": 0.005103216040879488, "z": 0.004903116263449192 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.501047134399414, "transform": { "location": { "x": 612.6976928710938, "y": 4287.41796875, "z": 370.1446533203125 }, "rotation": { "roll": 0.0031462465412914753, "pitch": 0.8211389780044556, "yaw": 179.9082489013672 } }, "velocity": { "x": -4.5009870529174805, "y": 0.009967968799173832, "z": 0.021051224321126938 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.803469181060791, "transform": { "location": { "x": 594.5798950195312, "y": 4287.52099609375, "z": 370.27044677734375 }, "rotation": { "roll": 0.004475457593798637, "pitch": 0.23950056731700897, "yaw": 179.8649139404297 } }, "velocity": { "x": -7.803340435028076, "y": 0.026172911748290062, "z": 0.03645492345094681 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031170845031738, "transform": { "location": { "x": 606.267822265625, "y": 4290.681640625, "z": 370.18548583984375 }, "rotation": { "roll": -0.0008544920710846782, "pitch": 0.26896601915359497, "yaw": 179.63035583496094 } }, "velocity": { "x": -8.030933380126953, "y": 0.04921692609786987, "z": 0.03738512098789215 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 15.930031776428223, "transform": { "location": { "x": 668.8857421875, "y": 4290.31591796875, "z": 369.8539123535156 }, "rotation": { "roll": -0.0006103515042923391, "pitch": 0.33303317427635193, "yaw": 179.6753692626953 } }, "velocity": { "x": -15.929530143737793, "y": 0.09191820025444031, "z": 0.08679679781198502 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.988123893737793, "transform": { "location": { "x": 624.3662109375, "y": 4290.57763671875, "z": 370.0953063964844 }, "rotation": { "roll": -0.0013122560922056437, "pitch": 0.27528393268585205, "yaw": 179.66265869140625 } }, "velocity": { "x": -7.987884998321533, "y": 0.04627290740609169, "z": 0.04095861315727234 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.3758654296398163, "expert_target_speed": 0, "target_point": [ 50.87983617715953, -6.072323454709824 ], "target_point_next": [ 56.81005908036207, -6.98460741384275 ] }, "430": { "acceleration": [ 2.2623252868652344, 1.8738389015197754, -0.0211971253156662 ], "angular_velocity": [ 2.0767266750335693, -0.24638283252716064, -10.741724967956543 ], "forward_vector": [ -0.993377685546875, -0.11488767713308334, 0.0012416834942996502 ], "right_vector": [ 0.11488620936870575, -0.9933779239654541, -0.0011976297246292233 ], "location": [ 627.9481201171875, 4288.76806640625, 370.0733642578125 ], "rotation": [ 0.06861919909715652, 0.0711432471871376, -173.40284729003906 ], "velocity": [ -10.894989967346191, -1.1876044273376465, 0.05467841029167175 ], "speed": 10.959526023711343, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.57558822631836, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 611.4275512695312, 4287.4208984375, 370.1512756347656 ], "velocity": [ -5.309607028961182, 0.01201696041971445, 0.025194920599460602 ], "speed_kmh": 19.11484945464887, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9800000786781311, "transform": { "location": { "x": 573.5765380859375, "y": 4294.22705078125, "z": 370.6727294921875 }, "rotation": { "roll": -5.2110628312451723e-11, "pitch": -0.23092184960842133, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": -0.9800000786781311 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.23459483683109283, "transform": { "location": { "x": 573.5952758789062, "y": 4297.47705078125, "z": 370.2633361816406 }, "rotation": { "roll": -0.00045776375918649137, "pitch": -0.23017053306102753, "yaw": -0.3386840224266052 } }, "velocity": { "x": 0.000947438005823642, "y": 2.7917187253478914e-05, "z": 0.23459291458129883 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 10.718902587890625, "transform": { "location": { "x": 697.8064575195312, "y": 4290.150390625, "z": 369.70330810546875 }, "rotation": { "roll": -0.0029296875, "pitch": 0.2416384220123291, "yaw": 179.76333618164062 } }, "velocity": { "x": -10.718623161315918, "y": 0.048590611666440964, "z": 0.06020025163888931 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.093235969543457, "transform": { "location": { "x": 697.61279296875, "y": 4293.59619140625, "z": 369.7043151855469 }, "rotation": { "roll": -0.00024414050858467817, "pitch": -0.33190619945526123, "yaw": -0.345123291015625 } }, "velocity": { "x": 8.092963218688965, "y": -0.04877388849854469, "z": -0.045099228620529175 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 700.3037109375, "y": 4296.78173828125, "z": 369.6871032714844 }, "rotation": { "roll": 0.0, "pitch": -0.3315100371837616, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.016782760620117, "transform": { "location": { "x": 617.7235107421875, "y": 4297.314453125, "z": 370.1615295410156 }, "rotation": { "roll": -0.0006713866023346782, "pitch": -0.2770392894744873, "yaw": -0.3144225776195526 } }, "velocity": { "x": 8.01657485961914, "y": -0.04431461542844772, "z": -0.037063535302877426 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.053301811218262, "transform": { "location": { "x": 614.5404663085938, "y": 4294.083984375, "z": 370.1381530761719 }, "rotation": { "roll": -0.001129150390625, "pitch": -0.2665344476699829, "yaw": -0.3163757026195526 } }, "velocity": { "x": 8.053093910217285, "y": -0.04438598081469536, "z": -0.03718357905745506 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051424026489258, "transform": { "location": { "x": 656.28125, "y": 4293.84130859375, "z": 369.92437744140625 }, "rotation": { "roll": -0.0009155274019576609, "pitch": -0.30642959475517273, "yaw": -0.3564453423023224 } }, "velocity": { "x": 8.05116081237793, "y": -0.050107069313526154, "z": -0.04155881330370903 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.808255195617676, "transform": { "location": { "x": 657.8914794921875, "y": 4297.078125, "z": 369.9141845703125 }, "rotation": { "roll": 3.2910771551541984e-05, "pitch": -0.3379850685596466, "yaw": -0.3725585639476776 } }, "velocity": { "x": 6.808033466339111, "y": -0.041271109133958817, "z": -0.03626425564289093 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 4.85247278213501, "transform": { "location": { "x": 670.2090454101562, "y": 4287.0537109375, "z": 369.8484191894531 }, "rotation": { "roll": -0.00030517578125, "pitch": 0.3319608271121979, "yaw": 179.65809631347656 } }, "velocity": { "x": -4.852316856384277, "y": 0.02897157520055771, "z": 0.025950010865926743 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8779166340827942, "transform": { "location": { "x": 653.732421875, "y": 4287.15576171875, "z": 369.94476318359375 }, "rotation": { "roll": -0.0013122557429596782, "pitch": 0.5737495422363281, "yaw": 179.6759796142578 } }, "velocity": { "x": -0.877884030342102, "y": 0.005025183316320181, "z": 0.005651578772813082 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.309680461883545, "transform": { "location": { "x": 611.4275512695312, "y": 4287.4208984375, "z": 370.1512756347656 }, "rotation": { "roll": 0.0026166390161961317, "pitch": 0.7555964589118958, "yaw": 179.88497924804688 } }, "velocity": { "x": -5.309607028961182, "y": 0.01201696041971445, "z": 0.025194920599460602 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.188291549682617, "transform": { "location": { "x": 592.5733642578125, "y": 4287.52783203125, "z": 370.2791442871094 }, "rotation": { "roll": 0.0021777255460619926, "pitch": 0.2860073149204254, "yaw": 179.82618713378906 } }, "velocity": { "x": -8.188161849975586, "y": 0.026962624862790108, "z": 0.03728935122489929 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031167030334473, "transform": { "location": { "x": 604.260009765625, "y": 4290.69384765625, "z": 370.1949768066406 }, "rotation": { "roll": -0.00018310549785383046, "pitch": 0.2688977122306824, "yaw": 179.66253662109375 } }, "velocity": { "x": -8.030926704406738, "y": 0.04984135925769806, "z": 0.03720698133111 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 16.06401252746582, "transform": { "location": { "x": 664.8786010742188, "y": 4290.33935546875, "z": 369.8758850097656 }, "rotation": { "roll": -0.00018310539599042386, "pitch": 0.3203836679458618, "yaw": 179.68064880371094 } }, "velocity": { "x": -16.063514709472656, "y": 0.09104090183973312, "z": 0.0879267081618309 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.079206466674805, "transform": { "location": { "x": 622.3544921875, "y": 4290.5888671875, "z": 370.1053161621094 }, "rotation": { "roll": -0.00018310545419808477, "pitch": 0.2985202372074127, "yaw": 179.66725158691406 } }, "velocity": { "x": -8.078971862792969, "y": 0.04693266749382019, "z": 0.03985161706805229 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.5023142099380493, "expert_target_speed": 0, "target_point": [ 48.212332947882814, -4.492084909172169 ], "target_point_next": [ 54.16838753409834, -5.216805179193765 ] }, "435": { "acceleration": [ 6.124134063720703, 1.586672067642212, -0.03100648522377014 ], "angular_velocity": [ 0.5221096873283386, -0.7405899167060852, -4.126002311706543 ], "forward_vector": [ -0.9966555237770081, -0.08153185993432999, -0.005509587004780769 ], "right_vector": [ 0.08156420290470123, -0.9966504573822021, -0.005925405770540237 ], "location": [ 625.474853515625, 4288.53759765625, 370.0870361328125 ], "rotation": [ 0.3395078778266907, -0.315677672624588, -175.32330322265625 ], "velocity": [ -8.998031616210938, -0.6729249954223633, 0.04443240910768509 ], "speed": 9.023159148313622, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.490163803100586, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 610.0248413085938, 4287.42529296875, 370.1581115722656 ], "velocity": [ -6.390267372131348, 0.024413013830780983, 0.0295687485486269 ], "speed_kmh": 23.005376689358105, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.981102466583252, "transform": { "location": { "x": 573.5757446289062, "y": 4294.22705078125, "z": 370.27630615234375 }, "rotation": { "roll": 0.0008731165435165167, "pitch": -0.23247914016246796, "yaw": -0.3386840522289276 } }, "velocity": { "x": -0.003914139699190855, "y": -5.966658136458136e-05, "z": -0.9810946583747864 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0960095152258873, "transform": { "location": { "x": 573.5952758789062, "y": 4297.47705078125, "z": 370.3117980957031 }, "rotation": { "roll": -0.0009765624417923391, "pitch": -0.22982218861579895, "yaw": -0.3386840522289276 } }, "velocity": { "x": 0.0003901592281181365, "y": 5.4566840844927356e-05, "z": 0.09600871056318283 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.512460708618164, "transform": { "location": { "x": 695.0234375, "y": 4290.16357421875, "z": 369.71923828125 }, "rotation": { "roll": -0.001220703125, "pitch": 0.24138569831848145, "yaw": 179.7273406982422 } }, "velocity": { "x": -11.512128829956055, "y": 0.05792937055230141, "z": 0.06541227549314499 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 699.681884765625, "y": 4293.53076171875, "z": 369.6903381347656 }, "rotation": { "roll": 0.0, "pitch": -0.3315100371837616, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22539, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 702.3851318359375, "y": 4296.72021484375, "z": 369.6731262207031 }, "rotation": { "roll": 0.0, "pitch": -0.33312880992889404, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.052681922912598, "transform": { "location": { "x": 619.7348022460938, "y": 4297.30322265625, "z": 370.15179443359375 }, "rotation": { "roll": -0.00012207039981149137, "pitch": -0.27563226222991943, "yaw": -0.33905029296875 } }, "velocity": { "x": 8.052453994750977, "y": -0.045864447951316833, "z": -0.039408858865499496 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.99657678604126, "transform": { "location": { "x": 616.5427856445312, "y": 4294.072265625, "z": 370.128662109375 }, "rotation": { "roll": -0.00033569333027116954, "pitch": -0.2934863865375519, "yaw": -0.3439330756664276 } }, "velocity": { "x": 7.99635648727417, "y": -0.04611899331212044, "z": -0.03735383599996567 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.085003852844238, "transform": { "location": { "x": 658.2985229492188, "y": 4293.8291015625, "z": 369.91363525390625 }, "rotation": { "roll": -0.0003356933011673391, "pitch": -0.30645692348480225, "yaw": -0.3564148247241974 } }, "velocity": { "x": 8.084726333618164, "y": -0.05030238628387451, "z": -0.04425366595387459 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.307470798492432, "transform": { "location": { "x": 659.6390380859375, "y": 4297.068359375, "z": 369.9044189453125 }, "rotation": { "roll": 0.0002074712683679536, "pitch": -0.30175089836120605, "yaw": -0.383270263671875 } }, "velocity": { "x": 7.307240009307861, "y": -0.043946560472249985, "z": -0.03802577406167984 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 5.361823558807373, "transform": { "location": { "x": 668.919189453125, "y": 4287.06103515625, "z": 369.8557434082031 }, "rotation": { "roll": 0.0005404643015936017, "pitch": 0.32552680373191833, "yaw": 179.6544952392578 } }, "velocity": { "x": -5.3616437911987305, "y": 0.0325181670486927, "z": 0.029490746557712555 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9923973083496094, "transform": { "location": { "x": 653.5198364257812, "y": 4287.15771484375, "z": 369.9479064941406 }, "rotation": { "roll": -0.0003051756648346782, "pitch": 0.33189937472343445, "yaw": 179.67518615722656 } }, "velocity": { "x": -0.9923635125160217, "y": 0.005164219997823238, "z": 0.006362085230648518 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.390382289886475, "transform": { "location": { "x": 610.0248413085938, "y": 4287.42529296875, "z": 370.1581115722656 }, "rotation": { "roll": 0.00977813359349966, "pitch": 0.7207966446876526, "yaw": 179.83314514160156 } }, "velocity": { "x": -6.390267372131348, "y": 0.024413013830780983, "z": 0.0295687485486269 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.982139587402344, "transform": { "location": { "x": 590.5472412109375, "y": 4287.53564453125, "z": 370.2884826660156 }, "rotation": { "roll": 0.0023508162703365088, "pitch": 0.24499887228012085, "yaw": 179.7740478515625 } }, "velocity": { "x": -7.9819769859313965, "y": 0.03595826402306557, "z": 0.036054618656635284 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030309677124023, "transform": { "location": { "x": 602.252197265625, "y": 4290.70556640625, "z": 370.20440673828125 }, "rotation": { "roll": -0.00036621085018850863, "pitch": 0.26754531264305115, "yaw": 179.62445068359375 } }, "velocity": { "x": -8.030055046081543, "y": 0.05159448832273483, "z": 0.037735097110271454 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 16.016971588134766, "transform": { "location": { "x": 660.8682861328125, "y": 4290.36279296875, "z": 369.8976745605469 }, "rotation": { "roll": -0.0013122555101290345, "pitch": 0.3089704215526581, "yaw": 179.68247985839844 } }, "velocity": { "x": -16.01648712158203, "y": 0.08966092020273209, "z": 0.08667293190956116 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.022079467773438, "transform": { "location": { "x": 620.3413696289062, "y": 4290.60107421875, "z": 370.1151428222656 }, "rotation": { "roll": -9.155271254712716e-05, "pitch": 0.27760618925094604, "yaw": 179.66384887695312 } }, "velocity": { "x": -8.021839141845703, "y": 0.04709392413496971, "z": 0.04040389880537987 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.6274425387382507, "expert_target_speed": 10.0, "target_point": [ 45.85196726829554, -2.9019387591693606 ], "target_point_next": [ 51.82896302479832, -3.4266552831201587 ] }, "440": { "acceleration": [ 3.5959625244140625, 0.12083172798156738, -0.007445588707923889 ], "angular_velocity": [ -1.0171762704849243, 0.5197737216949463, -3.218409776687622 ], "forward_vector": [ -0.9977608323097229, -0.06672252714633942, -0.004621012136340141 ], "right_vector": [ 0.06673926115036011, -0.9977640509605408, -0.003565862774848938 ], "location": [ 623.3738403320312, 4288.388671875, 370.09716796875 ], "rotation": [ 0.20431149005889893, -0.2647654414176941, -176.1741943359375 ], "velocity": [ -7.9303131103515625, -0.5375255942344666, 0.03975950926542282 ], "speed": 7.948509281159014, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.154428482055664, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 608.249755859375, 4287.4326171875, 370.1658935546875 ], "velocity": [ -7.760036468505859, 0.032867588102817535, 0.03610532730817795 ], "speed_kmh": 27.93668423878378, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.37262576818466187, "transform": { "location": { "x": 573.5755004882812, "y": 4294.22705078125, "z": 370.2512512207031 }, "rotation": { "roll": 0.0002855632337741554, "pitch": -0.2326020747423172, "yaw": -0.3386840224266052 } }, "velocity": { "x": 0.0014969368930906057, "y": -2.641654464241583e-05, "z": 0.3726227879524231 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.125020980834961, "transform": { "location": { "x": 573.7149047851562, "y": 4297.4775390625, "z": 370.3191833496094 }, "rotation": { "roll": -0.0016784665640443563, "pitch": -0.19894291460514069, "yaw": -0.2993774116039276 } }, "velocity": { "x": 1.1249938011169434, "y": 0.007250685710459948, "z": -0.002906370209529996 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.325660705566406, "transform": { "location": { "x": 692.0386352539062, "y": 4290.17822265625, "z": 369.736328125 }, "rotation": { "roll": -0.0010375974234193563, "pitch": 0.24400167167186737, "yaw": 179.69898986816406 } }, "velocity": { "x": -12.325296401977539, "y": 0.06468293815851212, "z": 0.06916765123605728 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22540, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 701.7642822265625, "y": 4293.4775390625, "z": 369.67669677734375 }, "rotation": { "roll": 0.0, "pitch": -0.33312880992889404, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.016520500183105, "transform": { "location": { "x": 621.74267578125, "y": 4297.291015625, "z": 370.1420593261719 }, "rotation": { "roll": -0.0007019041222520173, "pitch": -0.2867996394634247, "yaw": -0.3132018744945526 } }, "velocity": { "x": 8.016289710998535, "y": -0.04537878558039665, "z": -0.04037060588598251 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.051005363464355, "transform": { "location": { "x": 618.549560546875, "y": 4294.060546875, "z": 370.1189880371094 }, "rotation": { "roll": -0.0009155274019576609, "pitch": -0.26925286650657654, "yaw": -0.31439208984375 } }, "velocity": { "x": 8.050789833068848, "y": -0.04509570449590683, "z": -0.03777015209197998 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051248550415039, "transform": { "location": { "x": 660.3153076171875, "y": 4293.8173828125, "z": 369.9027404785156 }, "rotation": { "roll": 0.0010728805791586637, "pitch": -0.30932557582855225, "yaw": -0.35626220703125 } }, "velocity": { "x": 8.050971031188965, "y": -0.05004874989390373, "z": -0.044243764132261276 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.026912689208984, "transform": { "location": { "x": 661.5593872070312, "y": 4297.056640625, "z": 369.89398193359375 }, "rotation": { "roll": 6.376286819431698e-06, "pitch": -0.2905562222003937, "yaw": -0.3702697455883026 } }, "velocity": { "x": 8.026665687561035, "y": -0.046681612730026245, "z": -0.04224859178066254 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 6.122328281402588, "transform": { "location": { "x": 667.4673461914062, "y": 4287.06982421875, "z": 369.8635559082031 }, "rotation": { "roll": -0.00030517578125, "pitch": 0.33243894577026367, "yaw": 179.65158081054688 } }, "velocity": { "x": -6.122122287750244, "y": 0.03756231069564819, "z": 0.033395107835531235 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.83439040184021, "transform": { "location": { "x": 653.130859375, "y": 4287.15966796875, "z": 369.94879150390625 }, "rotation": { "roll": -0.0002441406832076609, "pitch": 0.4735916256904602, "yaw": 179.6798858642578 } }, "velocity": { "x": -1.8343322277069092, "y": 0.011516368016600609, "z": 0.00901000015437603 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.760190010070801, "transform": { "location": { "x": 608.249755859375, "y": 4287.4326171875, "z": 370.1658935546875 }, "rotation": { "roll": 0.007597328629344702, "pitch": 0.8592309355735779, "yaw": 179.77847290039062 } }, "velocity": { "x": -7.760036468505859, "y": 0.032867588102817535, "z": 0.03610532730817795 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.991500377655029, "transform": { "location": { "x": 588.5603637695312, "y": 4287.544921875, "z": 370.2972106933594 }, "rotation": { "roll": 0.0023675430566072464, "pitch": 0.2508181929588318, "yaw": 179.75331115722656 } }, "velocity": { "x": -7.991340160369873, "y": 0.03659861162304878, "z": 0.03494187444448471 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030841827392578, "transform": { "location": { "x": 600.2444458007812, "y": 4290.7177734375, "z": 370.21380615234375 }, "rotation": { "roll": -9.155266889138147e-05, "pitch": 0.2645195424556732, "yaw": 179.6625518798828 } }, "velocity": { "x": -8.030600547790527, "y": 0.04977978765964508, "z": 0.03741080313920975 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 15.989107131958008, "transform": { "location": { "x": 656.8685913085938, "y": 4290.38427734375, "z": 369.9192199707031 }, "rotation": { "roll": -0.0012207030085846782, "pitch": 0.3066754639148712, "yaw": 179.68313598632812 } }, "velocity": { "x": -15.988628387451172, "y": 0.08888821303844452, "z": 0.08613140136003494 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.033750534057617, "transform": { "location": { "x": 618.3366088867188, "y": 4290.6123046875, "z": 370.1249084472656 }, "rotation": { "roll": -0.0003662108792923391, "pitch": 0.2784736156463623, "yaw": 179.6638946533203 } }, "velocity": { "x": -8.033514022827148, "y": 0.04721365496516228, "z": 0.03977541998028755 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.6181519627571106, "expert_target_speed": 10.0, "target_point": [ 43.78373836808243, -2.229099216187882 ], "target_point_next": [ 49.76786733623619, -2.6649962180841045 ] }, "445": { "acceleration": [ 2.5479984283447266, 0.34094154834747314, -0.012378320097923279 ], "angular_velocity": [ -0.0301958117634058, 0.509391725063324, 3.1296803951263428 ], "forward_vector": [ -0.9976125359535217, -0.06902588903903961, -0.0021646004170179367 ], "right_vector": [ 0.0690292939543724, -0.9976134300231934, -0.0015381014673039317 ], "location": [ 621.4895629882812, 4288.2578125, 370.10601806640625 ], "rotation": [ 0.08812696486711502, -0.12402256578207016, -176.0419464111328 ], "velocity": [ -7.201208114624023, -0.4942714273929596, 0.03657025098800659 ], "speed": 7.2181509096211025, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.303437232971191, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 606.2081298828125, 4287.4404296875, 370.1758117675781 ], "velocity": [ -8.741923332214355, 0.03842021897435188, 0.04132913425564766 ], "speed_kmh": 31.471579631933636, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.5355743765830994, "transform": { "location": { "x": 573.621337890625, "y": 4294.2265625, "z": 370.3338928222656 }, "rotation": { "roll": -0.0035400392953306437, "pitch": -0.14981335401535034, "yaw": -0.3004150092601776 } }, "velocity": { "x": 0.5017099976539612, "y": 0.002561046741902828, "z": 0.18740442395210266 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.7610317468643188, "transform": { "location": { "x": 574.0862426757812, "y": 4297.478515625, "z": 370.3171081542969 }, "rotation": { "roll": -0.0008544921875, "pitch": -0.20288392901420593, "yaw": -0.193450927734375 } }, "velocity": { "x": 1.7609699964523315, "y": 0.011287933215498924, "z": -0.009498796425759792 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.084607124328613, "transform": { "location": { "x": 688.8587646484375, "y": 4290.1953125, "z": 369.75439453125 }, "rotation": { "roll": -0.0009765624417923391, "pitch": 0.2435167282819748, "yaw": 179.68333435058594 } }, "velocity": { "x": -13.084190368652344, "y": 0.07458570599555969, "z": 0.07312047481536865 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.033112525939941, "transform": { "location": { "x": 623.7481079101562, "y": 4297.27978515625, "z": 370.1320495605469 }, "rotation": { "roll": -0.00115966796875, "pitch": -0.28350064158439636, "yaw": -0.3421936333179474 } }, "velocity": { "x": 8.03287410736084, "y": -0.04649002104997635, "z": -0.04087192565202713 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.025433540344238, "transform": { "location": { "x": 620.5599365234375, "y": 4294.048828125, "z": 370.1092529296875 }, "rotation": { "roll": 0.00074534781742841, "pitch": -0.28470274806022644, "yaw": -0.344390869140625 } }, "velocity": { "x": 8.02520751953125, "y": -0.04635012149810791, "z": -0.03836563602089882 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.084436416625977, "transform": { "location": { "x": 662.3323364257812, "y": 4293.8046875, "z": 369.8918762207031 }, "rotation": { "roll": 0.0016858996823430061, "pitch": -0.3089909255504608, "yaw": -0.3598022162914276 } }, "velocity": { "x": 8.08415412902832, "y": -0.05077388510107994, "z": -0.04458971321582794 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.55177116394043, "transform": { "location": { "x": 663.7100830078125, "y": 4297.04345703125, "z": 369.88238525390625 }, "rotation": { "roll": -0.0005798341007903218, "pitch": -0.29140999913215637, "yaw": -0.4054870307445526 } }, "velocity": { "x": 8.551490783691406, "y": -0.0514860562980175, "z": -0.04626094549894333 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 7.188076019287109, "transform": { "location": { "x": 665.8153686523438, "y": 4287.080078125, "z": 369.8725280761719 }, "rotation": { "roll": 0.0002441889082547277, "pitch": 0.3374864459037781, "yaw": 179.64707946777344 } }, "velocity": { "x": -7.187835693359375, "y": 0.044210586696863174, "z": 0.0387105830013752 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0007760933949612081, "transform": { "location": { "x": 653.0707397460938, "y": 4287.16064453125, "z": 369.9530334472656 }, "rotation": { "roll": -0.0029602053109556437, "pitch": -0.02026516944169998, "yaw": 179.7560272216797 } }, "velocity": { "x": 0.0007707234472036362, "y": -9.056221460923553e-05, "z": -1.0234587534796447e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.742105484008789, "transform": { "location": { "x": 606.2081298828125, "y": 4287.4404296875, "z": 370.1758117675781 }, "rotation": { "roll": 0.005096646957099438, "pitch": 0.7743316888809204, "yaw": 179.7580108642578 } }, "velocity": { "x": -8.741923332214355, "y": 0.03842021897435188, "z": 0.04132913425564766 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.08072566986084, "transform": { "location": { "x": 586.5443725585938, "y": 4287.55419921875, "z": 370.3059387207031 }, "rotation": { "roll": 0.00038349293754436076, "pitch": 0.25803086161613464, "yaw": 179.7084503173828 } }, "velocity": { "x": -8.080551147460938, "y": 0.04126712679862976, "z": 0.03343749791383743 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.03097915649414, "transform": { "location": { "x": 598.2366333007812, "y": 4290.7294921875, "z": 370.22314453125 }, "rotation": { "roll": -3.051762541872449e-05, "pitch": 0.26494303345680237, "yaw": 179.6259002685547 } }, "velocity": { "x": -8.030740737915039, "y": 0.04993976652622223, "z": 0.03645895794034004 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 15.988890647888184, "transform": { "location": { "x": 652.87158203125, "y": 4290.40673828125, "z": 369.9405822753906 }, "rotation": { "roll": 3.505529457470402e-05, "pitch": 0.3057670593261719, "yaw": 179.67440795898438 } }, "velocity": { "x": -15.988409042358398, "y": 0.09129331260919571, "z": 0.08418182283639908 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.050605773925781, "transform": { "location": { "x": 616.3243408203125, "y": 4290.62451171875, "z": 370.1346435546875 }, "rotation": { "roll": -6.103507257648744e-05, "pitch": 0.2809393107891083, "yaw": 179.6635284423828 } }, "velocity": { "x": -8.050379753112793, "y": 0.04723578691482544, "z": 0.03751751780509949 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.509036660194397, "expert_target_speed": 10.0, "target_point": [ 41.889660357425115, -2.3306445960721502 ], "target_point_next": [ 47.87276717207843, -2.780354000252456 ] }, "450": { "acceleration": [ 1.3965702056884766, 0.4796034097671509, -0.0007453560829162598 ], "angular_velocity": [ 0.008936848491430283, 0.4945378005504608, -5.499024391174316 ], "forward_vector": [ -0.998033344745636, -0.0626850500702858, -0.00010180472600040957 ], "right_vector": [ 0.06268512457609177, -0.9980312585830688, -0.002032330259680748 ], "location": [ 619.7555541992188, 4288.14794921875, 370.1139831542969 ], "rotation": [ 0.11644402146339417, -0.005832981318235397, -176.4060516357422 ], "velocity": [ -6.7307963371276855, -0.3801426589488983, 0.03311094269156456 ], "speed": 6.741522659833178, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.706108093261719, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 604.0651245117188, 4287.4501953125, 370.187255859375 ], "velocity": [ -8.291516304016113, 0.041853874921798706, 0.04006383940577507 ], "speed_kmh": 29.85018742374648, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.0427418947219849, "transform": { "location": { "x": 573.8165283203125, "y": 4294.22802734375, "z": 370.34185791015625 }, "rotation": { "roll": -0.005828857421875, "pitch": -0.08145000040531158, "yaw": -0.2638550102710724 } }, "velocity": { "x": 1.0412248373031616, "y": 0.006356499623507261, "z": -0.05586758628487587 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.3163585662841797, "transform": { "location": { "x": 574.5977783203125, "y": 4297.48095703125, "z": 370.3147888183594 }, "rotation": { "roll": -0.0025939936749637127, "pitch": -0.21157875657081604, "yaw": -0.0551757737994194 } }, "velocity": { "x": 2.3162825107574463, "y": 0.01606959104537964, "z": -0.009663171134889126 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.827901840209961, "transform": { "location": { "x": 685.489990234375, "y": 4290.21484375, "z": 369.77337646484375 }, "rotation": { "roll": 0.0003898252034559846, "pitch": 0.24579116702079773, "yaw": 179.6681365966797 } }, "velocity": { "x": -13.827455520629883, "y": 0.07986006140708923, "z": 0.0771353542804718 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035355567932129, "transform": { "location": { "x": 625.757568359375, "y": 4297.267578125, "z": 370.12213134765625 }, "rotation": { "roll": 0.00030791887547820807, "pitch": -0.2832069396972656, "yaw": -0.3165282905101776 } }, "velocity": { "x": 8.03511905670166, "y": -0.046206388622522354, "z": -0.04073350504040718 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.02434253692627, "transform": { "location": { "x": 622.5646362304688, "y": 4294.037109375, "z": 370.0995178222656 }, "rotation": { "roll": -0.0012817381648346782, "pitch": -0.29018738865852356, "yaw": -0.3150634765625 } }, "velocity": { "x": 8.024112701416016, "y": -0.0449155792593956, "z": -0.04088149964809418 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051873207092285, "transform": { "location": { "x": 664.3491821289062, "y": 4293.79248046875, "z": 369.8808898925781 }, "rotation": { "roll": -3.0517647246597335e-05, "pitch": -0.3118254244327545, "yaw": -0.36001577973365784 } }, "velocity": { "x": 8.051589965820312, "y": -0.050624120980501175, "z": -0.04472726583480835 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.15259075164795, "transform": { "location": { "x": 665.7894897460938, "y": 4297.03125, "z": 369.87139892578125 }, "rotation": { "roll": -0.000152587890625, "pitch": -0.3236689865589142, "yaw": -0.3548583686351776 } }, "velocity": { "x": 8.152326583862305, "y": -0.04763355478644371, "z": -0.045108575373888016 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 6.6649065017700195, "transform": { "location": { "x": 664.0321655273438, "y": 4287.09130859375, "z": 369.88238525390625 }, "rotation": { "roll": -0.0001831055269576609, "pitch": 0.3066140115261078, "yaw": 179.6476593017578 } }, "velocity": { "x": -6.664684295654297, "y": 0.040485382080078125, "z": 0.03632167726755142 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0020501010585576296, "transform": { "location": { "x": 653.0687866210938, "y": 4287.16064453125, "z": 369.9508056640625 }, "rotation": { "roll": -0.0010986326960846782, "pitch": 0.25510072708129883, "yaw": 179.75601196289062 } }, "velocity": { "x": 0.0019944116938859224, "y": -0.00011693947453750297, "z": 0.00045995842083357275 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.291718482971191, "transform": { "location": { "x": 604.0651245117188, "y": 4287.4501953125, "z": 370.187255859375 }, "rotation": { "roll": 0.007477883715182543, "pitch": 0.40225714445114136, "yaw": 179.72232055664062 } }, "velocity": { "x": -8.291516304016113, "y": 0.041853874921798706, "z": 0.04006383940577507 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.989822864532471, "transform": { "location": { "x": 584.537109375, "y": 4287.564453125, "z": 370.3146667480469 }, "rotation": { "roll": 0.0010261877905577421, "pitch": 0.2406138926744461, "yaw": 179.71719360351562 } }, "velocity": { "x": -7.989644527435303, "y": 0.041321996599435806, "z": 0.0338108167052269 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030435562133789, "transform": { "location": { "x": 596.2288818359375, "y": 4290.7412109375, "z": 370.23236083984375 }, "rotation": { "roll": 0.0010785346385091543, "pitch": 0.2600935995578766, "yaw": 179.67025756835938 } }, "velocity": { "x": -8.0302095413208, "y": 0.047246720641851425, "z": 0.03739415109157562 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 15.802833557128906, "transform": { "location": { "x": 648.8809814453125, "y": 4290.4296875, "z": 369.961669921875 }, "rotation": { "roll": -0.00018310543964616954, "pitch": 0.30127280950546265, "yaw": 179.65785217285156 } }, "velocity": { "x": -15.802340507507324, "y": 0.0924517884850502, "z": 0.0838889479637146 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.026933670043945, "transform": { "location": { "x": 614.3154907226562, "y": 4290.6357421875, "z": 370.1441955566406 }, "rotation": { "roll": -0.00048828122089616954, "pitch": 0.2760898768901825, "yaw": 179.66343688964844 } }, "velocity": { "x": -8.02670669555664, "y": 0.04716379940509796, "z": 0.037762582302093506 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.48600155115127563, "expert_target_speed": 10.0, "target_point": [ 40.16613983299048, -2.065348756656081 ], "target_point_next": [ 46.151983636416865, -2.477027836451473 ] }, "455": { "acceleration": [ -0.166015625, 0.2588367462158203, -0.014576315879821777 ], "angular_velocity": [ -0.02341822348535061, 0.6180854439735413, 0.5330240726470947 ], "forward_vector": [ -0.998654305934906, -0.05180829018354416, 0.002343294909223914 ], "right_vector": [ 0.05180315300822258, -0.998654842376709, -0.0022019087336957455 ], "location": [ 618.09375, 4288.0625, 370.1215515136719 ], "rotation": [ 0.12616053223609924, 0.13426102697849274, -177.0302734375 ], "velocity": [ -6.624655723571777, -0.2952992618083954, 0.0322868637740612 ], "speed": 6.631234056333473, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.0602970123291, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 602.044921875, 4287.46044921875, 370.1977233886719 ], "velocity": [ -7.691149711608887, 0.04021717607975006, 0.03653572127223015 ], "speed_kmh": 27.68882989074558, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.0775980949401855, "transform": { "location": { "x": 574.1983642578125, "y": 4294.2294921875, "z": 370.3262023925781 }, "rotation": { "roll": -0.008056640625, "pitch": -0.017150603234767914, "yaw": -0.1462707370519638 } }, "velocity": { "x": 2.0770933628082275, "y": 0.012361151166260242, "z": -0.044090837240219116 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.868546485900879, "transform": { "location": { "x": 575.2483520507812, "y": 4297.48388671875, "z": 370.3121032714844 }, "rotation": { "roll": -0.002655029296875, "pitch": -0.2135321944952011, "yaw": 0.09181994944810867 } }, "velocity": { "x": 2.8684511184692383, "y": 0.021068662405014038, "z": -0.010165815241634846 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 14.543771743774414, "transform": { "location": { "x": 681.939697265625, "y": 4290.2353515625, "z": 369.7933654785156 }, "rotation": { "roll": -0.0004577635554596782, "pitch": 0.24455490708351135, "yaw": 179.66030883789062 } }, "velocity": { "x": -14.543292999267578, "y": 0.08609884232282639, "z": 0.0807555541396141 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.024991989135742, "transform": { "location": { "x": 627.764404296875, "y": 4297.25634765625, "z": 370.1121826171875 }, "rotation": { "roll": 0.0001405011280439794, "pitch": -0.28561118245124817, "yaw": -0.3461303412914276 } }, "velocity": { "x": 8.024751663208008, "y": -0.04675246775150299, "z": -0.040967173874378204 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.037827491760254, "transform": { "location": { "x": 624.5733642578125, "y": 4294.025390625, "z": 370.0894775390625 }, "rotation": { "roll": 0.0008208304643630981, "pitch": -0.28350064158439636, "yaw": -0.344879150390625 } }, "velocity": { "x": 8.037582397460938, "y": -0.04765920713543892, "z": -0.04080607742071152 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.084023475646973, "transform": { "location": { "x": 666.3663330078125, "y": 4293.77978515625, "z": 369.8699035644531 }, "rotation": { "roll": -0.00015258806524798274, "pitch": -0.3140862286090851, "yaw": -0.3592528998851776 } }, "velocity": { "x": 8.083745002746582, "y": -0.04977688565850258, "z": -0.04503108933568001 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.489091396331787, "transform": { "location": { "x": 667.7896728515625, "y": 4297.01904296875, "z": 369.8604736328125 }, "rotation": { "roll": 0.00011030099267372862, "pitch": -0.3295292854309082, "yaw": -0.34454345703125 } }, "velocity": { "x": 7.488840103149414, "y": -0.04444577544927597, "z": -0.042259037494659424 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 2.249293088912964, "transform": { "location": { "x": 662.8156127929688, "y": 4287.0966796875, "z": 369.8894958496094 }, "rotation": { "roll": -0.0020751948468387127, "pitch": 0.220799520611763, "yaw": 179.27334594726562 } }, "velocity": { "x": -2.2490217685699463, "y": 0.03307933732867241, "z": 0.011220044456422329 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0012780391843989491, "transform": { "location": { "x": 653.0675048828125, "y": 4287.16064453125, "z": 369.9500732421875 }, "rotation": { "roll": 0.00017283298075199127, "pitch": 0.3471648395061493, "yaw": 179.75596618652344 } }, "velocity": { "x": 0.0012771098408848047, "y": 1.8940900190500543e-05, "z": -4.489898492465727e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.691341876983643, "transform": { "location": { "x": 602.044921875, "y": 4287.46044921875, "z": 370.1977233886719 }, "rotation": { "roll": 0.005249040201306343, "pitch": 0.1559673547744751, "yaw": 179.70021057128906 } }, "velocity": { "x": -7.691149711608887, "y": 0.04021717607975006, "z": 0.03653572127223015 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.034500122070312, "transform": { "location": { "x": 582.5359497070312, "y": 4287.57568359375, "z": 370.3231506347656 }, "rotation": { "roll": 0.0018668366828933358, "pitch": 0.24924041330814362, "yaw": 179.67140197753906 } }, "velocity": { "x": -8.03429889678955, "y": 0.04650801047682762, "z": 0.0328553207218647 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031310081481934, "transform": { "location": { "x": 594.2210693359375, "y": 4290.75244140625, "z": 370.2415466308594 }, "rotation": { "roll": 2.578136627562344e-05, "pitch": 0.2574912905693054, "yaw": 179.63177490234375 } }, "velocity": { "x": -8.031071662902832, "y": 0.04900176823139191, "z": 0.037694111466407776 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 14.920538902282715, "transform": { "location": { "x": 645.0678100585938, "y": 4290.45263671875, "z": 369.9820556640625 }, "rotation": { "roll": 0.0012438350822776556, "pitch": 0.2758576571941376, "yaw": 179.6509246826172 } }, "velocity": { "x": -14.920061111450195, "y": 0.08908547461032867, "z": 0.07936645299196243 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.043845176696777, "transform": { "location": { "x": 612.3067626953125, "y": 4290.64794921875, "z": 370.15386962890625 }, "rotation": { "roll": -0.00045776370097883046, "pitch": 0.279525488615036, "yaw": 179.66038513183594 } }, "velocity": { "x": -8.04361629486084, "y": 0.04781605303287506, "z": 0.03723924607038498 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.4119519591331482, "expert_target_speed": 10.0, "target_point": [ 38.522257684572025, -1.6268726003534846 ], "target_point_next": [ 44.51223130564229, -1.973314114380868 ] }, "460": { "acceleration": [ -1.0493659973144531, 0.1722550392150879, 0.014434456825256348 ], "angular_velocity": [ -0.14463526010513306, 0.4804185628890991, -5.215484619140625 ], "forward_vector": [ -0.9991573095321655, -0.04075771942734718, 0.004840116016566753 ], "right_vector": [ 0.040748294442892075, -0.9991673827171326, -0.002029798459261656 ], "location": [ 616.4158325195312, 4287.99462890625, 370.12908935546875 ], "rotation": [ 0.11630032956600189, 0.2773193120956421, -177.66407775878906 ], "velocity": [ -6.814287185668945, -0.23767617344856262, 0.033539172261953354 ], "speed": 6.818430890769308, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.22974395751953, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 600.1947631835938, 4287.4697265625, 370.2066345214844 ], "velocity": [ -7.422087669372559, 0.040036022663116455, 0.03374599292874336 ], "speed_kmh": 26.720180510788857, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.8373653888702393, "transform": { "location": { "x": 574.9356079101562, "y": 4294.23291015625, "z": 370.3194580078125 }, "rotation": { "roll": -0.010925292037427425, "pitch": 0.1425255537033081, "yaw": 0.005618480034172535 } }, "velocity": { "x": 3.8372719287872314, "y": 0.0252472423017025, "z": -0.008883924223482609 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.5183746814727783, "transform": { "location": { "x": 576.0468139648438, "y": 4297.48876953125, "z": 370.3088684082031 }, "rotation": { "roll": -0.0036926271859556437, "pitch": -0.2141127586364746, "yaw": 0.2236630618572235 } }, "velocity": { "x": 3.5182411670684814, "y": 0.027344515547156334, "z": -0.013860120438039303 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 15.240924835205078, "transform": { "location": { "x": 678.212890625, "y": 4290.25732421875, "z": 369.8140563964844 }, "rotation": { "roll": -0.00018310551240574569, "pitch": 0.24506033957004547, "yaw": 179.6548309326172 } }, "velocity": { "x": -15.2404203414917, "y": 0.09179220348596573, "z": 0.08342422544956207 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.033321380615234, "transform": { "location": { "x": 629.771728515625, "y": 4297.244140625, "z": 370.10205078125 }, "rotation": { "roll": -0.0008239746675826609, "pitch": -0.2903103530406952, "yaw": -0.3217467665672302 } }, "velocity": { "x": 8.03308391571045, "y": -0.04691204056143761, "z": -0.0403524674475193 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.025360107421875, "transform": { "location": { "x": 626.5810546875, "y": 4294.013671875, "z": 370.0794982910156 }, "rotation": { "roll": 0.001655164989642799, "pitch": -0.28872573375701904, "yaw": -0.326324462890625 } }, "velocity": { "x": 8.025111198425293, "y": -0.047752950340509415, "z": -0.041333407163619995 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.052242279052734, "transform": { "location": { "x": 668.3831176757812, "y": 4293.76806640625, "z": 369.8588562011719 }, "rotation": { "roll": -0.0004577636136673391, "pitch": -0.31313684582710266, "yaw": -0.3503112494945526 } }, "velocity": { "x": 8.051968574523926, "y": -0.04920530319213867, "z": -0.044540319591760635 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.735198497772217, "transform": { "location": { "x": 669.5172729492188, "y": 4297.009765625, "z": 369.85113525390625 }, "rotation": { "roll": -0.00048828125, "pitch": -0.3410654664039612, "yaw": -0.360626220703125 } }, "velocity": { "x": 6.73498010635376, "y": -0.03948540240526199, "z": -0.03712967410683632 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0014949030010029674, "transform": { "location": { "x": 662.7249755859375, "y": 4287.0947265625, "z": 369.8897705078125 }, "rotation": { "roll": -0.005554198287427425, "pitch": 0.2447803020477295, "yaw": 178.8749542236328 } }, "velocity": { "x": 0.00010722875595092773, "y": -2.8706588636850938e-05, "z": 0.0014907759614288807 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.014367802068591118, "transform": { "location": { "x": 653.0670776367188, "y": 4287.16064453125, "z": 369.95037841796875 }, "rotation": { "roll": -0.00021362301777116954, "pitch": 0.31265872716903687, "yaw": 179.75628662109375 } }, "velocity": { "x": -0.014365707524120808, "y": 0.00014766227104701102, "z": 0.00019587516726460308 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.422272682189941, "transform": { "location": { "x": 600.1947631835938, "y": 4287.4697265625, "z": 370.2066345214844 }, "rotation": { "roll": 0.0025589580181986094, "pitch": 0.1068173199892044, "yaw": 179.69203186035156 } }, "velocity": { "x": -7.422087669372559, "y": 0.040036022663116455, "z": 0.03374599292874336 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.037152290344238, "transform": { "location": { "x": 580.524658203125, "y": 4287.58740234375, "z": 370.3316650390625 }, "rotation": { "roll": 0.0014123808359727263, "pitch": 0.24340060353279114, "yaw": 179.69277954101562 } }, "velocity": { "x": -8.036962509155273, "y": 0.04472651705145836, "z": 0.03247180953621864 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030698776245117, "transform": { "location": { "x": 592.2132568359375, "y": 4290.76513671875, "z": 370.2505798339844 }, "rotation": { "roll": 0.000314111850457266, "pitch": 0.25687655806541443, "yaw": 179.6643524169922 } }, "velocity": { "x": -8.030461311340332, "y": 0.049756553024053574, "z": 0.036597516387701035 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 13.72263240814209, "transform": { "location": { "x": 641.4817504882812, "y": 4290.47412109375, "z": 370.00091552734375 }, "rotation": { "roll": 0.0017549841431900859, "pitch": 0.2629554271697998, "yaw": 179.64944458007812 } }, "velocity": { "x": -13.722189903259277, "y": 0.08398362994194031, "z": 0.0714026466012001 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.036731719970703, "transform": { "location": { "x": 610.2963256835938, "y": 4290.6591796875, "z": 370.1634216308594 }, "rotation": { "roll": -0.000518798828125, "pitch": 0.2746145725250244, "yaw": 179.6598358154297 } }, "velocity": { "x": -8.036502838134766, "y": 0.04771247133612633, "z": 0.03743399679660797 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.37444254755973816, "expert_target_speed": 7.408391092792765, "target_point": [ 36.858607537272405, -1.2000685807777962 ], "target_point_next": [ 42.85204697055913, -1.4802282910911813 ] }, "465": { "acceleration": [ -1.3594436645507812, 0.18510699272155762, -0.01899242401123047 ], "angular_velocity": [ -0.06415101140737534, 0.27852168679237366, 0.8780809640884399 ], "forward_vector": [ -0.999459445476532, -0.0322321392595768, 0.006470396649092436 ], "right_vector": [ 0.03222110494971275, -0.9994791150093079, -0.0018026215257123113 ], "location": [ 614.6717529296875, 4287.939453125, 370.13714599609375 ], "rotation": [ 0.1032848209142685, 0.370728999376297, -178.1528778076172 ], "velocity": [ -7.131562232971191, -0.1916971504688263, 0.03303726017475128 ], "speed": 7.134138187632681, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.45414161682129, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 598.2241821289062, 4287.48095703125, 370.2144775390625 ], "velocity": [ -8.312369346618652, 0.048285432159900665, 0.037497520446777344 ], "speed_kmh": 29.92533898308901, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.279294013977051, "transform": { "location": { "x": 576.1452026367188, "y": 4294.23974609375, "z": 370.31640625 }, "rotation": { "roll": -0.011840819381177425, "pitch": 0.19746075570583344, "yaw": 0.21376961469650269 } }, "velocity": { "x": 5.27912712097168, "y": 0.03959544003009796, "z": -0.013976965099573135 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.35938835144043, "transform": { "location": { "x": 577.0310668945312, "y": 4297.49365234375, "z": 370.30487060546875 }, "rotation": { "roll": -0.0006408691988326609, "pitch": -0.21028785407543182, "yaw": 0.24678213894367218 } }, "velocity": { "x": 4.359342098236084, "y": 0.00846127886325121, "z": -0.018241720274090767 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 15.66289234161377, "transform": { "location": { "x": 674.3232421875, "y": 4290.28076171875, "z": 369.83538818359375 }, "rotation": { "roll": -0.0005798340425826609, "pitch": 0.2601960301399231, "yaw": 179.64805603027344 } }, "velocity": { "x": -15.662354469299316, "y": 0.09598905593156815, "z": 0.08734424412250519 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030455589294434, "transform": { "location": { "x": 631.7797241210938, "y": 4297.23291015625, "z": 370.0919189453125 }, "rotation": { "roll": 0.00013387510261964053, "pitch": -0.2927282452583313, "yaw": -0.3485412001609802 } }, "velocity": { "x": 8.030213356018066, "y": -0.04688595235347748, "z": -0.04110343009233475 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030595779418945, "transform": { "location": { "x": 628.5875854492188, "y": 4294.001953125, "z": 370.0694885253906 }, "rotation": { "roll": -0.0002746582613326609, "pitch": -0.28940191864967346, "yaw": -0.3507689833641052 } }, "velocity": { "x": 8.030350685119629, "y": -0.04740564897656441, "z": -0.04098374769091606 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.084067344665527, "transform": { "location": { "x": 670.4002685546875, "y": 4293.75634765625, "z": 369.8478088378906 }, "rotation": { "roll": -0.0012512204702943563, "pitch": -0.3129592537879944, "yaw": -0.3492431044578552 } }, "velocity": { "x": 8.08379077911377, "y": -0.049376096576452255, "z": -0.04516361653804779 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.3375749588012695, "transform": { "location": { "x": 671.26171875, "y": 4296.99951171875, "z": 369.8412170410156 }, "rotation": { "roll": 0.0005944029544480145, "pitch": -0.30209243297576904, "yaw": -0.378875732421875 } }, "velocity": { "x": 7.337337017059326, "y": -0.0439143069088459, "z": -0.03956318646669388 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0016747941263020039, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8893127441406 }, "rotation": { "roll": -0.005096435081213713, "pitch": 0.3030623197555542, "yaw": 178.87496948242188 } }, "velocity": { "x": 4.07803054258693e-05, "y": 0.00012855741078965366, "z": 0.0016693547368049622 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.4011976420879364, "transform": { "location": { "x": 653.0345458984375, "y": 4287.16064453125, "z": 369.9502258300781 }, "rotation": { "roll": -0.0004882813082076609, "pitch": 0.36369389295578003, "yaw": 179.7526397705078 } }, "velocity": { "x": -0.40118712186813354, "y": 0.001669845194555819, "z": 0.002377681666985154 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.312594413757324, "transform": { "location": { "x": 598.2241821289062, "y": 4287.48095703125, "z": 370.2144775390625 }, "rotation": { "roll": 0.003952282015234232, "pitch": 0.45256832242012024, "yaw": 179.67703247070312 } }, "velocity": { "x": -8.312369346618652, "y": 0.048285432159900665, "z": 0.037497520446777344 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.0129976272583, "transform": { "location": { "x": 578.5199584960938, "y": 4287.59912109375, "z": 370.3400573730469 }, "rotation": { "roll": 6.625748937949538e-05, "pitch": 0.2358395904302597, "yaw": 179.6666717529297 } }, "velocity": { "x": -8.012802124023438, "y": 0.044782575219869614, "z": 0.033625565469264984 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031290054321289, "transform": { "location": { "x": 590.2054443359375, "y": 4290.77685546875, "z": 370.259521484375 }, "rotation": { "roll": -0.00015258780331350863, "pitch": 0.25049716234207153, "yaw": 179.6240692138672 } }, "velocity": { "x": -8.03105354309082, "y": 0.050212692469358444, "z": 0.035931918770074844 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.381850242614746, "transform": { "location": { "x": 638.22607421875, "y": 4290.49365234375, "z": 370.0179748535156 }, "rotation": { "roll": 0.00043928142986260355, "pitch": 0.25597497820854187, "yaw": 179.64883422851562 } }, "velocity": { "x": -12.38145637512207, "y": 0.07576344907283783, "z": 0.06330732256174088 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.037206649780273, "transform": { "location": { "x": 608.287353515625, "y": 4290.67138671875, "z": 370.1729736328125 }, "rotation": { "roll": -9.1552734375e-05, "pitch": 0.2733919620513916, "yaw": 179.6597137451172 } }, "velocity": { "x": -8.036978721618652, "y": 0.0477798692882061, "z": 0.037168703973293304 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.32602933049201965, "expert_target_speed": 7.696541542198339, "target_point": [ 35.12255222653391, -0.8845148425837355 ], "target_point_next": [ 41.11816360092673, -1.113534385441291 ] }, "470": { "acceleration": [ -1.4399242401123047, 0.1496407389640808, 0.011640936136245728 ], "angular_velocity": [ -0.008100323379039764, 0.130295529961586, -4.258217811584473 ], "forward_vector": [ -0.999670684337616, -0.024608725681900978, 0.007275159005075693 ], "right_vector": [ 0.02459847740828991, -0.9996962547302246, -0.0014949681935831904 ], "location": [ 612.8424682617188, 4287.8935546875, 370.14569091796875 ], "rotation": [ 0.08565767109394073, 0.416839599609375, -178.58984375 ], "velocity": [ -7.487507343292236, -0.15926000475883484, 0.035070113837718964 ], "speed": 7.489200889612386, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.687448501586914, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 596.1600341796875, 4287.4921875, 370.2244567871094 ], "velocity": [ -8.02964973449707, 0.04625073820352554, 0.037114255130290985 ], "speed_kmh": 28.907527346493257, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.862542629241943, "transform": { "location": { "x": 577.632568359375, "y": 4294.24462890625, "z": 370.3119812011719 }, "rotation": { "roll": 0.013587309047579765, "pitch": 0.06384177505970001, "yaw": 0.3274693489074707 } }, "velocity": { "x": 6.862457752227783, "y": 0.0172115545719862, "z": -0.029498390853405 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.295180797576904, "transform": { "location": { "x": 578.2474975585938, "y": 4297.49658203125, "z": 370.3000793457031 }, "rotation": { "roll": -0.0008544921292923391, "pitch": -0.20562966167926788, "yaw": 0.15173862874507904 } }, "velocity": { "x": 5.295138359069824, "y": 0.006142797879874706, "z": -0.02029399760067463 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 15.376371383666992, "transform": { "location": { "x": 670.4735107421875, "y": 4290.30419921875, "z": 369.8561096191406 }, "rotation": { "roll": -0.00036621090839616954, "pitch": 0.3254311680793762, "yaw": 179.647216796875 } }, "velocity": { "x": -15.375850677490234, "y": 0.09462051093578339, "z": 0.08392345160245895 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030360221862793, "transform": { "location": { "x": 633.7869262695312, "y": 4297.220703125, "z": 370.0816955566406 }, "rotation": { "roll": -0.0008544922457076609, "pitch": -0.29193592071533203, "yaw": -0.321624755859375 } }, "velocity": { "x": 8.030131340026855, "y": -0.045256357640028, "z": -0.04034579172730446 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.032777786254883, "transform": { "location": { "x": 630.5953979492188, "y": 4293.990234375, "z": 370.0593566894531 }, "rotation": { "roll": -0.0004577638173941523, "pitch": -0.294401615858078, "yaw": -0.32415771484375 } }, "velocity": { "x": 8.032536506652832, "y": -0.04654661566019058, "z": -0.04124694690108299 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.05134105682373, "transform": { "location": { "x": 672.4171142578125, "y": 4293.7451171875, "z": 369.8367919921875 }, "rotation": { "roll": 0.001028329017572105, "pitch": -0.3156435191631317, "yaw": -0.350311279296875 } }, "velocity": { "x": 8.051071166992188, "y": -0.048702824860811234, "z": -0.04442374035716057 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.153769493103027, "transform": { "location": { "x": 673.1904296875, "y": 4296.9873046875, "z": 369.8305358886719 }, "rotation": { "roll": 0.0013366901548579335, "pitch": -0.29507097601890564, "yaw": -0.3255309462547302 } }, "velocity": { "x": 8.153502464294434, "y": -0.04935145378112793, "z": -0.04387300834059715 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00048269436229020357, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.7138085240731016e-05, "y": -1.0660331099643372e-05, "z": 0.00048227221122942865 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.009425375610589981, "transform": { "location": { "x": 652.885986328125, "y": 4287.16064453125, "z": 369.9508361816406 }, "rotation": { "roll": -0.0010681151179596782, "pitch": 0.37835147976875305, "yaw": 179.67616271972656 } }, "velocity": { "x": -0.009389562532305717, "y": -0.0005022871191613376, "z": -0.0006492580869235098 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029869079589844, "transform": { "location": { "x": 596.1600341796875, "y": 4287.4921875, "z": 370.2244567871094 }, "rotation": { "roll": 0.001032770611345768, "pitch": 0.3061632215976715, "yaw": 179.67018127441406 } }, "velocity": { "x": -8.02964973449707, "y": 0.04625073820352554, "z": 0.037114255130290985 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.033628463745117, "transform": { "location": { "x": 576.5140991210938, "y": 4287.61083984375, "z": 370.3482971191406 }, "rotation": { "roll": -0.00091552734375, "pitch": 0.2385716587305069, "yaw": 179.69564819335938 } }, "velocity": { "x": -8.033435821533203, "y": 0.04496295377612114, "z": 0.03273405879735947 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030884742736816, "transform": { "location": { "x": 588.1976318359375, "y": 4290.7890625, "z": 370.2683410644531 }, "rotation": { "roll": 0.0004746375198010355, "pitch": 0.2507362365722656, "yaw": 179.6658172607422 } }, "velocity": { "x": -8.030660629272461, "y": 0.047829922288656235, "z": 0.036378782242536545 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.121905326843262, "transform": { "location": { "x": 635.19677734375, "y": 4290.51220703125, "z": 370.0333251953125 }, "rotation": { "roll": 6.359633698593825e-05, "pitch": 0.2741364538669586, "yaw": 179.6524200439453 } }, "velocity": { "x": -12.121529579162598, "y": 0.07403099536895752, "z": 0.060390785336494446 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.03846263885498, "transform": { "location": { "x": 606.2777709960938, "y": 4290.6826171875, "z": 370.1824645996094 }, "rotation": { "roll": -9.155279258266091e-05, "pitch": 0.2743481993675232, "yaw": 179.65977478027344 } }, "velocity": { "x": -8.038232803344727, "y": 0.047822270542383194, "z": 0.03743185102939606 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.27058660984039307, "expert_target_speed": 7.966518423888393, "target_point": [ 33.298416324767786, -0.6174951919667702 ], "target_point_next": [ 39.29559994388164, -0.800782786723227 ] }, "475": { "acceleration": [ -1.4274883270263672, 0.18566802144050598, 0.007498934864997864 ], "angular_velocity": [ -0.007125507574528456, 0.022258898243308067, 1.115254521369934 ], "forward_vector": [ -0.9998012781143188, -0.018449554219841957, 0.007551597896963358 ], "right_vector": [ 0.018439151346683502, -0.9998288750648499, -0.001444593071937561 ], "location": [ 610.923828125, 4287.85791015625, 370.1547546386719 ], "rotation": [ 0.08277147263288498, 0.43267878890037537, -178.9428253173828 ], "velocity": [ -7.845337867736816, -0.11612493544816971, 0.03775859624147415 ], "speed": 7.846197248322151, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.734146118164062, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 594.193603515625, 4287.50439453125, 370.2337341308594 ], "velocity": [ -7.88169527053833, 0.047358229756355286, 0.036894284188747406 ], "speed_kmh": 28.374926031405618, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.894007205963135, "transform": { "location": { "x": 579.5046997070312, "y": 4294.24951171875, "z": 370.3041076660156 }, "rotation": { "roll": 0.007760742679238319, "pitch": 0.022607924416661263, "yaw": 0.16151770949363708 } }, "velocity": { "x": 7.893926620483398, "y": 0.010153179988265038, "z": -0.03420233353972435 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.579978942871094, "transform": { "location": { "x": 579.5846557617188, "y": 4297.49853515625, "z": 370.2945556640625 }, "rotation": { "roll": -0.0019531246507540345, "pitch": -0.22244559228420258, "yaw": 0.11054179072380066 } }, "velocity": { "x": 5.579930782318115, "y": 0.005182995460927486, "z": -0.02257365733385086 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 14.666797637939453, "transform": { "location": { "x": 666.6921997070312, "y": 4290.32763671875, "z": 369.87640380859375 }, "rotation": { "roll": 0.0009377183741889894, "pitch": 0.3729829490184784, "yaw": 179.66305541992188 } }, "velocity": { "x": -14.666336059570312, "y": 0.08429744839668274, "z": 0.08014089614152908 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.031429290771484, "transform": { "location": { "x": 635.794677734375, "y": 4297.20947265625, "z": 370.07147216796875 }, "rotation": { "roll": 0.00011513357458170503, "pitch": -0.2918403148651123, "yaw": -0.33990478515625 } }, "velocity": { "x": 8.031182289123535, "y": -0.04773038253188133, "z": -0.04111082851886749 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.027482032775879, "transform": { "location": { "x": 632.6026611328125, "y": 4293.978515625, "z": 370.0491638183594 }, "rotation": { "roll": 0.00038533032056875527, "pitch": -0.2966897487640381, "yaw": -0.351776123046875 } }, "velocity": { "x": 8.02723217010498, "y": -0.048556938767433167, "z": -0.04069557040929794 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.085350036621094, "transform": { "location": { "x": 674.4342041015625, "y": 4293.73291015625, "z": 369.8256530761719 }, "rotation": { "roll": 0.001283933175727725, "pitch": -0.3164358139038086, "yaw": -0.355438232421875 } }, "velocity": { "x": 8.085066795349121, "y": -0.0503278486430645, "z": -0.045322127640247345 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.551581382751465, "transform": { "location": { "x": 675.3518676757812, "y": 4296.974609375, "z": 369.8186950683594 }, "rotation": { "roll": -0.0009765624417923391, "pitch": -0.2996472120285034, "yaw": -0.2875976264476776 } }, "velocity": { "x": 8.551304817199707, "y": -0.04868781939148903, "z": -0.048463329672813416 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0002671489492058754, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 8.587389856984373e-06, "y": 2.0445538666535867e-06, "z": -0.00026700308080762625 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0018006234895437956, "transform": { "location": { "x": 652.810546875, "y": 4287.16064453125, "z": 369.95245361328125 }, "rotation": { "roll": -0.00091552734375, "pitch": 0.2246244251728058, "yaw": 179.6301727294922 } }, "velocity": { "x": -0.0017964900471270084, "y": -4.614979843609035e-05, "z": 0.00011286503286100924 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.881924152374268, "transform": { "location": { "x": 594.193603515625, "y": 4287.50439453125, "z": 370.2337341308594 }, "rotation": { "roll": 0.0021539463195949793, "pitch": 0.20590969920158386, "yaw": 179.66363525390625 } }, "velocity": { "x": -7.88169527053833, "y": 0.047358229756355286, "z": 0.036894284188747406 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.025861740112305, "transform": { "location": { "x": 574.506103515625, "y": 4287.62255859375, "z": 370.3564758300781 }, "rotation": { "roll": 0.0008012202451936901, "pitch": 0.2309969812631607, "yaw": 179.66635131835938 } }, "velocity": { "x": -8.025660514831543, "y": 0.0462832972407341, "z": 0.032942257821559906 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031015396118164, "transform": { "location": { "x": 586.1898193359375, "y": 4290.80029296875, "z": 370.2771911621094 }, "rotation": { "roll": 2.105063322233036e-05, "pitch": 0.2474031001329422, "yaw": 179.6311492919922 } }, "velocity": { "x": -8.030790328979492, "y": 0.0491914339363575, "z": 0.03457590937614441 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.592318534851074, "transform": { "location": { "x": 632.105712890625, "y": 4290.53076171875, "z": 370.0486145019531 }, "rotation": { "roll": 0.0006577633321285248, "pitch": 0.30427807569503784, "yaw": 179.6567840576172 } }, "velocity": { "x": -12.59193229675293, "y": 0.07546819001436234, "z": 0.06353890895843506 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.038426399230957, "transform": { "location": { "x": 604.2682495117188, "y": 4290.69482421875, "z": 370.19195556640625 }, "rotation": { "roll": 0.00031609824509359896, "pitch": 0.2739725410938263, "yaw": 179.6597900390625 } }, "velocity": { "x": -8.038199424743652, "y": 0.0478179045021534, "z": 0.03692188113927841 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.24207468330860138, "expert_target_speed": 8.225970524204243, "target_point": [ 31.38261741680734, -0.4125812265180715 ], "target_point_next": [ 37.38081640507708, -0.5589185111694683 ] }, "480": { "acceleration": [ -1.3366889953613281, 0.20920872688293457, -0.008070170879364014 ], "angular_velocity": [ 0.015565220266580582, -0.008675486780703068, -4.172881126403809 ], "forward_vector": [ -0.9999098777770996, -0.011096799746155739, 0.007555293384939432 ], "right_vector": [ 0.011085914447903633, -0.9999374747276306, -0.0014811401488259435 ], "location": [ 608.9171752929688, 4287.83349609375, 370.1643371582031 ], "rotation": [ 0.08486553281545639, 0.43289053440093994, -179.36416625976562 ], "velocity": [ -8.189783096313477, -0.06635263562202454, 0.03707375377416611 ], "speed": 8.190051882431268, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.74416732788086, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 592.1762084960938, 4287.515625, 370.2424621582031 ], "velocity": [ -8.156844139099121, 0.048725660890340805, 0.03712509199976921 ], "speed_kmh": 29.365466958413073, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.54633903503418, "transform": { "location": { "x": 581.6422729492188, "y": 4294.251953125, "z": 370.2958068847656 }, "rotation": { "roll": 0.006611710414290428, "pitch": -0.06878682971000671, "yaw": 0.04444659873843193 } }, "velocity": { "x": 8.546257972717285, "y": -0.0027993235271424055, "z": -0.03700680285692215 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.7391839027404785, "transform": { "location": { "x": 581.1348876953125, "y": 4297.50048828125, "z": 370.2878723144531 }, "rotation": { "roll": -0.0014953609788790345, "pitch": -0.20761041343212128, "yaw": 0.10863432288169861 } }, "velocity": { "x": 6.739120960235596, "y": 0.004880398511886597, "z": -0.028685830533504486 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 14.80476188659668, "transform": { "location": { "x": 663.0326538085938, "y": 4290.3486328125, "z": 369.8967590332031 }, "rotation": { "roll": -0.0005493164644576609, "pitch": 0.31031596660614014, "yaw": 179.6675567626953 } }, "velocity": { "x": -14.804296493530273, "y": 0.08607408404350281, "z": 0.07989251613616943 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030722618103027, "transform": { "location": { "x": 637.8024291992188, "y": 4297.197265625, "z": 370.0611572265625 }, "rotation": { "roll": -0.0009765624417923391, "pitch": -0.2965121567249298, "yaw": -0.3143310248851776 } }, "velocity": { "x": 8.030492782592773, "y": -0.04449582099914551, "z": -0.04137815907597542 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.031209945678711, "transform": { "location": { "x": 634.6099853515625, "y": 4293.966796875, "z": 370.0389404296875 }, "rotation": { "roll": -0.0006713867769576609, "pitch": -0.29452458024024963, "yaw": -0.325653076171875 } }, "velocity": { "x": 8.030969619750977, "y": -0.04634861275553703, "z": -0.04135417193174362 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 8.051614761352539, "transform": { "location": { "x": 676.4510498046875, "y": 4293.72119140625, "z": 369.8144836425781 }, "rotation": { "roll": 0.0003035909903701395, "pitch": -0.31664755940437317, "yaw": -0.3570556342601776 } }, "velocity": { "x": 8.051332473754883, "y": -0.050125353038311005, "z": -0.04520278051495552 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.145526885986328, "transform": { "location": { "x": 677.4298095703125, "y": 4296.962890625, "z": 369.8073425292969 }, "rotation": { "roll": 8.699510362930596e-05, "pitch": -0.32974785566329956, "yaw": -0.2792053520679474 } }, "velocity": { "x": 8.145277976989746, "y": -0.04550854116678238, "z": -0.04451474919915199 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0005819491343572736, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.745827466947958e-05, "y": 7.464326245099073e-06, "z": 0.0005816392949782312 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0011187170166522264, "transform": { "location": { "x": 652.8104248046875, "y": 4287.16064453125, "z": 369.9523010253906 }, "rotation": { "roll": -0.0010375975398346782, "pitch": 0.24154962599277496, "yaw": 179.63018798828125 } }, "velocity": { "x": 0.0009517985163256526, "y": 5.452626646729186e-05, "z": 0.0005853496841154993 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.157073974609375, "transform": { "location": { "x": 592.1762084960938, "y": 4287.515625, "z": 370.2424621582031 }, "rotation": { "roll": 0.001152779208496213, "pitch": 0.3269748091697693, "yaw": 179.65829467773438 } }, "velocity": { "x": -8.156844139099121, "y": 0.048725660890340805, "z": 0.03712509199976921 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.022726058959961, "transform": { "location": { "x": 572.5008544921875, "y": 4287.63427734375, "z": 370.36456298828125 }, "rotation": { "roll": 0.0008842244278639555, "pitch": 0.230423241853714, "yaw": 179.68484497070312 } }, "velocity": { "x": -8.022525787353516, "y": 0.04595625773072243, "z": 0.033015184104442596 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030607223510742, "transform": { "location": { "x": 584.1820678710938, "y": 4290.8125, "z": 370.2857971191406 }, "rotation": { "roll": 0.0005212172400206327, "pitch": 0.2421848326921463, "yaw": 179.66661071777344 } }, "velocity": { "x": -8.030402183532715, "y": 0.046908870339393616, "z": 0.03308495506644249 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.16933822631836, "transform": { "location": { "x": 629.0213623046875, "y": 4290.548828125, "z": 370.06451416015625 }, "rotation": { "roll": 9.347277227789164e-06, "pitch": 0.2817521095275879, "yaw": 179.6596221923828 } }, "velocity": { "x": -12.168968200683594, "y": 0.07265476882457733, "z": 0.061036594212055206 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.037273406982422, "transform": { "location": { "x": 602.259033203125, "y": 4290.7060546875, "z": 370.2013854980469 }, "rotation": { "roll": 4.3900374294025823e-05, "pitch": 0.2724767327308655, "yaw": 179.65652465820312 } }, "velocity": { "x": -8.037041664123535, "y": 0.04813238978385925, "z": 0.037422064691782 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.21231137216091156, "expert_target_speed": 8.482450849979747, "target_point": [ 29.378002670982394, -0.18393550381085536 ], "target_point_next": [ 35.37711559720901, -0.28615977754177346 ] }, "485": { "acceleration": [ -1.2526893615722656, 0.24370071291923523, 0.02198733389377594 ], "angular_velocity": [ 0.021606335416436195, -0.02337861992418766, 0.805550754070282 ], "forward_vector": [ -0.9999627470970154, -0.004369513131678104, 0.007444669958204031 ], "right_vector": [ 0.004358148202300072, -0.9999893307685852, -0.0015421492280438542 ], "location": [ 606.8279418945312, 4287.8232421875, 370.17413330078125 ], "rotation": [ 0.08836112171411514, 0.4265521168708801, -179.7496337890625 ], "velocity": [ -8.509215354919434, -0.00905044749379158, 0.04012463614344597 ], "speed": 8.509220167970534, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.670225143432617, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 590.1605224609375, 4287.52734375, 370.251708984375 ], "velocity": [ -7.970012187957764, 0.04954395815730095, 0.0369778536260128 ], "speed_kmh": 28.692907041492084, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.102580070495605, "transform": { "location": { "x": 583.7149658203125, "y": 4294.25, "z": 370.28948974609375 }, "rotation": { "roll": 0.013050541281700134, "pitch": -0.37374794483184814, "yaw": -0.10528564453125 } }, "velocity": { "x": 8.102476119995117, "y": -0.020285021513700485, "z": -0.03582635894417763 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.675225734710693, "transform": { "location": { "x": 582.9635620117188, "y": 4297.50048828125, "z": 370.2801513671875 }, "rotation": { "roll": -6.103515625e-05, "pitch": -0.20922917127609253, "yaw": 0.0011582421138882637 } }, "velocity": { "x": 7.675143241882324, "y": -0.013700265437364578, "z": -0.032867446541786194 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 15.196582794189453, "transform": { "location": { "x": 659.260009765625, "y": 4290.3701171875, "z": 369.91748046875 }, "rotation": { "roll": 0.000730858591850847, "pitch": 0.26579681038856506, "yaw": 179.66787719726562 } }, "velocity": { "x": -15.196112632751465, "y": 0.08804787695407867, "z": 0.08079887181520462 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030508995056152, "transform": { "location": { "x": 639.8101196289062, "y": 4297.18603515625, "z": 370.05078125 }, "rotation": { "roll": 0.00044602100388146937, "pitch": -0.3016894459724426, "yaw": -0.345977783203125 } }, "velocity": { "x": 8.030261993408203, "y": -0.04814497381448746, "z": -0.04062816500663757 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029854774475098, "transform": { "location": { "x": 636.6177978515625, "y": 4293.955078125, "z": 370.0287170410156 }, "rotation": { "roll": -0.00042724600643850863, "pitch": -0.29519394040107727, "yaw": -0.3536376655101776 } }, "velocity": { "x": 8.029607772827148, "y": -0.04773835092782974, "z": -0.04106687009334564 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 678.4940185546875, "y": 4293.68505859375, "z": 369.804443359375 }, "rotation": { "roll": 0.0, "pitch": -0.3202880322933197, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 679.48779296875, "y": 4296.9091796875, "z": 369.7989807128906 }, "rotation": { "roll": 0.0, "pitch": -0.3202880322933197, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00034059968311339617, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.2232139852130786e-05, "y": -8.544930096832104e-06, "z": 0.00034027270157821476 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.00022553173766937107, "transform": { "location": { "x": 652.8098754882812, "y": 4287.16064453125, "z": 369.9518737792969 }, "rotation": { "roll": -0.0016479489859193563, "pitch": 0.2942377030849457, "yaw": 179.63018798828125 } }, "velocity": { "x": 0.00020763423526659608, "y": -5.9931855503236875e-05, "z": 6.450396176660433e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.97025203704834, "transform": { "location": { "x": 590.1605224609375, "y": 4287.52734375, "z": 370.251708984375 }, "rotation": { "roll": 0.0012748287990689278, "pitch": 0.23532049357891083, "yaw": 179.65235900878906 } }, "velocity": { "x": -7.970012187957764, "y": 0.04954395815730095, "z": 0.0369778536260128 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030208587646484, "transform": { "location": { "x": 570.4938354492188, "y": 4287.64599609375, "z": 370.37255859375 }, "rotation": { "roll": -0.000244140625, "pitch": 0.2296651005744934, "yaw": 179.66160583496094 } }, "velocity": { "x": -8.030014038085938, "y": 0.0457446463406086, "z": 0.0321391299366951 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031035423278809, "transform": { "location": { "x": 582.1742553710938, "y": 4290.82421875, "z": 370.29437255859375 }, "rotation": { "roll": -0.00021362301777116954, "pitch": 0.2434484213590622, "yaw": 179.6256561279297 } }, "velocity": { "x": -8.030800819396973, "y": 0.05148953199386597, "z": 0.03344794362783432 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.579959869384766, "transform": { "location": { "x": 625.9352416992188, "y": 4290.56689453125, "z": 370.0798034667969 }, "rotation": { "roll": -0.00048828116268850863, "pitch": 0.2914305031299591, "yaw": 179.66024780273438 } }, "velocity": { "x": -12.57958984375, "y": 0.07477261871099472, "z": 0.06095780059695244 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.039092063903809, "transform": { "location": { "x": 600.24951171875, "y": 4290.71826171875, "z": 370.2108154296875 }, "rotation": { "roll": 0.00021732562163379043, "pitch": 0.26983344554901123, "yaw": 179.65321350097656 } }, "velocity": { "x": -8.038861274719238, "y": 0.048679087311029434, "z": 0.03658427298069 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.2145080417394638, "expert_target_speed": 8.691002541375484, "target_point": [ 27.289317015629507, 0.012589008491261017 ], "target_point_next": [ 33.28898190537951, -0.04927305145080983 ] }, "490": { "acceleration": [ -1.2022781372070312, 0.2636113166809082, -0.007865726947784424 ], "angular_velocity": [ 0.04185277596116066, -0.021833766251802444, -4.093605041503906 ], "forward_vector": [ -0.999967098236084, 0.003457835642620921, 0.007337980903685093 ], "right_vector": [ -0.0034697249066084623, -0.9999926686286926, -0.0016081032808870077 ], "location": [ 604.6607055664062, 4287.82763671875, 370.1844482421875 ], "rotation": [ 0.09214005619287491, 0.42043909430503845, 179.8018798828125 ], "velocity": [ -8.814652442932129, 0.0547160841524601, 0.04064314812421799 ], "speed": 8.814822263639485, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.49421501159668, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 588.169189453125, 4287.5390625, 370.2604675292969 ], "velocity": [ -8.015472412109375, 0.04903518408536911, 0.03585185110569 ], "speed_kmh": 28.856529275149338, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.90462589263916, "transform": { "location": { "x": 585.7035522460938, "y": 4294.2451171875, "z": 370.2804260253906 }, "rotation": { "roll": 0.00576041778549552, "pitch": -0.335539847612381, "yaw": -0.1925048679113388 } }, "velocity": { "x": 7.904509544372559, "y": -0.027358872815966606, "z": -0.033086031675338745 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.716095924377441, "transform": { "location": { "x": 585.0225830078125, "y": 4297.49658203125, "z": 370.2712097167969 }, "rotation": { "roll": 0.0002558260748628527, "pitch": -0.2085256576538086, "yaw": -0.15252685546875 } }, "velocity": { "x": 8.715978622436523, "y": -0.026131821796298027, "z": -0.03689324110746384 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.641114234924316, "transform": { "location": { "x": 655.6439208984375, "y": 4290.39111328125, "z": 369.9355773925781 }, "rotation": { "roll": -0.001190185546875, "pitch": 0.4196741282939911, "yaw": 179.6617431640625 } }, "velocity": { "x": -13.640684127807617, "y": 0.08035945892333984, "z": 0.072606660425663 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.03066349029541, "transform": { "location": { "x": 641.8179321289062, "y": 4297.173828125, "z": 370.0403137207031 }, "rotation": { "roll": 0.0010805971687659621, "pitch": -0.3001731336116791, "yaw": -0.3266600966453552 } }, "velocity": { "x": 8.030420303344727, "y": -0.04740571230649948, "z": -0.040770452469587326 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029748916625977, "transform": { "location": { "x": 638.6251831054688, "y": 4293.943359375, "z": 370.0184020996094 }, "rotation": { "roll": 0.0003760757972486317, "pitch": -0.30148452520370483, "yaw": -0.330810546875 } }, "velocity": { "x": 8.029497146606445, "y": -0.04842156916856766, "z": -0.041293345391750336 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 680.576171875, "y": 4293.61279296875, "z": 369.7960510253906 }, "rotation": { "roll": 0.0, "pitch": -0.3202880322933197, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22553, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 681.569580078125, "y": 4296.84130859375, "z": 369.7913513183594 }, "rotation": { "roll": 0.0, "pitch": -0.3202880322933197, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0005345242097973824, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.371555026707938e-05, "y": 1.8293036191607825e-05, "z": 0.0005340349744074047 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0005176943959668279, "transform": { "location": { "x": 652.8096923828125, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.001983642578125, "pitch": 0.310220330953598, "yaw": 179.63018798828125 } }, "velocity": { "x": 6.383903382811695e-05, "y": -1.391580440213147e-06, "z": 0.0005137413390912116 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.015702247619629, "transform": { "location": { "x": 588.169189453125, "y": 4287.5390625, "z": 370.2604675292969 }, "rotation": { "roll": 0.00022668637393508106, "pitch": 0.2542674243450165, "yaw": 179.65000915527344 } }, "velocity": { "x": -8.015472412109375, "y": 0.04903518408536911, "z": 0.03585185110569 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.025379180908203, "transform": { "location": { "x": 568.4869995117188, "y": 4287.65771484375, "z": 370.3804626464844 }, "rotation": { "roll": -0.00012207038525957614, "pitch": 0.22415313124656677, "yaw": 179.6858673095703 } }, "velocity": { "x": -8.025189399719238, "y": 0.04435524716973305, "z": 0.03278740867972374 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030641555786133, "transform": { "location": { "x": 580.1664428710938, "y": 4290.83642578125, "z": 370.30279541015625 }, "rotation": { "roll": 0.001218329998664558, "pitch": 0.23870143294334412, "yaw": 179.6634521484375 } }, "velocity": { "x": -8.030431747436523, "y": 0.04814654588699341, "z": 0.03249162435531616 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 12.008886337280273, "transform": { "location": { "x": 622.8251342773438, "y": 4290.58544921875, "z": 370.09521484375 }, "rotation": { "roll": 0.00011448459554230794, "pitch": 0.27221718430519104, "yaw": 179.6604461669922 } }, "velocity": { "x": -12.008526802062988, "y": 0.07124848663806915, "z": 0.059625595808029175 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.036588668823242, "transform": { "location": { "x": 598.240234375, "y": 4290.7294921875, "z": 370.22015380859375 }, "rotation": { "roll": 0.0005514352233149111, "pitch": 0.26942363381385803, "yaw": 179.6529998779297 } }, "velocity": { "x": -8.036356925964355, "y": 0.048656485974788666, "z": 0.03694217652082443 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.7447524070739746, "expert_control_brake": 0.0, "expert_control_steer": 0.21275393664836884, "expert_target_speed": 8.887053190545688, "target_point": [ 25.12114395667009, 0.2230888462728406 ], "target_point_next": [ 31.121109265436647, 0.2081892705405078 ] }, "495": { "acceleration": [ -1.177978515625, 0.2936343848705292, 0.0016275793313980103 ], "angular_velocity": [ -0.028239142149686813, -0.03785526007413864, 0.5039262175559998 ], "forward_vector": [ -0.9999166131019592, 0.01069655455648899, 0.0072318874299526215 ], "right_vector": [ -0.010709106922149658, -0.9999412298202515, -0.0016990998992696404 ], "location": [ 602.4185791015625, 4287.84814453125, 370.195068359375 ], "rotation": [ 0.09735384583473206, 0.4143602252006531, 179.38710021972656 ], "velocity": [ -9.110487937927246, 0.12509217858314514, 0.041322097182273865 ], "speed": 9.111346690816925, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 16.269001007080078, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 586.1524658203125, 4287.55078125, 370.2691650390625 ], "velocity": [ -8.068278312683105, 0.049802303314208984, 0.034860916435718536 ], "speed_kmh": 29.04662637674713, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.150955200195312, "transform": { "location": { "x": 587.7130126953125, "y": 4294.23681640625, "z": 370.2706604003906 }, "rotation": { "roll": 0.0049538505263626575, "pitch": -0.20089633762836456, "yaw": -0.23913568258285522 } }, "velocity": { "x": 8.150800704956055, "y": -0.03706442192196846, "z": -0.033707212656736374 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.29702091217041, "transform": { "location": { "x": 587.1461181640625, "y": 4297.49072265625, "z": 370.2624816894531 }, "rotation": { "roll": -6.103521445766091e-05, "pitch": -0.25625503063201904, "yaw": -0.240509033203125 } }, "velocity": { "x": 8.296869277954102, "y": -0.033804330974817276, "z": -0.03691086173057556 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.068486213684082, "transform": { "location": { "x": 652.3565673828125, "y": 4290.41064453125, "z": 369.9535217285156 }, "rotation": { "roll": -0.00048828122089616954, "pitch": 0.37330397963523865, "yaw": 179.65574645996094 } }, "velocity": { "x": -13.068069458007812, "y": 0.07844343781471252, "z": 0.06888784468173981 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030559539794922, "transform": { "location": { "x": 643.8257446289062, "y": 4297.16259765625, "z": 370.0297546386719 }, "rotation": { "roll": 0.0006983274361118674, "pitch": -0.30090397596359253, "yaw": -0.3516539931297302 } }, "velocity": { "x": 8.030302047729492, "y": -0.04895871877670288, "z": -0.041814226657152176 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030508995056152, "transform": { "location": { "x": 640.6328125, "y": 4293.931640625, "z": 370.0079345703125 }, "rotation": { "roll": 0.00042558254790492356, "pitch": -0.3039570748806, "yaw": -0.3611449897289276 } }, "velocity": { "x": 8.030255317687988, "y": -0.048727720975875854, "z": -0.04124866798520088 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22554, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 682.6588745117188, "y": 4293.5869140625, "z": 369.7850646972656 }, "rotation": { "roll": -1.0422207541438411e-10, "pitch": -0.3230884075164795, "yaw": -0.33837890625 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.00045525337918661535, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.5901736333034933e-05, "y": 2.3362281353911385e-05, "z": 0.0004543753748293966 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.00033798004733398557, "transform": { "location": { "x": 652.8097534179688, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.0018615724984556437, "pitch": 0.3095782995223999, "yaw": 179.63018798828125 } }, "velocity": { "x": -1.231044461746933e-05, "y": 1.9396189543385844e-07, "z": 0.00033775571500882506 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.068507194519043, "transform": { "location": { "x": 586.1524658203125, "y": 4287.55078125, "z": 370.2691650390625 }, "rotation": { "roll": 0.0005894772475585341, "pitch": 0.2719917893409729, "yaw": 179.646484375 } }, "velocity": { "x": -8.068278312683105, "y": 0.049802303314208984, "z": 0.034860916435718536 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026250839233398, "transform": { "location": { "x": 566.4810180664062, "y": 4287.66943359375, "z": 370.3882751464844 }, "rotation": { "roll": -0.00015258797793649137, "pitch": 0.2244878113269806, "yaw": 179.6627960205078 } }, "velocity": { "x": -8.026054382324219, "y": 0.045605480670928955, "z": 0.03274685889482498 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030879020690918, "transform": { "location": { "x": 578.1586303710938, "y": 4290.84814453125, "z": 370.3111877441406 }, "rotation": { "roll": -0.0003662110539153218, "pitch": 0.23500630259513855, "yaw": 179.62783813476562 } }, "velocity": { "x": -8.030659675598145, "y": 0.04937770590186119, "z": 0.032805297523736954 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 10.810823440551758, "transform": { "location": { "x": 619.9782104492188, "y": 4290.6025390625, "z": 370.1094970703125 }, "rotation": { "roll": -0.0005187987699173391, "pitch": 0.24301812052726746, "yaw": 179.6627960205078 } }, "velocity": { "x": -10.810506820678711, "y": 0.06395603716373444, "z": 0.0525771901011467 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.039407730102539, "transform": { "location": { "x": 596.2310180664062, "y": 4290.74169921875, "z": 370.2294006347656 }, "rotation": { "roll": -0.0006103513296693563, "pitch": 0.2643488049507141, "yaw": 179.6531219482422 } }, "velocity": { "x": -8.039175987243652, "y": 0.04873394966125488, "z": 0.03677446395158768 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.306604266166687, "expert_control_brake": 0.0, "expert_control_steer": 0.22381116449832916, "expert_target_speed": 9.06703114323188, "target_point": [ 22.876653126118672, 0.40146530561407123 ], "target_point_next": [ 28.876569074452924, 0.4300015401856413 ] }, "500": { "acceleration": [ -1.2362480163574219, 0.1524624228477478, 0.019468292593955994 ], "angular_velocity": [ -0.054116521030664444, 0.0073204184882342815, -3.010831832885742 ], "forward_vector": [ -0.9998394846916199, 0.016421979293227196, 0.007160840556025505 ], "right_vector": [ -0.016430912539362907, -0.9998642802238464, -0.0011903446866199374 ], "location": [ 600.1021728515625, 4287.8837890625, 370.205810546875 ], "rotation": [ 0.06820348650217056, 0.4102894365787506, 179.05902099609375 ], "velocity": [ -9.412007331848145, 0.1636769026517868, 0.043605487793684006 ], "speed": 9.413430413150401, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.956583976745605, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 584.1489868164062, 4287.5625, 370.2779235839844 ], "velocity": [ -7.984447479248047, 0.04927615076303482, 0.03377510979771614 ], "speed_kmh": 28.74481548000378, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.106618881225586, "transform": { "location": { "x": 589.7503662109375, "y": 4294.2275390625, "z": 370.2621154785156 }, "rotation": { "roll": 0.0025305014569312334, "pitch": -0.23059400916099548, "yaw": -0.2759704291820526 } }, "velocity": { "x": 8.106443405151367, "y": -0.03980742394924164, "z": -0.03539290651679039 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.04262638092041, "transform": { "location": { "x": 589.1793823242188, "y": 4297.4814453125, "z": 370.2535400390625 }, "rotation": { "roll": -9.155274892691523e-05, "pitch": -0.26174649596214294, "yaw": -0.2953490614891052 } }, "velocity": { "x": 8.042451858520508, "y": -0.03874805569648743, "z": -0.03610404580831528 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.139549255371094, "transform": { "location": { "x": 649.0482788085938, "y": 4290.43017578125, "z": 369.9715881347656 }, "rotation": { "roll": -0.0009155275183729827, "pitch": 0.30181920528411865, "yaw": 179.65667724609375 } }, "velocity": { "x": -13.139134407043457, "y": 0.07894375920295715, "z": 0.06833196431398392 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030712127685547, "transform": { "location": { "x": 645.8335571289062, "y": 4297.150390625, "z": 370.0192565917969 }, "rotation": { "roll": 0.0016542953671887517, "pitch": -0.30121132731437683, "yaw": -0.3268127143383026 } }, "velocity": { "x": 8.030462265014648, "y": -0.0473237968981266, "z": -0.04206514731049538 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.02960205078125, "transform": { "location": { "x": 642.640625, "y": 4293.919921875, "z": 369.9974060058594 }, "rotation": { "roll": -0.0019226073054596782, "pitch": -0.30379995703697205, "yaw": -0.33291617035865784 } }, "velocity": { "x": 8.029356956481934, "y": -0.047537460923194885, "z": -0.04089996591210365 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 8.165460894815624e-05, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.1169239769515116e-05, "y": -5.646802492265124e-06, "z": 8.06897587608546e-05 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0001466240209992975, "transform": { "location": { "x": 652.8097534179688, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.0018615724984556437, "pitch": 0.3095782995223999, "yaw": 179.63018798828125 } }, "velocity": { "x": 1.9205621356377378e-05, "y": 2.8853000912931748e-06, "z": 0.00014533211651723832 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.984671115875244, "transform": { "location": { "x": 584.1489868164062, "y": 4287.5625, "z": 370.2779235839844 }, "rotation": { "roll": 0.0009186951792798936, "pitch": 0.23708269000053406, "yaw": 179.64630126953125 } }, "velocity": { "x": -7.984447479248047, "y": 0.04927615076303482, "z": 0.03377510979771614 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026702880859375, "transform": { "location": { "x": 564.4742431640625, "y": 4287.68115234375, "z": 370.39605712890625 }, "rotation": { "roll": 0.0004953739116899669, "pitch": 0.22075170278549194, "yaw": 179.6893768310547 } }, "velocity": { "x": -8.026518821716309, "y": 0.045403141528367996, "z": 0.029966553673148155 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031816482543945, "transform": { "location": { "x": 576.1508178710938, "y": 4290.8603515625, "z": 370.31939697265625 }, "rotation": { "roll": 6.557393498951569e-05, "pitch": 0.23293675482273102, "yaw": 179.6670379638672 } }, "velocity": { "x": -8.031604766845703, "y": 0.04812278226017952, "z": 0.0327552892267704 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 9.612656593322754, "transform": { "location": { "x": 617.4371948242188, "y": 4290.6171875, "z": 370.121826171875 }, "rotation": { "roll": -0.00036621090839616954, "pitch": 0.23486287891864777, "yaw": 179.66441345214844 } }, "velocity": { "x": -9.612372398376465, "y": 0.057255711406469345, "z": 0.04682111740112305 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.03731632232666, "transform": { "location": { "x": 594.2217407226562, "y": 4290.7529296875, "z": 370.2385559082031 }, "rotation": { "roll": -0.00012207022518850863, "pitch": 0.2630988657474518, "yaw": 179.65313720703125 } }, "velocity": { "x": -8.037084579467773, "y": 0.048645853996276855, "z": 0.03688645362854004 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.3138001561164856, "expert_control_brake": 0.0, "expert_control_steer": 0.24921631813049316, "expert_target_speed": 9.229131681585354, "target_point": [ 20.557299904758203, 0.5300560427210259 ], "target_point_next": [ 26.55695407470297, 0.5929491649488079 ] }, "505": { "acceleration": [ -1.6484451293945312, 0.17299234867095947, 0.007508322596549988 ], "angular_velocity": [ -0.032917529344558716, 0.10846775025129318, 1.2142935991287231 ], "forward_vector": [ -0.99978107213974, 0.019568953663110733, 0.007407001219689846 ], "right_vector": [ -0.019576560705900192, -0.9998078942298889, -0.0009558809688314795 ], "location": [ 597.70458984375, 4287.92919921875, 370.2169494628906 ], "rotation": [ 0.05476945638656616, 0.42439377307891846, 178.87867736816406 ], "velocity": [ -9.773336410522461, 0.20426778495311737, 0.04532107338309288 ], "speed": 9.775470828620671, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.564261436462402, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 582.14453125, 4287.57421875, 370.2863464355469 ], "velocity": [ -8.049160957336426, 0.04967939108610153, 0.033072587102651596 ], "speed_kmh": 28.977775954291744, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.052120208740234, "transform": { "location": { "x": 591.7671508789062, "y": 4294.2177734375, "z": 370.25341796875 }, "rotation": { "roll": 0.0017415282782167196, "pitch": -0.284641295671463, "yaw": -0.2930602729320526 } }, "velocity": { "x": 8.051920890808105, "y": -0.04286469891667366, "z": -0.03720284253358841 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.760190963745117, "transform": { "location": { "x": 591.0166015625, "y": 4297.4716796875, "z": 370.24560546875 }, "rotation": { "roll": 0.0007597993826493621, "pitch": -0.2906791865825653, "yaw": -0.3125610053539276 } }, "velocity": { "x": 6.760032653808594, "y": -0.03538183122873306, "z": -0.029807060956954956 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 13.20165729522705, "transform": { "location": { "x": 645.7806396484375, "y": 4290.44970703125, "z": 369.9888916015625 }, "rotation": { "roll": 0.00022612407337874174, "pitch": 0.29567888379096985, "yaw": 179.65504455566406 } }, "velocity": { "x": -13.201241493225098, "y": 0.0794735997915268, "z": 0.06838517636060715 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030839920043945, "transform": { "location": { "x": 647.8413696289062, "y": 4297.13916015625, "z": 370.0086975097656 }, "rotation": { "roll": -0.0015563963679596782, "pitch": -0.30431222915649414, "yaw": -0.3529052734375 } }, "velocity": { "x": 8.030595779418945, "y": -0.04748181626200676, "z": -0.040817417204380035 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.03090763092041, "transform": { "location": { "x": 644.6480102539062, "y": 4293.908203125, "z": 369.9869079589844 }, "rotation": { "roll": -0.0003356933011673391, "pitch": -0.30349260568618774, "yaw": -0.3572081923484802 } }, "velocity": { "x": 8.030654907226562, "y": -0.04910745844244957, "z": -0.040551722049713135 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0005069182952865958, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.300256644753972e-05, "y": -1.915988377731992e-06, "z": 0.0005067478632554412 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.00043505782377906144, "transform": { "location": { "x": 652.8097534179688, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.0018615724984556437, "pitch": 0.3095782995223999, "yaw": 179.63018798828125 } }, "velocity": { "x": 7.343813649640651e-06, "y": 1.5138074559217785e-05, "z": 0.0004347323556430638 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.049382209777832, "transform": { "location": { "x": 582.14453125, "y": 4287.57421875, "z": 370.2863464355469 }, "rotation": { "roll": 0.0014289093669503927, "pitch": 0.258447527885437, "yaw": 179.6464080810547 } }, "velocity": { "x": -8.049160957336426, "y": 0.04967939108610153, "z": 0.033072587102651596 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.02565860748291, "transform": { "location": { "x": 562.4674682617188, "y": 4287.69287109375, "z": 370.4035949707031 }, "rotation": { "roll": -0.000152587890625, "pitch": 0.21575883030891418, "yaw": 179.66409301757812 } }, "velocity": { "x": -8.025477409362793, "y": 0.045359645038843155, "z": 0.029222048819065094 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.0308198928833, "transform": { "location": { "x": 574.14306640625, "y": 4290.87158203125, "z": 370.3275451660156 }, "rotation": { "roll": 0.00010217610542895272, "pitch": 0.22894109785556793, "yaw": 179.6348876953125 } }, "velocity": { "x": -8.03060245513916, "y": 0.04894306883215904, "z": 0.033016499131917953 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.488525390625, "transform": { "location": { "x": 615.30859375, "y": 4290.62939453125, "z": 370.13226318359375 }, "rotation": { "roll": -0.001129150390625, "pitch": 0.20679762959480286, "yaw": 179.64126586914062 } }, "velocity": { "x": -7.48831033706665, "y": 0.04359854757785797, "z": 0.036341533064842224 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.039396286010742, "transform": { "location": { "x": 592.2124633789062, "y": 4290.76513671875, "z": 370.24755859375 }, "rotation": { "roll": 0.0010256650857627392, "pitch": 0.26057854294776917, "yaw": 179.65135192871094 } }, "velocity": { "x": -8.039158821105957, "y": 0.04973774030804634, "z": 0.036613188683986664 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.2595837414264679, "expert_target_speed": 9.417630020432576, "target_point": [ 18.15751742806893, 0.5932326524975418 ], "target_point_next": [ 24.156943954353018, 0.6750070951921258 ] }, "510": { "acceleration": [ -0.5774879455566406, 0.15066415071487427, -0.012569800019264221 ], "angular_velocity": [ -0.004144330509006977, -0.2677024304866791, -2.7907912731170654 ], "forward_vector": [ -0.9996941685676575, 0.02346482314169407, 0.007808605674654245 ], "right_vector": [ -0.023472413420677185, -0.9997240304946899, -0.0008818633505143225 ], "location": [ 595.2025146484375, 4287.98486328125, 370.2283935546875 ], "rotation": [ 0.050528593361377716, 0.447404682636261, 178.6553955078125 ], "velocity": [ -10.177165031433105, 0.2478577047586441, 0.045145805925130844 ], "speed": 10.180182784156335, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 15.073236465454102, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 580.1347045898438, 4287.5859375, 370.29486083984375 ], "velocity": [ -8.017733573913574, 0.049482278525829315, 0.03318250551819801 ], "speed_kmh": 28.864637742906226, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.057843208312988, "transform": { "location": { "x": 593.7793579101562, "y": 4294.20654296875, "z": 370.24420166015625 }, "rotation": { "roll": 0.002303093671798706, "pitch": -0.2634608745574951, "yaw": -0.3152160942554474 } }, "velocity": { "x": 8.057628631591797, "y": -0.04564633592963219, "z": -0.037055183202028275 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.9818243980407715, "transform": { "location": { "x": 592.7109985351562, "y": 4297.4619140625, "z": 370.23773193359375 }, "rotation": { "roll": -0.0006408691988326609, "pitch": -0.2625114619731903, "yaw": -0.3173218071460724 } }, "velocity": { "x": 6.981651306152344, "y": -0.03890513256192207, "z": -0.03003370761871338 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.43509578704834, "transform": { "location": { "x": 642.529296875, "y": 4290.46923828125, "z": 370.00537109375 }, "rotation": { "roll": 0.001698498846963048, "pitch": 0.3562968075275421, "yaw": 179.66091918945312 } }, "velocity": { "x": -12.434706687927246, "y": 0.07363328337669373, "z": 0.06528432667255402 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030572891235352, "transform": { "location": { "x": 649.8491821289062, "y": 4297.126953125, "z": 369.998046875 }, "rotation": { "roll": -0.00012207030522404239, "pitch": -0.3051386773586273, "yaw": -0.33038330078125 } }, "velocity": { "x": 8.030320167541504, "y": -0.04808184504508972, "z": -0.041927676647901535 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029644966125488, "transform": { "location": { "x": 646.65576171875, "y": 4293.896484375, "z": 369.976318359375 }, "rotation": { "roll": 0.00034469025558792055, "pitch": -0.3056577742099762, "yaw": -0.3340758681297302 } }, "velocity": { "x": 8.029390335083008, "y": -0.048824243247509, "z": -0.041404835879802704 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 3.1936408049659804e-05, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.0545812074269634e-05, "y": -1.4897295841365121e-06, "z": -3.0108149076113477e-05 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.956033419352025e-05, "transform": { "location": { "x": 652.8097534179688, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.0018615724984556437, "pitch": 0.3095782995223999, "yaw": 179.63018798828125 } }, "velocity": { "x": 5.354061613616068e-06, "y": -2.130721441062633e-05, "z": 5.5360364058287814e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.01795482635498, "transform": { "location": { "x": 580.1347045898438, "y": 4287.5859375, "z": 370.29486083984375 }, "rotation": { "roll": 0.000428429979365319, "pitch": 0.24679520726203918, "yaw": 179.6464385986328 } }, "velocity": { "x": -8.017733573913574, "y": 0.049482278525829315, "z": 0.03318250551819801 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026570320129395, "transform": { "location": { "x": 560.4606323242188, "y": 4287.70458984375, "z": 370.4111328125 }, "rotation": { "roll": 0.0010616780491545796, "pitch": 0.21662627160549164, "yaw": 179.68475341796875 } }, "velocity": { "x": -8.026379585266113, "y": 0.04729035869240761, "z": 0.02867588959634304 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.03089714050293, "transform": { "location": { "x": 572.13525390625, "y": 4290.8837890625, "z": 370.3356018066406 }, "rotation": { "roll": 0.00018591448315419257, "pitch": 0.22801218926906586, "yaw": 179.66831970214844 } }, "velocity": { "x": -8.030679702758789, "y": 0.049157265573740005, "z": 0.03290753439068794 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.39408016204834, "transform": { "location": { "x": 613.4789428710938, "y": 4290.64111328125, "z": 370.14056396484375 }, "rotation": { "roll": 1.247265208803583e-05, "pitch": 0.25819480419158936, "yaw": 179.7110595703125 } }, "velocity": { "x": -7.393860816955566, "y": 0.04327193275094032, "z": 0.03699207305908203 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.03687572479248, "transform": { "location": { "x": 590.2032470703125, "y": 4290.7763671875, "z": 370.2565612792969 }, "rotation": { "roll": 0.0004063027445226908, "pitch": 0.25471824407577515, "yaw": 179.64974975585938 } }, "velocity": { "x": -8.036640167236328, "y": 0.04916274547576904, "z": 0.036948155611753464 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.29090389609336853, "expert_target_speed": 9.598611450153085, "target_point": [ 15.652375177211761, 0.6609278684431539 ], "target_point_next": [ 21.65143745389532, 0.7660825365824065 ] }, "515": { "acceleration": [ -3.7841415405273438, 0.13969480991363525, -0.006051063537597656 ], "angular_velocity": [ -0.0887577161192894, 0.6765314936637878, 0.11754338443279266 ], "forward_vector": [ -0.9996017217636108, 0.026278521865606308, 0.010290560312569141 ], "right_vector": [ -0.026287296786904335, -0.999654233455658, -0.0007182286353781819 ], "location": [ 592.560546875, 4288.052734375, 370.2398376464844 ], "rotation": [ 0.04115365073084831, 0.589616060256958, 178.4940948486328 ], "velocity": [ -11.110941886901855, 0.29882749915122986, 0.049163322895765305 ], "speed": 11.114959626033697, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 14.43722915649414, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 578.130615234375, 4287.59814453125, 370.30322265625 ], "velocity": [ -8.025620460510254, 0.04885023087263107, 0.03335218504071236 ], "speed_kmh": 28.8930183446357, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.111391067504883, "transform": { "location": { "x": 595.802490234375, "y": 4294.19482421875, "z": 370.23486328125 }, "rotation": { "roll": 0.0006509178783744574, "pitch": -0.25027862191200256, "yaw": -0.3251342177391052 } }, "velocity": { "x": 8.111175537109375, "y": -0.04590149596333504, "z": -0.03738178685307503 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.717870712280273, "transform": { "location": { "x": 594.5635986328125, "y": 4297.45166015625, "z": 370.2292175292969 }, "rotation": { "roll": 0.0005765046225860715, "pitch": -0.23571664094924927, "yaw": -0.3247986137866974 } }, "velocity": { "x": 7.7176666259765625, "y": -0.04406891390681267, "z": -0.034765295684337616 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.571781158447266, "transform": { "location": { "x": 639.576416015625, "y": 4290.48681640625, "z": 370.0206298828125 }, "rotation": { "roll": 0.0014445112319663167, "pitch": 0.38032540678977966, "yaw": 179.6547088623047 } }, "velocity": { "x": -11.571413040161133, "y": 0.06953757256269455, "z": 0.06070881709456444 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.029735565185547, "transform": { "location": { "x": 651.8565673828125, "y": 4297.11572265625, "z": 369.9873352050781 }, "rotation": { "roll": 0.0004187326121609658, "pitch": -0.30593782663345337, "yaw": -0.3576964735984802 } }, "velocity": { "x": 8.029483795166016, "y": -0.048322439193725586, "z": -0.04126181825995445 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029801368713379, "transform": { "location": { "x": 648.6635131835938, "y": 4293.884765625, "z": 369.9657287597656 }, "rotation": { "roll": 0.0003175991296302527, "pitch": -0.3086835443973541, "yaw": -0.3612060546875 } }, "velocity": { "x": 8.029546737670898, "y": -0.048581335693597794, "z": -0.04166049882769585 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0008222968317568302, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 1.691211036813911e-05, "y": 6.118305009295e-06, "z": 0.0008221001480706036 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0006626941030845046, "transform": { "location": { "x": 652.8097534179688, "y": 4287.16064453125, "z": 369.9517517089844 }, "rotation": { "roll": -0.0018615724984556437, "pitch": 0.3095782995223999, "yaw": 179.63018798828125 } }, "velocity": { "x": 1.0637156265147496e-05, "y": 2.5494051442365162e-05, "z": 0.0006621180800721049 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.025838851928711, "transform": { "location": { "x": 578.130615234375, "y": 4287.59814453125, "z": 370.30322265625 }, "rotation": { "roll": -0.0006408690824173391, "pitch": 0.23984891176223755, "yaw": 179.6505889892578 } }, "velocity": { "x": -8.025620460510254, "y": 0.04885023087263107, "z": 0.03335218504071236 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026578903198242, "transform": { "location": { "x": 558.4537963867188, "y": 4287.71630859375, "z": 370.4185485839844 }, "rotation": { "roll": 0.000677440082654357, "pitch": 0.2135731726884842, "yaw": 179.65078735351562 } }, "velocity": { "x": -8.026389122009277, "y": 0.047013476490974426, "z": 0.02901935577392578 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.032112121582031, "transform": { "location": { "x": 570.12744140625, "y": 4290.8955078125, "z": 370.3436279296875 }, "rotation": { "roll": -0.0003662108792923391, "pitch": 0.22525963187217712, "yaw": 179.6248779296875 } }, "velocity": { "x": -8.031888961791992, "y": 0.05011674761772156, "z": 0.032848652452230453 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.938989639282227, "transform": { "location": { "x": 611.542724609375, "y": 4290.65234375, "z": 370.14959716796875 }, "rotation": { "roll": 0.00021495198598131537, "pitch": 0.2910001873970032, "yaw": 179.6900634765625 } }, "velocity": { "x": -7.938771724700928, "y": 0.04547155275940895, "z": 0.03731747716665268 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.039362907409668, "transform": { "location": { "x": 588.1939697265625, "y": 4290.78857421875, "z": 370.265380859375 }, "rotation": { "roll": 0.0009117290028370917, "pitch": 0.25492995977401733, "yaw": 179.64666748046875 } }, "velocity": { "x": -8.0391263961792, "y": 0.04949592798948288, "z": 0.03676674887537956 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 22400, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 642.4937744140625, "y": 4286.181640625, "z": 370.0032043457031 }, "rotation": { "roll": -0.0018310542218387127, "pitch": 0.30424392223358154, "yaw": 179.66148376464844 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.31067177653312683, "expert_target_speed": 9.999801645012813, "target_point": [ 13.007613531047095, 0.7034078883838077 ], "target_point_next": [ 19.0063559986934, 0.8254509570764827 ] }, "520": { "acceleration": [ -2.0351600646972656, -0.1923161745071411, 0.015922337770462036 ], "angular_velocity": [ -0.21675169467926025, -0.30028149485588074, 0.16931013762950897 ], "forward_vector": [ -0.9996767640113831, 0.023372840136289597, 0.01000065729022026 ], "right_vector": [ -0.02336854301393032, -0.9997267127037048, 0.0005464531714096665 ], "location": [ 589.698486328125, 4288.12255859375, 370.2525329589844 ], "rotation": [ -0.0313110277056694, 0.5730050206184387, 178.66064453125 ], "velocity": [ -11.710492134094238, 0.25830933451652527, 0.05134563148021698 ], "speed": 11.71334067356454, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 13.58520221710205, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 576.1231079101562, 4287.609375, 370.3114318847656 ], "velocity": [ -8.026180267333984, 0.048914846032857895, 0.033036135137081146 ], "speed_kmh": 28.895030305718446, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.05745792388916, "transform": { "location": { "x": 597.8231811523438, "y": 4294.18310546875, "z": 370.2257080078125 }, "rotation": { "roll": 0.001244230312295258, "pitch": -0.2700178623199463, "yaw": -0.3300475478172302 } }, "velocity": { "x": 8.05723762512207, "y": -0.046616509556770325, "z": -0.03707724064588547 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.72972583770752, "transform": { "location": { "x": 596.6355590820312, "y": 4297.4404296875, "z": 370.21966552734375 }, "rotation": { "roll": -0.0002136229886673391, "pitch": -0.2242419272661209, "yaw": -0.3311767876148224 } }, "velocity": { "x": 8.729486465454102, "y": -0.05069508031010628, "z": -0.040124762803316116 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.138806343078613, "transform": { "location": { "x": 636.62109375, "y": 4290.50439453125, "z": 370.036865234375 }, "rotation": { "roll": -0.00012207034160383046, "pitch": 0.2597179412841797, "yaw": 179.65487670898438 } }, "velocity": { "x": -12.138431549072266, "y": 0.07312729954719543, "z": 0.06124597415328026 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.031574249267578, "transform": { "location": { "x": 653.8643798828125, "y": 4297.103515625, "z": 369.9766845703125 }, "rotation": { "roll": 0.0005130703211762011, "pitch": -0.3061222434043884, "yaw": -0.328155517578125 } }, "velocity": { "x": 8.031323432922363, "y": -0.04767468199133873, "z": -0.04176788404583931 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030591011047363, "transform": { "location": { "x": 650.6713256835938, "y": 4293.873046875, "z": 369.955078125 }, "rotation": { "roll": 0.00148770643863827, "pitch": -0.3070579767227173, "yaw": -0.33709716796875 } }, "velocity": { "x": 8.030336380004883, "y": -0.04916556179523468, "z": -0.04078139737248421 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.017703982070088387, "transform": { "location": { "x": 652.8102416992188, "y": 4287.16064453125, "z": 369.9517822265625 }, "rotation": { "roll": -0.0016784666804596782, "pitch": 0.3068394064903259, "yaw": 179.63038635253906 } }, "velocity": { "x": 0.017703935503959656, "y": -2.7172360205440782e-05, "z": -3.074645792366937e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.026397705078125, "transform": { "location": { "x": 576.1231079101562, "y": 4287.609375, "z": 370.3114318847656 }, "rotation": { "roll": -0.0006103514460846782, "pitch": 0.24493056535720825, "yaw": 179.6510009765625 } }, "velocity": { "x": -8.026180267333984, "y": 0.048914846032857895, "z": 0.033036135137081146 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026432037353516, "transform": { "location": { "x": 556.4469604492188, "y": 4287.72802734375, "z": 370.4259948730469 }, "rotation": { "roll": -0.00033569333027116954, "pitch": 0.21229593455791473, "yaw": 179.66998291015625 } }, "velocity": { "x": -8.026235580444336, "y": 0.04800984263420105, "z": 0.02904653549194336 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030889511108398, "transform": { "location": { "x": 568.1196899414062, "y": 4290.90771484375, "z": 370.35150146484375 }, "rotation": { "roll": -0.00045776370097883046, "pitch": 0.22108638286590576, "yaw": 179.66622924804688 } }, "velocity": { "x": -8.030673027038574, "y": 0.049329470843076706, "z": 0.03228229284286499 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 9.409125328063965, "transform": { "location": { "x": 609.3631591796875, "y": 4290.66552734375, "z": 370.1596374511719 }, "rotation": { "roll": 0.0011552954092621803, "pitch": 0.3148922026157379, "yaw": 179.73106384277344 } }, "velocity": { "x": -9.408872604370117, "y": 0.05299258232116699, "z": 0.04422679916024208 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.037704467773438, "transform": { "location": { "x": 586.1846923828125, "y": 4290.7998046875, "z": 370.274169921875 }, "rotation": { "roll": 0.001844976213760674, "pitch": 0.2514192461967468, "yaw": 179.6444549560547 } }, "velocity": { "x": -8.03746509552002, "y": 0.05065649747848511, "z": 0.03580007329583168 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.306589812040329, "expert_target_speed": 10.0, "target_point": [ 10.146692563698922, 0.6685022241970175 ], "target_point_next": [ 16.145764442438086, 0.7731076613412231 ] }, "525": { "acceleration": [ -1.9894790649414062, -0.49914270639419556, -0.005702078342437744 ], "angular_velocity": [ -0.33715203404426575, -0.160211980342865, 3.5237467288970947 ], "forward_vector": [ -0.9998620748519897, 0.013945665210485458, 0.009014841169118881 ], "right_vector": [ -0.013927559368312359, -0.9999008178710938, 0.002068125642836094 ], "location": [ 586.7062377929688, 4288.1748046875, 370.2658996582031 ], "rotation": [ -0.1184997633099556, 0.5165193676948547, 179.20091247558594 ], "velocity": [ -12.21091365814209, 0.146797314286232, 0.05277319625020027 ], "speed": 12.211796011155881, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 12.602066993713379, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 574.116455078125, 4287.62109375, 370.31964111328125 ], "velocity": [ -8.028812408447266, 0.049433864653110504, 0.03293220326304436 ], "speed_kmh": 28.9045156640657, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.086987495422363, "transform": { "location": { "x": 599.8403930664062, "y": 4294.17138671875, "z": 370.21636962890625 }, "rotation": { "roll": 0.0010835968423634768, "pitch": -0.2734329402446747, "yaw": -0.3323363661766052 } }, "velocity": { "x": 8.086766242980957, "y": -0.04683424532413483, "z": -0.037289202213287354 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.285636901855469, "transform": { "location": { "x": 598.757080078125, "y": 4297.4287109375, "z": 370.21026611328125 }, "rotation": { "roll": -0.000396728515625, "pitch": -0.2737061679363251, "yaw": -0.33624267578125 } }, "velocity": { "x": 8.285399436950684, "y": -0.04928380995988846, "z": -0.03874559327960014 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 12.540637969970703, "transform": { "location": { "x": 633.5224609375, "y": 4290.52197265625, "z": 370.05267333984375 }, "rotation": { "roll": 0.0011317366734147072, "pitch": 0.24557943642139435, "yaw": 179.6623992919922 } }, "velocity": { "x": -12.540257453918457, "y": 0.07393834739923477, "z": 0.06380988657474518 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.030899047851562, "transform": { "location": { "x": 655.8721923828125, "y": 4297.09228515625, "z": 369.9659729003906 }, "rotation": { "roll": 0.0011680383468046784, "pitch": -0.3065798580646515, "yaw": -0.3564453125 } }, "velocity": { "x": 8.030632972717285, "y": -0.05027422308921814, "z": -0.041819777339696884 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029969215393066, "transform": { "location": { "x": 652.6791381835938, "y": 4293.861328125, "z": 369.94439697265625 }, "rotation": { "roll": -0.0011291506234556437, "pitch": -0.30880650877952576, "yaw": -0.3643798530101776 } }, "velocity": { "x": 8.029707908630371, "y": -0.04924605414271355, "z": -0.04205210134387016 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0009275453630834818, "transform": { "location": { "x": 652.81298828125, "y": 4287.16064453125, "z": 369.9517822265625 }, "rotation": { "roll": -0.0020446775015443563, "pitch": 0.30711260437965393, "yaw": 179.62982177734375 } }, "velocity": { "x": -0.0005903046694584191, "y": -1.703062662272714e-05, "z": 0.0007152557373046875 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.029031753540039, "transform": { "location": { "x": 574.116455078125, "y": 4287.62109375, "z": 370.31964111328125 }, "rotation": { "roll": 0.00018839961558114737, "pitch": 0.23424132168293, "yaw": 179.6472930908203 } }, "velocity": { "x": -8.028812408447266, "y": 0.049433864653110504, "z": 0.03293220326304436 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026861190795898, "transform": { "location": { "x": 554.4401245117188, "y": 4287.7392578125, "z": 370.4333801269531 }, "rotation": { "roll": -0.0003967283701058477, "pitch": 0.2126511037349701, "yaw": 179.6426239013672 } }, "velocity": { "x": -8.02665901184082, "y": 0.04827726259827614, "z": 0.03039637580513954 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.030957221984863, "transform": { "location": { "x": 566.1118774414062, "y": 4290.91943359375, "z": 370.35931396484375 }, "rotation": { "roll": -0.000152587890625, "pitch": 0.22088147699832916, "yaw": 179.6263427734375 } }, "velocity": { "x": -8.030740737915039, "y": 0.04988689720630646, "z": 0.03149423375725746 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 10.115093231201172, "transform": { "location": { "x": 606.9100341796875, "y": 4290.6787109375, "z": 370.17138671875 }, "rotation": { "roll": 0.0005938392132520676, "pitch": 0.30041903257369995, "yaw": 179.6815643310547 } }, "velocity": { "x": -10.114815711975098, "y": 0.058250222355127335, "z": 0.04706872999668121 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.039186477661133, "transform": { "location": { "x": 584.1751098632812, "y": 4290.81201171875, "z": 370.2828369140625 }, "rotation": { "roll": 0.0005137348780408502, "pitch": 0.24762167036533356, "yaw": 179.64273071289062 } }, "velocity": { "x": -8.038961410522461, "y": 0.05018409714102745, "z": 0.033111970871686935 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.29584628343582153, "expert_target_speed": 10.0, "target_point": [ 13.159650363061129, 0.6313406990792743 ], "target_point_next": [ 13.159650363061129, 0.6313406990792743 ] }, "530": { "acceleration": [ -1.5378761291503906, -0.605718731880188, 0.0026960670948028564 ], "angular_velocity": [ -0.19315335154533386, -0.16342449188232422, 2.0831170082092285 ], "forward_vector": [ -0.9999629259109497, 0.0020454709883779287, 0.008367320522665977 ], "right_vector": [ -0.0020198312122374773, -0.9999932646751404, 0.0030715768225491047 ], "location": [ 583.5922241210938, 4288.1953125, 370.27947998046875 ], "rotation": [ -0.17599482834339142, 0.4794177711009979, 179.88279724121094 ], "velocity": [ -12.661771774291992, 0.004587319679558277, 0.05273771286010742 ], "speed": 12.661772605277637, "speed_limit": 30.0, "lane_info": { "lane_id": 2, "lane_type": "Driving", "lane_width": 3.25, "is_junction": false }, "lane_change_count": 3, "distance_to_front_vehicle": 11.495208740234375, "front_vehicle_info": { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "location": [ 572.11083984375, 4287.6337890625, 370.32763671875 ], "velocity": [ -8.019140243530273, 0.051276568323373795, 0.0327589213848114 ], "speed_kmh": 28.86973592392555, "color": "0,0,0" }, "other_vehicles": [ { "id": 22566, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.066720008850098, "transform": { "location": { "x": 601.8597412109375, "y": 4294.15966796875, "z": 370.2068176269531 }, "rotation": { "roll": 0.0010400766041129827, "pitch": -0.26709452271461487, "yaw": -0.3370055556297302 } }, "velocity": { "x": 8.066493034362793, "y": -0.047707829624414444, "z": -0.03725164383649826 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22565, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.041825294494629, "transform": { "location": { "x": 600.7885131835938, "y": 4297.4169921875, "z": 370.2007751464844 }, "rotation": { "roll": -0.0015258786734193563, "pitch": -0.277619868516922, "yaw": -0.3399353325366974 } }, "velocity": { "x": 8.041597366333008, "y": -0.04758173227310181, "z": -0.037403654307127 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22561, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 11.421950340270996, "transform": { "location": { "x": 630.5031127929688, "y": 4290.53955078125, "z": 370.0670166015625 }, "rotation": { "roll": 0.0002072672068607062, "pitch": 0.37276437878608704, "yaw": 179.6622772216797 } }, "velocity": { "x": -11.421600341796875, "y": 0.06729394942522049, "z": 0.05881134048104286 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22558, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 657.939697265625, "y": 4297.0458984375, "z": 369.94342041015625 }, "rotation": { "roll": 0.0, "pitch": -0.30904555320739746, "yaw": -0.338653564453125 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22559, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 654.7012939453125, "y": 4293.82763671875, "z": 369.93463134765625 }, "rotation": { "roll": 1.0422190194203651e-10, "pitch": -0.30624517798423767, "yaw": -0.3386535346508026 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22412, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 662.7246704101562, "y": 4287.0947265625, "z": 369.8892822265625 }, "rotation": { "roll": -0.004394531715661287, "pitch": 0.3065115511417389, "yaw": 178.87496948242188 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 22411, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.15107139945030212, "transform": { "location": { "x": 652.8070678710938, "y": 4287.16064453125, "z": 369.95166015625 }, "rotation": { "roll": -0.0014953612117096782, "pitch": 0.321824848651886, "yaw": 179.62332153320312 } }, "velocity": { "x": -0.15105678141117096, "y": 0.0010027277749031782, "z": 0.0018462371081113815 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 22410, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.019371032714844, "transform": { "location": { "x": 572.11083984375, "y": 4287.6337890625, "z": 370.32763671875 }, "rotation": { "roll": 0.001828365377150476, "pitch": 0.2356688380241394, "yaw": 179.64173889160156 } }, "velocity": { "x": -8.019140243530273, "y": 0.051276568323373795, "z": 0.0327589213848114 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 22409, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.026615142822266, "transform": { "location": { "x": 552.4332885742188, "y": 4287.7509765625, "z": 370.4408264160156 }, "rotation": { "roll": 0.0003618480986915529, "pitch": 0.21280136704444885, "yaw": 179.6685333251953 } }, "velocity": { "x": -8.02641773223877, "y": 0.04839303344488144, "z": 0.028774652630090714 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 22408, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.031776428222656, "transform": { "location": { "x": 564.1040649414062, "y": 4290.93115234375, "z": 370.3670349121094 }, "rotation": { "roll": -0.0003967285738326609, "pitch": 0.21663309633731842, "yaw": 179.66957092285156 } }, "velocity": { "x": -8.03158187866211, "y": 0.04734451323747635, "z": 0.029691170901060104 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 22557, "type": "vehicle.chevrolet.impala", "speed_kmh": 9.775436401367188, "transform": { "location": { "x": 604.4310302734375, "y": 4290.69189453125, "z": 370.1834411621094 }, "rotation": { "roll": 0.0004408659879118204, "pitch": 0.26675301790237427, "yaw": 179.6670379638672 } }, "velocity": { "x": -9.775155067443848, "y": 0.05692962929606438, "z": 0.0474940687417984 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 22515, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.037796020507812, "transform": { "location": { "x": 582.165771484375, "y": 4290.8232421875, "z": 370.29144287109375 }, "rotation": { "roll": 0.00010207280865870416, "pitch": 0.24812710285186768, "yaw": 179.642578125 } }, "velocity": { "x": -8.03757095336914, "y": 0.050076525658369064, "z": 0.033320482820272446 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.2526429295539856, "expert_target_speed": 9.935416270270602, "target_point": [ 10.052182935538507, 0.4888208747051163 ], "target_point_next": [ 10.052182935538507, 0.4888208747051163 ] } }