{
    "0": {
        "acceleration": [
            -0.00037314253859221935,
            -0.0017069457098841667,
            -0.614151656627655
        ],
        "angular_velocity": [
            0.030174046754837036,
            0.012782464735209942,
            1.5374656868516468e-05
        ],
        "forward_vector": [
            0.1444738209247589,
            -0.9895083904266357,
            0.0006697176722809672
        ],
        "right_vector": [
            0.9895086288452148,
            0.14447389543056488,
            7.563375402241945e-05
        ],
        "location": [
            3484.28173828125,
            4548.05615234375,
            367.8697509765625
        ],
        "rotation": [
            -0.004333495628088713,
            0.03837199881672859,
            -81.69319152832031
        ],
        "velocity": [
            8.69082723511383e-05,
            -1.079204503184883e-05,
            0.14258675277233124
        ],
        "speed": 8.757577312835486e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.11742401123047,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                7.531471055699512e-05,
                4.395194264361635e-05,
                0.016308795660734177
            ],
            "speed_kmh": 0.058712503634002995,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001276273833354935,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9693908691406
                    },
                    "rotation": {
                        "roll": -0.000885019835550338,
                        "pitch": 0.15902045369148254,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 1.118974068958778e-05,
                    "y": 2.4910455977078527e-05,
                    "z": -0.00012467159831430763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01630902849137783,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 7.531471055699512e-05,
                    "y": 4.395194264361635e-05,
                    "z": 0.016308795660734177
                },
                "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": 0.001212968840263784,
        "expert_target_speed": 1.3411118477581472,
        "target_point": [
            50.99990486621059,
            3.604515088095894e-05
        ],
        "target_point_next": [
            101.99977446060105,
            -0.000169488967793896
        ]
    },
    "5": {
        "acceleration": [
            -0.0061365170404314995,
            -0.0010094938334077597,
            -0.2654317021369934
        ],
        "angular_velocity": [
            0.0139395697042346,
            -0.013432127423584461,
            1.880051968328189e-05
        ],
        "forward_vector": [
            0.14447394013404846,
            -0.9895084500312805,
            0.0006017684354446828
        ],
        "right_vector": [
            0.9895086288452148,
            0.14447398483753204,
            3.302318509668112e-05
        ],
        "location": [
            3484.28173828125,
            4548.05615234375,
            367.8905334472656
        ],
        "rotation": [
            -0.0018920894945040345,
            0.034478794783353806,
            -81.69318389892578
        ],
        "velocity": [
            -0.0001037802139762789,
            -2.9052886020508595e-05,
            0.0426647886633873
        ],
        "speed": 0.00010777013964490766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000126838684082,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.44873046875,
                4533.21337890625,
                367.8963928222656
            ],
            "velocity": [
                -1.0256087989546359e-05,
                -0.000435478868894279,
                -0.5100972056388855
            ],
            "speed_kmh": 1.8363506098676559,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3492.748291015625,
                        "y": 4469.298828125,
                        "z": 368.2209167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.055358681827783585,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5146332383155823,
                "transform": {
                    "location": {
                        "x": 3482.114501953125,
                        "y": 4562.8984375,
                        "z": 367.87884521484375
                    },
                    "rotation": {
                        "roll": 0.011882024817168713,
                        "pitch": 0.026801660656929016,
                        "yaw": -81.69319152832031
                    }
                },
                "velocity": {
                    "x": -4.655472366721369e-05,
                    "y": -0.0002956685784738511,
                    "z": -0.5146331787109375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5100973844528198,
                "transform": {
                    "location": {
                        "x": 3486.44873046875,
                        "y": 4533.21337890625,
                        "z": 367.8963928222656
                    },
                    "rotation": {
                        "roll": -0.0011596668045967817,
                        "pitch": 0.04954618960618973,
                        "yaw": -81.69319152832031
                    }
                },
                "velocity": {
                    "x": -1.0256087989546359e-05,
                    "y": -0.000435478868894279,
                    "z": -0.5100972056388855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5020372271537781,
                "transform": {
                    "location": {
                        "x": 3488.615966796875,
                        "y": 4518.37060546875,
                        "z": 367.9161376953125
                    },
                    "rotation": {
                        "roll": 0.0005818406934849918,
                        "pitch": 0.08655215054750443,
                        "yaw": -81.6932601928711
                    }
                },
                "velocity": {
                    "x": 0.00017177195695694536,
                    "y": -0.0007486517424695194,
                    "z": -0.5020366311073303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.027467142790555954,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.97552490234375
                    },
                    "rotation": {
                        "roll": -0.0004272553196642548,
                        "pitch": 0.15945759415626526,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 2.2785197870689444e-05,
                    "y": 8.562779112253338e-05,
                    "z": 0.027466999366879463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": -0.0009610456181690097,
        "expert_target_speed": 1.0218522980930747,
        "target_point": [
            50.99990486622119,
            1.4766332388838066e-05
        ],
        "target_point_next": [
            101.99977446052145,
            -0.00021204659006102133
        ]
    },
    "10": {
        "acceleration": [
            0.0024493522942066193,
            -0.0002716185408644378,
            -0.07685605436563492
        ],
        "angular_velocity": [
            0.0043843709863722324,
            0.020746104419231415,
            -5.267476808512583e-06
        ],
        "forward_vector": [
            0.14447394013404846,
            -0.9895084500312805,
            0.0005834101466462016
        ],
        "right_vector": [
            0.9895086288452148,
            0.14447398483753204,
            1.5978932424332015e-05
        ],
        "location": [
            3484.28173828125,
            4548.05615234375,
            367.896240234375
        ],
        "rotation": [
            -0.0009155256557278335,
            0.03342694416642189,
            -81.69318389892578
        ],
        "velocity": [
            0.0001780393358785659,
            8.866414646035992e-06,
            0.010773069225251675
        ],
        "speed": 0.00017825997427565237,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000128746032715,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.44873046875,
                4533.21337890625,
                367.8876953125
            ],
            "velocity": [
                -1.3367432984523475e-05,
                9.13903713808395e-05,
                0.1033119335770607
            ],
            "speed_kmh": 0.3719231095107394,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3492.447998046875,
                        "y": 4471.35498046875,
                        "z": 368.0797119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.055358681827783585,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10499540716409683,
                "transform": {
                    "location": {
                        "x": 3482.114501953125,
                        "y": 4562.8984375,
                        "z": 367.87005615234375
                    },
                    "rotation": {
                        "roll": 0.0018870433559641242,
                        "pitch": 0.030121132731437683,
                        "yaw": -81.69318389892578
                    }
                },
                "velocity": {
                    "x": -0.0001464261586079374,
                    "y": 3.99125819967594e-05,
                    "z": 0.10499529540538788
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10331197082996368,
                "transform": {
                    "location": {
                        "x": 3486.44873046875,
                        "y": 4533.21337890625,
                        "z": 367.8876953125
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 0.0517045296728611,
                        "yaw": -81.69319152832031
                    }
                },
                "velocity": {
                    "x": -1.3367432984523475e-05,
                    "y": 9.13903713808395e-05,
                    "z": 0.1033119335770607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10257668793201447,
                "transform": {
                    "location": {
                        "x": 3488.615966796875,
                        "y": 4518.37060546875,
                        "z": 367.9078369140625
                    },
                    "rotation": {
                        "roll": 8.67948547238484e-05,
                        "pitch": 0.08510415256023407,
                        "yaw": -81.6932601928711
                    }
                },
                "velocity": {
                    "x": -2.2443373381975107e-05,
                    "y": 0.0001569399901200086,
                    "z": 0.10257656872272491
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018156536389142275,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9789123535156
                    },
                    "rotation": {
                        "roll": -6.103170744609088e-05,
                        "pitch": 0.15964199602603912,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": -7.265578005899442e-06,
                    "y": 1.3135057088220492e-05,
                    "z": 0.0018155915895476937
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": -0.00031536287860944867,
        "expert_target_speed": 0.9896769078766409,
        "target_point": [
            50.99990486622119,
            1.4766332388838066e-05
        ],
        "target_point_next": [
            101.99977446052145,
            -0.00021204659006102133
        ]
    },
    "15": {
        "acceleration": [
            -0.00021595180442091078,
            -6.044879410183057e-05,
            -0.021093260496854782
        ],
        "angular_velocity": [
            0.0007584967534057796,
            -0.002172508742660284,
            1.045744284056127e-05
        ],
        "forward_vector": [
            0.14447394013404846,
            -0.9895084500312805,
            0.0005705356015823781
        ],
        "right_vector": [
            0.9895086288452148,
            0.14447396993637085,
            -2.3154714199336013e-06
        ],
        "location": [
            3484.28173828125,
            4548.05615234375,
            367.89764404296875
        ],
        "rotation": [
            0.00013266676978673786,
            0.03268928453326225,
            -81.69318389892578
        ],
        "velocity": [
            -1.3395729183685035e-05,
            -1.0730046824392048e-06,
            0.0021234650630503893
        ],
        "speed": 1.343863458135414e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000126838684082,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.44873046875,
                4533.21337890625,
                367.9031066894531
            ],
            "velocity": [
                -9.270032023778185e-06,
                1.6381358364014886e-05,
                0.023429006338119507
            ],
            "speed_kmh": 0.08434445003597778,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3492.146728515625,
                        "y": 4473.41455078125,
                        "z": 368.0444030761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.07953071594238281,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023022470995783806,
                "transform": {
                    "location": {
                        "x": 3482.114501953125,
                        "y": 4562.8984375,
                        "z": 367.8856506347656
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": 0.03161011263728142,
                        "yaw": -81.69318389892578
                    }
                },
                "velocity": {
                    "x": 8.411615272052586e-05,
                    "y": 2.7222595235798508e-05,
                    "z": 0.023022301495075226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023429013788700104,
                "transform": {
                    "location": {
                        "x": 3486.44873046875,
                        "y": 4533.21337890625,
                        "z": 367.9031066894531
                    },
                    "rotation": {
                        "roll": -0.00100708135869354,
                        "pitch": 0.0507824532687664,
                        "yaw": -81.69319152832031
                    }
                },
                "velocity": {
                    "x": -9.270032023778185e-06,
                    "y": 1.6381358364014886e-05,
                    "z": 0.023429006338119507
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023119309917092323,
                "transform": {
                    "location": {
                        "x": 3488.615966796875,
                        "y": 4518.37060546875,
                        "z": 367.9230651855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0861833244562149,
                        "yaw": -81.6932601928711
                    }
                },
                "velocity": {
                    "x": -5.698145105270669e-05,
                    "y": 3.015351467183791e-05,
                    "z": 0.02311922051012516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": -0.00023837242042645812,
        "expert_target_speed": 0.9810540977458446,
        "target_point": [
            50.99990486622119,
            1.4766332388838066e-05
        ],
        "target_point_next": [
            101.99977446052145,
            -0.00021204659006102133
        ]
    },
    "20": {
        "acceleration": [
            0.00021661283972207457,
            -3.116372681688517e-05,
            0.005127282347530127
        ],
        "angular_velocity": [
            0.0012802473502233624,
            0.007687914650887251,
            3.3943338166864123e-06
        ],
        "forward_vector": [
            0.14447394013404846,
            -0.9895084500312805,
            0.0005688666133210063
        ],
        "right_vector": [
            0.9895086288452148,
            0.14447396993637085,
            2.130487473550602e-06
        ],
        "location": [
            3484.28173828125,
            4548.05615234375,
            367.8977966308594
        ],
        "rotation": [
            -0.00012206796964164823,
            0.032593660056591034,
            -81.69318389892578
        ],
        "velocity": [
            2.286965354869608e-05,
            -2.542738684496726e-06,
            0.0014850633451715112
        ],
        "speed": 2.3010575252588174e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.121217727661133,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.467529296875,
                4533.09375,
                367.90447998046875
            ],
            "velocity": [
                0.17932769656181335,
                -1.116437554359436,
                0.0006028938223607838
            ],
            "speed_kmh": 4.070693690673483,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3491.845458984375,
                        "y": 4475.47509765625,
                        "z": 368.03326416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.07953071594238281,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1025292873382568,
                "transform": {
                    "location": {
                        "x": 3482.13330078125,
                        "y": 4562.77880859375,
                        "z": 367.8869323730469
                    },
                    "rotation": {
                        "roll": -0.0014648428186774254,
                        "pitch": 0.06361638009548187,
                        "yaw": -81.64891052246094
                    }
                },
                "velocity": {
                    "x": 0.17416438460350037,
                    "y": -1.088686227798462,
                    "z": 3.6373137845657766e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1307481527328491,
                "transform": {
                    "location": {
                        "x": 3486.467529296875,
                        "y": 4533.09375,
                        "z": 367.90447998046875
                    },
                    "rotation": {
                        "roll": -0.002227781107649207,
                        "pitch": 0.08203739672899246,
                        "yaw": -81.64042663574219
                    }
                },
                "velocity": {
                    "x": 0.17932769656181335,
                    "y": -1.116437554359436,
                    "z": 0.0006028938223607838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9503633975982666,
                "transform": {
                    "location": {
                        "x": 3488.647705078125,
                        "y": 4518.16455078125,
                        "z": 367.9245910644531
                    },
                    "rotation": {
                        "roll": -0.0009460434666834772,
                        "pitch": 0.12539543211460114,
                        "yaw": -81.58338165283203
                    }
                },
                "velocity": {
                    "x": 0.309397429227829,
                    "y": -1.9256653785705566,
                    "z": 0.0018808841705322266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": -0.001136584673076868,
        "expert_target_speed": 0.9890046376150698,
        "target_point": [
            50.99990486622119,
            1.4766332388838066e-05
        ],
        "target_point_next": [
            101.99977446052145,
            -0.00021204659006102133
        ]
    },
    "25": {
        "acceleration": [
            0.5805248022079468,
            -4.063556671142578,
            -0.01396331749856472
        ],
        "angular_velocity": [
            -1.4403353929519653,
            -0.19075903296470642,
            0.3923972249031067
        ],
        "forward_vector": [
            0.14461253583431244,
            -0.9894831776618958,
            0.0032033862080425024
        ],
        "right_vector": [
            0.9894882440567017,
            0.14461317658424377,
            -3.4330994822084904e-05
        ],
        "location": [
            3484.2880859375,
            4548.0126953125,
            367.89739990234375
        ],
        "rotation": [
            0.001967031043022871,
            0.18354083597660065,
            -81.68511199951172
        ],
        "velocity": [
            0.09256406873464584,
            -0.6403921842575073,
            0.0015872573712840676
        ],
        "speed": 0.6470473371236555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.43860149383545,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.523681640625,
                4532.73681640625,
                367.9045715332031
            ],
            "velocity": [
                0.27100712060928345,
                -1.6817245483398438,
                0.0013234519865363836
            ],
            "speed_kmh": 6.132316618860846,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3491.545166015625,
                        "y": 4477.53564453125,
                        "z": 368.0252685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.10366860777139664,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.762147068977356,
                "transform": {
                    "location": {
                        "x": 3482.19140625,
                        "y": 4562.4140625,
                        "z": 367.8869934082031
                    },
                    "rotation": {
                        "roll": -0.0014648461947217584,
                        "pitch": 0.05892403796315193,
                        "yaw": -81.5908432006836
                    }
                },
                "velocity": {
                    "x": 0.28053805232048035,
                    "y": -1.7396719455718994,
                    "z": -0.0015723896212875843
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7034212350845337,
                "transform": {
                    "location": {
                        "x": 3486.523681640625,
                        "y": 4532.73681640625,
                        "z": 367.9045715332031
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": 0.07550090551376343,
                        "yaw": -81.50196838378906
                    }
                },
                "velocity": {
                    "x": 0.27100712060928345,
                    "y": -1.6817245483398438,
                    "z": 0.0013234519865363836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9683403968811035,
                "transform": {
                    "location": {
                        "x": 3488.746826171875,
                        "y": 4517.5390625,
                        "z": 367.9254455566406
                    },
                    "rotation": {
                        "roll": -0.00042724129161797464,
                        "pitch": 0.12121535837650299,
                        "yaw": -81.35609436035156
                    }
                },
                "velocity": {
                    "x": 0.47375020384788513,
                    "y": -2.930288076400757,
                    "z": 0.004091100767254829
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.0011762024369090796,
        "expert_target_speed": 1.6325849370165955,
        "target_point": [
            50.9559861839182,
            -0.00717393945084055
        ],
        "target_point_next": [
            101.95585523909122,
            -0.014592988023252929
        ]
    },
    "30": {
        "acceleration": [
            0.22692173719406128,
            -1.773008108139038,
            -0.00024128006771206856
        ],
        "angular_velocity": [
            0.06543232500553131,
            0.07348506152629852,
            -0.8440635204315186
        ],
        "forward_vector": [
            0.14457117021083832,
            -0.9894845485687256,
            0.004421696532517672
        ],
        "right_vector": [
            0.9894942045211792,
            0.1445724219083786,
            -3.585917875170708e-05
        ],
        "location": [
            3484.3203125,
            4547.79150390625,
            367.8973083496094
        ],
        "rotation": [
            0.002054599579423666,
            0.2533453702926636,
            -81.68746948242188
        ],
        "velocity": [
            0.15501205623149872,
            -1.0803979635238647,
            0.0015715979970991611
        ],
        "speed": 1.0914616333905793,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.716323852539062,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.60205078125,
                4532.24169921875,
                367.905029296875
            ],
            "velocity": [
                0.3653200566768646,
                -2.254108190536499,
                0.001929111429490149
            ],
            "speed_kmh": 8.220674056975396,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002153396606445,
                "transform": {
                    "location": {
                        "x": 3491.243408203125,
                        "y": 4479.56103515625,
                        "z": 368.0207824707031
                    },
                    "rotation": {
                        "roll": -0.02349853701889515,
                        "pitch": -0.1267341524362564,
                        "yaw": 98.56234741210938
                    }
                },
                "velocity": {
                    "x": -1.2110992670059204,
                    "y": 7.909947872161865,
                    "z": -0.02070802077651024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.349498987197876,
                "transform": {
                    "location": {
                        "x": 3482.27392578125,
                        "y": 4561.90380859375,
                        "z": 367.88714599609375
                    },
                    "rotation": {
                        "roll": -0.0014038145309314132,
                        "pitch": 0.05210068076848984,
                        "yaw": -81.58891296386719
                    }
                },
                "velocity": {
                    "x": 0.37363559007644653,
                    "y": -2.319598913192749,
                    "z": 0.0018249893328174949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.283520460128784,
                "transform": {
                    "location": {
                        "x": 3486.60205078125,
                        "y": 4532.24169921875,
                        "z": 367.905029296875
                    },
                    "rotation": {
                        "roll": -0.0012512195389717817,
                        "pitch": 0.07041241973638535,
                        "yaw": -81.3320541381836
                    }
                },
                "velocity": {
                    "x": 0.3653200566768646,
                    "y": -2.254108190536499,
                    "z": 0.001929111429490149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.753002166748047,
                "transform": {
                    "location": {
                        "x": 3488.879638671875,
                        "y": 4516.70361328125,
                        "z": 367.92706298828125
                    },
                    "rotation": {
                        "roll": 0.00046770222252234817,
                        "pitch": 0.12243113666772842,
                        "yaw": -81.15750885009766
                    }
                },
                "velocity": {
                    "x": 0.5791592001914978,
                    "y": -3.7080397605895996,
                    "z": 0.00646692281588912
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.0016339771682396531,
        "expert_target_speed": 2.0786541081919303,
        "target_point": [
            50.73245974375423,
            -0.005003909125208317
        ],
        "target_point_next": [
            101.73232905925245,
            -0.01034143473042981
        ]
    },
    "35": {
        "acceleration": [
            0.198422372341156,
            -1.427617073059082,
            0.004921341314911842
        ],
        "angular_velocity": [
            0.11670377105474472,
            0.01364207360893488,
            0.8057262897491455
        ],
        "forward_vector": [
            0.14436142146587372,
            -0.9895166754722595,
            0.004052985459566116
        ],
        "right_vector": [
            0.9895248413085938,
            0.14436252415180206,
            -2.2785736291552894e-05
        ],
        "location": [
            3484.36669921875,
            4547.46728515625,
            367.8975830078125
        ],
        "rotation": [
            0.001305537298321724,
            0.23221959173679352,
            -81.69963073730469
        ],
        "velocity": [
            0.2140127569437027,
            -1.4838032722473145,
            0.0018688106210902333
        ],
        "speed": 1.4991576337618677,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.030967712402344,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.70263671875,
                4531.607421875,
                367.9056701660156
            ],
            "velocity": [
                0.43929076194763184,
                -2.796710968017578,
                0.0021713541354984045
            ],
            "speed_kmh": 10.191607837684742,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.185336112976074,
                "transform": {
                    "location": {
                        "x": 3490.93115234375,
                        "y": 4481.56103515625,
                        "z": 368.0163879394531
                    },
                    "rotation": {
                        "roll": -0.020233148708939552,
                        "pitch": -0.12222623080015182,
                        "yaw": 98.91460418701172
                    }
                },
                "velocity": {
                    "x": -1.2750189304351807,
                    "y": 8.085407257080078,
                    "z": -0.01572917029261589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.87807035446167,
                "transform": {
                    "location": {
                        "x": 3482.376220703125,
                        "y": 4561.25537109375,
                        "z": 367.8875732421875
                    },
                    "rotation": {
                        "roll": 0.0007409440004266798,
                        "pitch": 0.050352152436971664,
                        "yaw": -81.52681732177734
                    }
                },
                "velocity": {
                    "x": 0.4401478171348572,
                    "y": -2.8442142009735107,
                    "z": 0.0018361472757533193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8310022354125977,
                "transform": {
                    "location": {
                        "x": 3486.70263671875,
                        "y": 4531.607421875,
                        "z": 367.9056701660156
                    },
                    "rotation": {
                        "roll": 0.0006045988411642611,
                        "pitch": 0.06901222467422485,
                        "yaw": -81.17574310302734
                    }
                },
                "velocity": {
                    "x": 0.43929076194763184,
                    "y": -2.796710968017578,
                    "z": 0.0021713541354984045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.488473415374756,
                "transform": {
                    "location": {
                        "x": 3489.0380859375,
                        "y": 4515.6826171875,
                        "z": 367.9288635253906
                    },
                    "rotation": {
                        "roll": 0.0018756791250780225,
                        "pitch": 0.13342773914337158,
                        "yaw": -81.17790985107422
                    }
                },
                "velocity": {
                    "x": 0.6854962706565857,
                    "y": -4.435811996459961,
                    "z": 0.0076909540221095085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.002259126864373684,
        "expert_target_speed": 2.4898629614702394,
        "target_point": [
            50.40494063720157,
            0.006721848355279114
        ],
        "target_point_next": [
            101.40480993097017,
            0.012263111159647622
        ]
    },
    "40": {
        "acceleration": [
            0.2169153094291687,
            -1.5190339088439941,
            -0.017664335668087006
        ],
        "angular_velocity": [
            0.02710016630589962,
            0.00854566041380167,
            -1.045924186706543
        ],
        "forward_vector": [
            0.14368107914924622,
            -0.9896179437637329,
            0.0034677910152822733
        ],
        "right_vector": [
            0.9896239042282104,
            0.1436818242073059,
            -3.373529762029648e-05
        ],
        "location": [
            3484.42578125,
            4547.0576171875,
            367.89794921875
        ],
        "rotation": [
            0.0019329017959535122,
            0.19869019091129303,
            -81.7390365600586
        ],
        "velocity": [
            0.2587139904499054,
            -1.8054211139678955,
            0.001212377566844225
        ],
        "speed": 1.8238635715468388,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.404239654541016,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.82373046875,
                4530.82958984375,
                367.9062805175781
            ],
            "velocity": [
                0.5295632481575012,
                -3.424039125442505,
                0.001447706134058535
            ],
            "speed_kmh": 12.473095168332666,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.978062629699707,
                "transform": {
                    "location": {
                        "x": 3490.6201171875,
                        "y": 4483.556640625,
                        "z": 368.01220703125
                    },
                    "rotation": {
                        "roll": 0.0022137199994176626,
                        "pitch": -0.12475340068340302,
                        "yaw": 98.830322265625
                    }
                },
                "velocity": {
                    "x": -1.217721939086914,
                    "y": 7.88456392288208,
                    "z": -0.017120398581027985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.462738037109375,
                "transform": {
                    "location": {
                        "x": 3482.496826171875,
                        "y": 4560.4697265625,
                        "z": 367.8880310058594
                    },
                    "rotation": {
                        "roll": 0.0006338337552733719,
                        "pitch": 0.05111030116677284,
                        "yaw": -81.47572326660156
                    }
                },
                "velocity": {
                    "x": 0.5266157984733582,
                    "y": -3.4224586486816406,
                    "z": 0.002691249828785658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4647486209869385,
                "transform": {
                    "location": {
                        "x": 3486.82373046875,
                        "y": 4530.82958984375,
                        "z": 367.9062805175781
                    },
                    "rotation": {
                        "roll": 0.0013270886847749352,
                        "pitch": 0.07057633996009827,
                        "yaw": -81.17646789550781
                    }
                },
                "velocity": {
                    "x": 0.5295632481575012,
                    "y": -3.424039125442505,
                    "z": 0.001447706134058535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.258649826049805,
                "transform": {
                    "location": {
                        "x": 3489.224853515625,
                        "y": 4514.47412109375,
                        "z": 367.9314270019531
                    },
                    "rotation": {
                        "roll": 0.001131847151555121,
                        "pitch": 0.14292170107364655,
                        "yaw": -81.20183563232422
                    }
                },
                "velocity": {
                    "x": 0.8022851943969727,
                    "y": -5.197072505950928,
                    "z": 0.0131175322458148
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.0034677311778068542,
        "expert_target_speed": 2.8226670679775667,
        "target_point": [
            49.99101784878934,
            0.04178410336117366
        ],
        "target_point_next": [
            100.99087126713162,
            0.08240422986296103
        ]
    },
    "45": {
        "acceleration": [
            0.3457832336425781,
            -2.474193572998047,
            0.006603621877729893
        ],
        "angular_velocity": [
            -0.2674526870250702,
            0.005638123955577612,
            0.6430429816246033
        ],
        "forward_vector": [
            0.14318062365055084,
            -0.9896879196166992,
            0.004128682427108288
        ],
        "right_vector": [
            0.9896964430809021,
            0.14318162202835083,
            -5.435105413198471e-05
        ],
        "location": [
            3484.49951171875,
            4546.5419921875,
            367.8981018066406
        ],
        "rotation": [
            0.0031141124200075865,
            0.2365567535161972,
            -81.76799011230469
        ],
        "velocity": [
            0.33316126465797424,
            -2.33502459526062,
            0.0025460433680564165
        ],
        "speed": 2.358672569209326,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.851238250732422,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3486.971435546875,
                4529.873046875,
                367.9070739746094
            ],
            "velocity": [
                0.6545840501785278,
                -4.234156608581543,
                0.0030012226197868586
            ],
            "speed_kmh": 15.424045068598508,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.162646293640137,
                "transform": {
                    "location": {
                        "x": 3490.31396484375,
                        "y": 4485.5517578125,
                        "z": 368.0080261230469
                    },
                    "rotation": {
                        "roll": 0.0037438818253576756,
                        "pitch": -0.11624298244714737,
                        "yaw": 98.71349334716797
                    }
                },
                "velocity": {
                    "x": -1.2347407341003418,
                    "y": 8.068699836730957,
                    "z": -0.017088593915104866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.244410991668701,
                "transform": {
                    "location": {
                        "x": 3482.642333984375,
                        "y": 4559.51904296875,
                        "z": 367.8885192871094
                    },
                    "rotation": {
                        "roll": -0.0006713881739415228,
                        "pitch": 0.0562397763133049,
                        "yaw": -81.38011932373047
                    }
                },
                "velocity": {
                    "x": 0.6464385986328125,
                    "y": -4.194894313812256,
                    "z": 0.0019406795036047697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.284456729888916,
                "transform": {
                    "location": {
                        "x": 3486.971435546875,
                        "y": 4529.873046875,
                        "z": 367.9070739746094
                    },
                    "rotation": {
                        "roll": -0.0009155296138487756,
                        "pitch": 0.0764981135725975,
                        "yaw": -81.19395446777344
                    }
                },
                "velocity": {
                    "x": 0.6545840501785278,
                    "y": -4.234156608581543,
                    "z": 0.0030012226197868586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.750050067901611,
                "transform": {
                    "location": {
                        "x": 3489.43212890625,
                        "y": 4513.1328125,
                        "z": 367.9344177246094
                    },
                    "rotation": {
                        "roll": 0.0004092589078936726,
                        "pitch": 0.13821570575237274,
                        "yaw": -81.21885681152344
                    }
                },
                "velocity": {
                    "x": 0.8774216771125793,
                    "y": -5.68269681930542,
                    "z": 0.012832794338464737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.005380541086196899,
        "expert_target_speed": 3.361031494813448,
        "target_point": [
            49.47012133783558,
            0.0678616632436908
        ],
        "target_point_next": [
            100.46994777349444,
            0.13421088891768385
        ]
    },
    "50": {
        "acceleration": [
            0.4681605100631714,
            -3.3718109130859375,
            0.004759598523378372
        ],
        "angular_velocity": [
            -0.36078616976737976,
            -0.07155177742242813,
            -0.8170361518859863
        ],
        "forward_vector": [
            0.14221711456775665,
            -0.9898192286491394,
            0.0056705167517066
        ],
        "right_vector": [
            0.9898352026939392,
            0.14221900701522827,
            -7.112231105566025e-05
        ],
        "location": [
            3484.5966796875,
            4545.861328125,
            367.8981628417969
        ],
        "rotation": [
            0.004075073637068272,
            0.3248984217643738,
            -81.8237075805664
        ],
        "velocity": [
            0.4409855306148529,
            -3.108597755432129,
            0.0022319506388157606
        ],
        "speed": 3.139721045457595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.360336303710938,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3487.154296875,
                4528.6904296875,
                367.9082336425781
            ],
            "velocity": [
                0.8039926886558533,
                -5.203226089477539,
                0.006475725211203098
            ],
            "speed_kmh": 18.953925783324376,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9552741050720215,
                "transform": {
                    "location": {
                        "x": 3490.010498046875,
                        "y": 4487.54248046875,
                        "z": 368.0038146972656
                    },
                    "rotation": {
                        "roll": 0.006071725394576788,
                        "pitch": -0.12362641841173172,
                        "yaw": 98.65723419189453
                    }
                },
                "velocity": {
                    "x": -1.190342903137207,
                    "y": 7.865694522857666,
                    "z": -0.01776113547384739
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.172039031982422,
                "transform": {
                    "location": {
                        "x": 3482.822021484375,
                        "y": 4558.34814453125,
                        "z": 367.8892822265625
                    },
                    "rotation": {
                        "roll": -0.00045776297338306904,
                        "pitch": 0.06298117339611053,
                        "yaw": -81.29905700683594
                    }
                },
                "velocity": {
                    "x": 0.7889973521232605,
                    "y": -5.111501216888428,
                    "z": 0.005222816485911608
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.264979362487793,
                "transform": {
                    "location": {
                        "x": 3487.154296875,
                        "y": 4528.6904296875,
                        "z": 367.9082336425781
                    },
                    "rotation": {
                        "roll": 6.503360054921359e-05,
                        "pitch": 0.08241988718509674,
                        "yaw": -81.20372009277344
                    }
                },
                "velocity": {
                    "x": 0.8039926886558533,
                    "y": -5.203226089477539,
                    "z": 0.006475725211203098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.655614376068115,
                "transform": {
                    "location": {
                        "x": 3489.669189453125,
                        "y": 4511.59521484375,
                        "z": 367.9377746582031
                    },
                    "rotation": {
                        "roll": 0.001384317991323769,
                        "pitch": 0.14016230404376984,
                        "yaw": -81.26299285888672
                    }
                },
                "velocity": {
                    "x": 1.0015655755996704,
                    "y": -6.579809188842773,
                    "z": 0.013512172736227512
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.011518441140651703,
        "expert_target_speed": 4.134510750159514,
        "target_point": [
            48.78246757100693,
            0.11658932005687372
        ],
        "target_point_next": [
            99.78220537808714,
            0.23253023669356665
        ]
    },
    "55": {
        "acceleration": [
            0.4716181755065918,
            -3.4793853759765625,
            0.009397887624800205
        ],
        "angular_velocity": [
            -0.17406168580055237,
            0.01811663806438446,
            -0.14541493356227875
        ],
        "forward_vector": [
            0.14119914174079895,
            -0.9899569153785706,
            0.006938520353287458
        ],
        "right_vector": [
            0.9899808764457703,
            0.14120179414749146,
            -0.00010833911801455542
        ],
        "location": [
            3484.72314453125,
            4544.96875,
            367.89837646484375
        ],
        "rotation": [
            0.006207523867487907,
            0.39755114912986755,
            -81.88256072998047
        ],
        "velocity": [
            0.5621100664138794,
            -3.991689920425415,
            0.002039365703240037
        ],
        "speed": 4.0310738206574275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.788942337036133,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3487.357666015625,
                4527.3759765625,
                367.9096374511719
            ],
            "velocity": [
                0.8408677577972412,
                -5.4385600090026855,
                0.0062296101823449135
            ],
            "speed_kmh": 19.811461820347176,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.569090366363525,
                "transform": {
                    "location": {
                        "x": 3489.7314453125,
                        "y": 4489.3994140625,
                        "z": 367.9991760253906
                    },
                    "rotation": {
                        "roll": 0.006928142625838518,
                        "pitch": -0.3509214520454407,
                        "yaw": 98.53024291992188
                    }
                },
                "velocity": {
                    "x": -0.9713356494903564,
                    "y": 6.496859073638916,
                    "z": -0.016527023166418076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9121804237365723,
                "transform": {
                    "location": {
                        "x": 3482.944580078125,
                        "y": 4557.552734375,
                        "z": 367.89068603515625
                    },
                    "rotation": {
                        "roll": 4.392601840663701e-05,
                        "pitch": -0.06988649070262909,
                        "yaw": -81.28215789794922
                    }
                },
                "velocity": {
                    "x": 0.13933388888835907,
                    "y": -0.9014756083488464,
                    "z": 0.0009350776672363281
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.503183841705322,
                "transform": {
                    "location": {
                        "x": 3487.357666015625,
                        "y": 4527.3759765625,
                        "z": 367.9096374511719
                    },
                    "rotation": {
                        "roll": 0.00036387454019859433,
                        "pitch": 0.06588400155305862,
                        "yaw": -81.21238708496094
                    }
                },
                "velocity": {
                    "x": 0.8408677577972412,
                    "y": -5.4385600090026855,
                    "z": 0.0062296101823449135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.6410627365112305,
                "transform": {
                    "location": {
                        "x": 3489.939208984375,
                        "y": 4509.81201171875,
                        "z": 367.9415283203125
                    },
                    "rotation": {
                        "roll": 0.0016791847301647067,
                        "pitch": 0.14626848697662354,
                        "yaw": -81.3893051147461
                    }
                },
                "velocity": {
                    "x": 1.1359246969223022,
                    "y": -7.556141376495361,
                    "z": 0.015466994605958462
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.018549926578998566,
        "expert_target_speed": 4.988525444333871,
        "target_point": [
            47.88082971802866,
            0.16755151095974075
        ],
        "target_point_next": [
            98.88042146756626,
            0.335896595748455
        ]
    },
    "60": {
        "acceleration": [
            0.4314100742340088,
            -2.5556468963623047,
            -0.009695622138679028
        ],
        "angular_velocity": [
            0.2182234227657318,
            -0.018184388056397438,
            0.5602216720581055
        ],
        "forward_vector": [
            0.14244481921195984,
            -0.9897796511650085,
            0.00676388293504715
        ],
        "right_vector": [
            0.9898019433021545,
            0.14245028793811798,
            0.00033235453884117305
        ],
        "location": [
            3484.881103515625,
            4543.8720703125,
            367.8990478515625
        ],
        "rotation": [
            -0.01904294826090336,
            0.3875449001789093,
            -81.81047058105469
        ],
        "velocity": [
            0.6917027235031128,
            -4.712471008300781,
            0.0023338794708251953
        ],
        "speed": 4.7629650074063115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.20539093017578,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3487.588623046875,
                4525.869140625,
                367.91119384765625
            ],
            "velocity": [
                0.9925059080123901,
                -6.541489124298096,
                0.007420759182423353
            ],
            "speed_kmh": 23.81889147271718,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.392739772796631,
                "transform": {
                    "location": {
                        "x": 3489.4970703125,
                        "y": 4490.97265625,
                        "z": 367.99517822265625
                    },
                    "rotation": {
                        "roll": 0.0019199528032913804,
                        "pitch": -0.2340705692768097,
                        "yaw": 98.48212432861328
                    }
                },
                "velocity": {
                    "x": -0.940644383430481,
                    "y": 6.323132038116455,
                    "z": -0.017689790576696396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9527251720428467,
                "transform": {
                    "location": {
                        "x": 3482.96533203125,
                        "y": 4557.42431640625,
                        "z": 367.8902282714844
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.0020149056799709797,
                        "yaw": -81.34795379638672
                    }
                },
                "velocity": {
                    "x": 0.144855797290802,
                    "y": -0.9416477680206299,
                    "z": 0.0012340354733169079
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.616358757019043,
                "transform": {
                    "location": {
                        "x": 3487.588623046875,
                        "y": 4525.869140625,
                        "z": 367.91119384765625
                    },
                    "rotation": {
                        "roll": 0.0031546384561806917,
                        "pitch": 0.10332026332616806,
                        "yaw": -81.21772003173828
                    }
                },
                "velocity": {
                    "x": 0.9925059080123901,
                    "y": -6.541489124298096,
                    "z": 0.007420759182423353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.259810447692871,
                "transform": {
                    "location": {
                        "x": 3490.2373046875,
                        "y": 4507.828125,
                        "z": 367.9459228515625
                    },
                    "rotation": {
                        "roll": 0.0012117086444050074,
                        "pitch": 0.142156720161438,
                        "yaw": -81.4724349975586
                    }
                },
                "velocity": {
                    "x": 1.2221789360046387,
                    "y": -8.168866157531738,
                    "z": 0.019381770864129066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.016286425292491913,
        "expert_target_speed": 5.686574084343532,
        "target_point": [
            46.77300559212228,
            0.1071947883024853
        ],
        "target_point_next": [
            97.77276875077018,
            0.21138907268060514
        ]
    },
    "65": {
        "acceleration": [
            -0.27745962142944336,
            1.4756107330322266,
            -0.01782245561480522
        ],
        "angular_velocity": [
            1.258446216583252,
            0.3316916525363922,
            -3.079378128051758
        ],
        "forward_vector": [
            0.14464761316776276,
            -0.9894726276397705,
            0.004574044607579708
        ],
        "right_vector": [
            0.9894828200340271,
            0.14465020596981049,
            0.0002370187867200002
        ],
        "location": [
            3485.063720703125,
            4542.63427734375,
            367.90045166015625
        ],
        "rotation": [
            -0.013580318540334702,
            0.26207435131073,
            -81.68303680419922
        ],
        "velocity": [
            0.7327570915222168,
            -4.9625678062438965,
            0.003400201676413417
        ],
        "speed": 5.016374406555442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.752906799316406,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3487.858642578125,
                4524.0908203125,
                367.91339111328125
            ],
            "velocity": [
                1.1379210948944092,
                -7.566344261169434,
                0.010313701815903187
            ],
            "speed_kmh": 27.545184516510407,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.756464004516602,
                "transform": {
                    "location": {
                        "x": 3489.248046875,
                        "y": 4492.64990234375,
                        "z": 367.9908142089844
                    },
                    "rotation": {
                        "roll": 0.0038449184503406286,
                        "pitch": 0.00287550943903625,
                        "yaw": 98.44322204589844
                    }
                },
                "velocity": {
                    "x": -1.1343032121658325,
                    "y": 7.673045635223389,
                    "z": -0.021526150405406952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5005216598510742,
                "transform": {
                    "location": {
                        "x": 3483.013916015625,
                        "y": 4557.1103515625,
                        "z": 367.88995361328125
                    },
                    "rotation": {
                        "roll": -0.0004882836947217584,
                        "pitch": 0.05076196417212486,
                        "yaw": -81.38526153564453
                    }
                },
                "velocity": {
                    "x": 0.22867313027381897,
                    "y": -1.482993483543396,
                    "z": 0.0020298671443015337
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.651440143585205,
                "transform": {
                    "location": {
                        "x": 3487.858642578125,
                        "y": 4524.0908203125,
                        "z": 367.91339111328125
                    },
                    "rotation": {
                        "roll": 0.0028220624662935734,
                        "pitch": 0.12904958426952362,
                        "yaw": -81.37443542480469
                    }
                },
                "velocity": {
                    "x": 1.1379210948944092,
                    "y": -7.566344261169434,
                    "z": 0.010313701815903187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.123482704162598,
                "transform": {
                    "location": {
                        "x": 3490.540771484375,
                        "y": 4505.79638671875,
                        "z": 367.9510498046875
                    },
                    "rotation": {
                        "roll": 0.0007720143184997141,
                        "pitch": 0.15571464598178864,
                        "yaw": -81.52947235107422
                    }
                },
                "velocity": {
                    "x": 1.1917914152145386,
                    "y": -8.035554885864258,
                    "z": 0.021311568096280098
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.004037276841700077,
        "expert_target_speed": 5.9426585657478626,
        "target_point": [
            45.52193778999739,
            0.0015034593182399192
        ],
        "target_point_next": [
            96.52180654640414,
            -0.00774404643980553
        ]
    },
    "70": {
        "acceleration": [
            -0.05459904670715332,
            0.1472759246826172,
            0.011299513280391693
        ],
        "angular_velocity": [
            0.5206336975097656,
            0.08611258864402771,
            3.217125654220581
        ],
        "forward_vector": [
            0.14510478079319,
            -0.9894137978553772,
            0.0021985748317092657
        ],
        "right_vector": [
            0.989416241645813,
            0.14510494470596313,
            -9.195948950946331e-05
        ],
        "location": [
            3485.24951171875,
            4541.3623046875,
            367.90167236328125
        ],
        "rotation": [
            0.005268903449177742,
            0.12596917152404785,
            -81.65663146972656
        ],
        "velocity": [
            0.7366331815719604,
            -5.074228286743164,
            0.002320365747436881
        ],
        "speed": 5.127418565923529,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.501787185668945,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3488.1611328125,
                4522.0791015625,
                367.9163513183594
            ],
            "velocity": [
                1.299723505973816,
                -8.692768096923828,
                0.013475541956722736
            ],
            "speed_kmh": 31.64186613333113,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.448633193969727,
                "transform": {
                    "location": {
                        "x": 3488.941162109375,
                        "y": 4494.72998046875,
                        "z": 367.9849853515625
                    },
                    "rotation": {
                        "roll": 0.002319270046427846,
                        "pitch": -0.037504564970731735,
                        "yaw": 98.42157745361328
                    }
                },
                "velocity": {
                    "x": -1.230644941329956,
                    "y": 8.358492851257324,
                    "z": -0.02266504243016243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0399980545043945,
                "transform": {
                    "location": {
                        "x": 3483.0810546875,
                        "y": 4556.67236328125,
                        "z": 367.89019775390625
                    },
                    "rotation": {
                        "roll": -0.0010986352572217584,
                        "pitch": 0.050693660974502563,
                        "yaw": -81.35563659667969
                    }
                },
                "velocity": {
                    "x": 0.3113918900489807,
                    "y": -2.016091823577881,
                    "z": 0.0011695956345647573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.789406776428223,
                "transform": {
                    "location": {
                        "x": 3488.1611328125,
                        "y": 4522.0791015625,
                        "z": 367.9163513183594
                    },
                    "rotation": {
                        "roll": 0.0017148953629657626,
                        "pitch": 0.12988969683647156,
                        "yaw": -81.49476623535156
                    }
                },
                "velocity": {
                    "x": 1.299723505973816,
                    "y": -8.692768096923828,
                    "z": 0.013475541956722736
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035782814025879,
                "transform": {
                    "location": {
                        "x": 3490.836181640625,
                        "y": 4503.80224609375,
                        "z": 367.9566345214844
                    },
                    "rotation": {
                        "roll": 0.00025922132772393525,
                        "pitch": 0.158392071723938,
                        "yaw": -81.59264373779297
                    }
                },
                "velocity": {
                    "x": 1.1730114221572876,
                    "y": -7.949678897857666,
                    "z": 0.021164732053875923
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.00901314802467823,
        "expert_target_speed": 6.071251012784814,
        "target_point": [
            44.236464006395714,
            -0.018745733418110255
        ],
        "target_point_next": [
            95.23632307417522,
            -0.05151391471697231
        ]
    },
    "75": {
        "acceleration": [
            -0.03680229187011719,
            0.03762245178222656,
            0.006860923022031784
        ],
        "angular_velocity": [
            0.150295227766037,
            0.060097191482782364,
            -3.7634689807891846
        ],
        "forward_vector": [
            0.14331786334514618,
            -0.9896758198738098,
            0.0013440842740237713
        ],
        "right_vector": [
            0.9896767139434814,
            0.1433177888393402,
            -0.00015192350838333368
        ],
        "location": [
            3485.434326171875,
            4540.0859375,
            367.90252685546875
        ],
        "rotation": [
            0.008704583160579205,
            0.077010378241539,
            -81.7601089477539
        ],
        "velocity": [
            0.7373858690261841,
            -5.129135608673096,
            0.0021631240379065275
        ],
        "speed": 5.18186935497199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.349342346191406,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3488.476806640625,
                4519.96533203125,
                367.9201354980469
            ],
            "velocity": [
                1.198803424835205,
                -8.093673706054688,
                0.013700474984943867
            ],
            "speed_kmh": 29.45514443237076,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8231892585754395,
                "transform": {
                    "location": {
                        "x": 3488.646484375,
                        "y": 4496.7275390625,
                        "z": 367.979248046875
                    },
                    "rotation": {
                        "roll": -0.00299072009511292,
                        "pitch": -0.1975700408220291,
                        "yaw": 98.55081176757812
                    }
                },
                "velocity": {
                    "x": -1.1441373825073242,
                    "y": 7.739041805267334,
                    "z": -0.021656645461916924
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.590510845184326,
                "transform": {
                    "location": {
                        "x": 3483.168701171875,
                        "y": 4556.09765625,
                        "z": 367.8905029296875
                    },
                    "rotation": {
                        "roll": 0.0004668842884711921,
                        "pitch": 0.05106249079108238,
                        "yaw": -81.36134338378906
                    }
                },
                "velocity": {
                    "x": 0.38568443059921265,
                    "y": -2.561638116836548,
                    "z": 0.0020403098315000534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.181984901428223,
                "transform": {
                    "location": {
                        "x": 3488.476806640625,
                        "y": 4519.96533203125,
                        "z": 367.9201354980469
                    },
                    "rotation": {
                        "roll": 0.001610121806152165,
                        "pitch": 0.0790935829281807,
                        "yaw": -81.58192443847656
                    }
                },
                "velocity": {
                    "x": 1.198803424835205,
                    "y": -8.093673706054688,
                    "z": 0.013700474984943867
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.01405143737793,
                "transform": {
                    "location": {
                        "x": 3491.128662109375,
                        "y": 4501.81884765625,
                        "z": 367.96221923828125
                    },
                    "rotation": {
                        "roll": 0.0006864899187348783,
                        "pitch": 0.15874724090099335,
                        "yaw": -81.6214828491211
                    }
                },
                "velocity": {
                    "x": 1.1678975820541382,
                    "y": -7.928464889526367,
                    "z": 0.021663226187229156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.016456788405776024,
        "expert_target_speed": 6.128328413946682,
        "target_point": [
            42.94674761703796,
            0.061173088227548966
        ],
        "target_point_next": [
            93.94658268169763,
            0.12052007286718158
        ]
    },
    "80": {
        "acceleration": [
            0.18429279327392578,
            -1.507568359375,
            -0.0028057117015123367
        ],
        "angular_velocity": [
            0.15293067693710327,
            -0.004688390996307135,
            2.6301891803741455
        ],
        "forward_vector": [
            0.14326614141464233,
            -0.9896663427352905,
            0.005943740252405405
        ],
        "right_vector": [
            0.9896839261054993,
            0.1432679146528244,
            -0.0001295714027946815
        ],
        "location": [
            3485.64453125,
            4538.62109375,
            367.9023742675781
        ],
        "rotation": [
            0.007424025796353817,
            0.3405532240867615,
            -81.7629623413086
        ],
        "velocity": [
            0.8936492800712585,
            -6.231072902679443,
            0.0020848463755100965
        ],
        "speed": 6.2948295095481255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.86509132385254,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3488.7685546875,
                4517.9912109375,
                367.9231872558594
            ],
            "velocity": [
                1.1487281322479248,
                -7.802923202514648,
                0.013521680608391762
            ],
            "speed_kmh": 28.393337084949955,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.141345024108887,
                "transform": {
                    "location": {
                        "x": 3488.35546875,
                        "y": 4498.693359375,
                        "z": 367.97381591796875
                    },
                    "rotation": {
                        "roll": -0.0020141645800322294,
                        "pitch": -0.137785404920578,
                        "yaw": 98.5672378540039
                    }
                },
                "velocity": {
                    "x": -1.1920660734176636,
                    "y": 8.053569793701172,
                    "z": -0.02210347168147564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1763858795166016,
                "transform": {
                    "location": {
                        "x": 3483.276123046875,
                        "y": 4555.38330078125,
                        "z": 367.8908996582031
                    },
                    "rotation": {
                        "roll": 4.4257842091610655e-05,
                        "pitch": 0.05171819031238556,
                        "yaw": -81.39092254638672
                    }
                },
                "velocity": {
                    "x": 0.47242385149002075,
                    "y": -3.141057252883911,
                    "z": 0.001639623660594225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.887037754058838,
                "transform": {
                    "location": {
                        "x": 3488.7685546875,
                        "y": 4517.9912109375,
                        "z": 367.9231872558594
                    },
                    "rotation": {
                        "roll": 0.0009338289382867515,
                        "pitch": 0.07388215512037277,
                        "yaw": -81.64033508300781
                    }
                },
                "velocity": {
                    "x": 1.1487281322479248,
                    "y": -7.802923202514648,
                    "z": 0.013521680608391762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.98411750793457,
                "transform": {
                    "location": {
                        "x": 3491.419189453125,
                        "y": 4499.84228515625,
                        "z": 367.96771240234375
                    },
                    "rotation": {
                        "roll": 0.001275088987313211,
                        "pitch": 0.15730607509613037,
                        "yaw": -81.64684295654297
                    }
                },
                "velocity": {
                    "x": 1.1583415269851685,
                    "y": -7.8996148109436035,
                    "z": 0.021441830322146416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.017459891736507416,
        "expert_target_speed": 7.11125839993496,
        "target_point": [
            41.46689653195405,
            0.06514560536283742
        ],
        "target_point_next": [
            92.46672857145725,
            0.1270376851273305
        ]
    },
    "85": {
        "acceleration": [
            -0.11406064033508301,
            -0.001506805419921875,
            -0.001072501763701439
        ],
        "angular_velocity": [
            0.6213249564170837,
            0.27799221873283386,
            -3.599128246307373
        ],
        "forward_vector": [
            0.14200592041015625,
            -0.9898597002029419,
            0.0034774469677358866
        ],
        "right_vector": [
            0.989865779876709,
            0.14200611412525177,
            -0.00018895172979682684
        ],
        "location": [
            3485.87158203125,
            4537.04345703125,
            367.90374755859375
        ],
        "rotation": [
            0.010826202109456062,
            0.1992434412240982,
            -81.83601379394531
        ],
        "velocity": [
            0.9042140245437622,
            -6.352927207946777,
            0.0021185684017837048
        ],
        "speed": 6.4169531018741335,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.251798629760742,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3489.056884765625,
                4516.03173828125,
                367.9266662597656
            ],
            "velocity": [
                1.158720850944519,
                -7.894994735717773,
                0.013856715522706509
            ],
            "speed_kmh": 28.726503997737538,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.31298828125,
                        "y": 4458.58154296875,
                        "z": 368.2811584472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043733596801758,
                "transform": {
                    "location": {
                        "x": 3488.05810546875,
                        "y": 4500.7060546875,
                        "z": 367.96820068359375
                    },
                    "rotation": {
                        "roll": 0.0005385263939388096,
                        "pitch": -0.1586584597826004,
                        "yaw": 98.55908203125
                    }
                },
                "velocity": {
                    "x": -1.1747761964797974,
                    "y": 7.957455158233643,
                    "z": -0.02152852900326252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9024667739868164,
                "transform": {
                    "location": {
                        "x": 3483.407958984375,
                        "y": 4554.509765625,
                        "z": 367.8913879394531
                    },
                    "rotation": {
                        "roll": -0.0002746600948739797,
                        "pitch": 0.055590905249118805,
                        "yaw": -81.41497802734375
                    }
                },
                "velocity": {
                    "x": 0.5804688930511475,
                    "y": -3.8590540885925293,
                    "z": 0.002005424350500107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.979584217071533,
                "transform": {
                    "location": {
                        "x": 3489.056884765625,
                        "y": 4516.03173828125,
                        "z": 367.9266662597656
                    },
                    "rotation": {
                        "roll": 0.0007801370811648667,
                        "pitch": 0.10972698032855988,
                        "yaw": -81.66502380371094
                    }
                },
                "velocity": {
                    "x": 1.158720850944519,
                    "y": -7.894994735717773,
                    "z": 0.013856715522706509
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.986000061035156,
                "transform": {
                    "location": {
                        "x": 3491.709228515625,
                        "y": 4497.86474609375,
                        "z": 367.9732666015625
                    },
                    "rotation": {
                        "roll": 0.0011967150494456291,
                        "pitch": 0.15907509624958038,
                        "yaw": -81.65617370605469
                    }
                },
                "velocity": {
                    "x": 1.1582940816879272,
                    "y": -7.901524543762207,
                    "z": 0.021531200036406517
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.024064095690846443,
        "expert_target_speed": 7.221116811947602,
        "target_point": [
            39.87288857168386,
            0.11729841630065518
        ],
        "target_point_next": [
            90.87260025270093,
            0.24421232494657197
        ]
    },
    "90": {
        "acceleration": [
            -0.29734253883361816,
            1.7314338684082031,
            0.011242292821407318
        ],
        "angular_velocity": [
            0.6510226130485535,
            0.08164630085229874,
            2.72619891166687
        ],
        "forward_vector": [
            0.14016947150230408,
            -0.990127444267273,
            0.00028204917907714844
        ],
        "right_vector": [
            0.990127444267273,
            0.14016938209533691,
            -0.0003332707565277815
        ],
        "location": [
            3486.09033203125,
            4535.4921875,
            367.9053955078125
        ],
        "rotation": [
            0.019095009192824364,
            0.016160227358341217,
            -81.94234466552734
        ],
        "velocity": [
            0.8401700258255005,
            -6.021266937255859,
            0.005156945902854204
        ],
        "speed": 6.079600414664288,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.687877655029297,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3489.347412109375,
                4514.05029296875,
                367.930419921875
            ],
            "velocity": [
                1.162898302078247,
                -7.9373297691345215,
                0.017544908449053764
            ],
            "speed_kmh": 28.87950519257841,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.012451171875,
                        "y": 4460.638671875,
                        "z": 368.14093017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.035680770874023,
                "transform": {
                    "location": {
                        "x": 3487.76611328125,
                        "y": 4502.68701171875,
                        "z": 367.9626159667969
                    },
                    "rotation": {
                        "roll": 0.0008693719864822924,
                        "pitch": -0.16634924709796906,
                        "yaw": 98.52706909179688
                    }
                },
                "velocity": {
                    "x": -1.17026686668396,
                    "y": 7.949979305267334,
                    "z": -0.02173953503370285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.831220626831055,
                "transform": {
                    "location": {
                        "x": 3483.570556640625,
                        "y": 4553.42822265625,
                        "z": 367.8919372558594
                    },
                    "rotation": {
                        "roll": -6.10381830483675e-05,
                        "pitch": 0.06225034222006798,
                        "yaw": -81.43553924560547
                    }
                },
                "velocity": {
                    "x": 0.7179002165794373,
                    "y": -4.777583599090576,
                    "z": 0.001988859148696065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022085189819336,
                "transform": {
                    "location": {
                        "x": 3489.347412109375,
                        "y": 4514.05029296875,
                        "z": 367.930419921875
                    },
                    "rotation": {
                        "roll": -0.00021362403640523553,
                        "pitch": 0.1294320821762085,
                        "yaw": -81.67180633544922
                    }
                },
                "velocity": {
                    "x": 1.162898302078247,
                    "y": -7.9373297691345215,
                    "z": 0.017544908449053764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.947010040283203,
                "transform": {
                    "location": {
                        "x": 3491.999267578125,
                        "y": 4495.88623046875,
                        "z": 367.9787292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15591955184936523,
                        "yaw": -81.66609191894531
                    }
                },
                "velocity": {
                    "x": 1.15163254737854,
                    "y": -7.863093852996826,
                    "z": 0.02164330519735813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.03721506893634796,
        "expert_target_speed": 6.943231042655833,
        "target_point": [
            38.30598547669912,
            0.1921472996787399
        ],
        "target_point_next": [
            89.30537379197382,
            0.4137102814662814
        ]
    },
    "95": {
        "acceleration": [
            -0.19531607627868652,
            0.9496307373046875,
            0.008180420845746994
        ],
        "angular_velocity": [
            0.018596353009343147,
            -0.043561555445194244,
            -3.899618148803711
        ],
        "forward_vector": [
            0.13718609511852264,
            -0.9905446767807007,
            -0.001103162532672286
        ],
        "right_vector": [
            0.9905451536178589,
            0.13718654215335846,
            -0.0003607039398048073
        ],
        "location": [
            3486.2919921875,
            4534.0361328125,
            367.9068603515625
        ],
        "rotation": [
            0.020666824653744698,
            -0.06320656836032867,
            -82.11494445800781
        ],
        "velocity": [
            0.7781336307525635,
            -5.686623573303223,
            0.005696286913007498
        ],
        "speed": 5.739614935843352,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.0161190032959,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.712158203125,
                        "y": 4462.69775390625,
                        "z": 368.0548095703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03119347244501114,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056788444519043,
                "transform": {
                    "location": {
                        "x": 3487.47265625,
                        "y": 4504.68017578125,
                        "z": 367.95709228515625
                    },
                    "rotation": {
                        "roll": 0.0010957688791677356,
                        "pitch": -0.15154822170734406,
                        "yaw": 98.52969360351562
                    }
                },
                "velocity": {
                    "x": -1.1724435091018677,
                    "y": 7.970995903015137,
                    "z": -0.020832275971770287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.320282459259033,
                "transform": {
                    "location": {
                        "x": 3483.763427734375,
                        "y": 4552.14697265625,
                        "z": 367.8930358886719
                    },
                    "rotation": {
                        "roll": -0.00018310616724193096,
                        "pitch": 0.05119909346103668,
                        "yaw": -81.44738006591797
                    }
                },
                "velocity": {
                    "x": 0.7902302145957947,
                    "y": -5.26126766204834,
                    "z": 0.0020976257510483265
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9556379318237305,
                "transform": {
                    "location": {
                        "x": 3492.74951171875,
                        "y": 4490.0654296875,
                        "z": 368.0149230957031
                    },
                    "rotation": {
                        "roll": -0.0008850125013850629,
                        "pitch": 0.14588600397109985,
                        "yaw": -81.67665100097656
                    }
                },
                "velocity": {
                    "x": 1.1679667234420776,
                    "y": -7.80014705657959,
                    "z": -1.0419842004776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.880105972290039,
                "transform": {
                    "location": {
                        "x": 3495.3955078125,
                        "y": 4471.94384765625,
                        "z": 368.0486755371094
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": 0.04548905789852142,
                        "yaw": -81.68773651123047
                    }
                },
                "velocity": {
                    "x": 1.1486201286315918,
                    "y": -7.7245049476623535,
                    "z": -1.052980899810791
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.05716686323285103,
        "expert_target_speed": 6.733446851991817,
        "target_point": [
            36.835279725644945,
            0.30754042258440695
        ],
        "target_point_next": [
            87.83376916126254,
            0.682738999709386
        ]
    },
    "100": {
        "acceleration": [
            -0.0619816780090332,
            0.12064933776855469,
            -0.003582378849387169
        ],
        "angular_velocity": [
            -0.24152593314647675,
            -0.02703629434108734,
            2.801327705383301
        ],
        "forward_vector": [
            0.13544459640979767,
            -0.9907848834991455,
            -0.0004186629957985133
        ],
        "right_vector": [
            0.9907848834991455,
            0.1354447305202484,
            -0.0003362135321367532
        ],
        "location": [
            3486.483154296875,
            4532.6298828125,
            367.9079895019531
        ],
        "rotation": [
            0.0192636176943779,
            -0.023987622931599617,
            -82.21566772460938
        ],
        "velocity": [
            0.7522698044776917,
            -5.594486713409424,
            0.005711155012249947
        ],
        "speed": 5.644837592459457,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.60809326171875,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07748031616211,
                "transform": {
                    "location": {
                        "x": 3493.411865234375,
                        "y": 4464.73095703125,
                        "z": 368.0408020019531
                    },
                    "rotation": {
                        "roll": -0.01110839657485485,
                        "pitch": -0.05065951123833656,
                        "yaw": 98.46109008789062
                    }
                },
                "velocity": {
                    "x": -1.2411550283432007,
                    "y": 7.981043338775635,
                    "z": -0.09035847336053848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068378448486328,
                "transform": {
                    "location": {
                        "x": 3487.18017578125,
                        "y": 4506.6748046875,
                        "z": 367.9519958496094
                    },
                    "rotation": {
                        "roll": 0.001435818150639534,
                        "pitch": -0.1412346512079239,
                        "yaw": 98.4830322265625
                    }
                },
                "velocity": {
                    "x": -1.1680970191955566,
                    "y": 7.983348369598389,
                    "z": -0.020480165258049965
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.039278984069824,
                "transform": {
                    "location": {
                        "x": 3483.97216796875,
                        "y": 4550.7548828125,
                        "z": 367.8937072753906
                    },
                    "rotation": {
                        "roll": 0.0009166664676740766,
                        "pitch": 0.05459369719028473,
                        "yaw": -81.47594451904297
                    }
                },
                "velocity": {
                    "x": 0.8891355991363525,
                    "y": -5.97346830368042,
                    "z": 0.001982202520594001
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.76272439956665,
                "transform": {
                    "location": {
                        "x": 3493.01123046875,
                        "y": 4488.3466796875,
                        "z": 367.9765625
                    },
                    "rotation": {
                        "roll": -0.0032653827220201492,
                        "pitch": 0.06903272122144699,
                        "yaw": -81.2428207397461
                    }
                },
                "velocity": {
                    "x": 0.8965513706207275,
                    "y": -5.69112491607666,
                    "z": 0.1276196390390396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5357630252838135,
                "transform": {
                    "location": {
                        "x": 3495.626708984375,
                        "y": 4470.41259765625,
                        "z": 368.00634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04376101866364479,
                        "yaw": -81.40156555175781
                    }
                },
                "velocity": {
                    "x": 0.5382700562477112,
                    "y": -3.492957353591919,
                    "z": 0.10552051663398743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.0720425546169281,
        "expert_target_speed": 6.645852688744918,
        "target_point": [
            35.41549922998901,
            0.3733402648878572
        ],
        "target_point_next": [
            86.41325057416947,
            0.8381590728306048
        ]
    },
    "105": {
        "acceleration": [
            -0.21010041236877441,
            0.9490394592285156,
            -0.012205317616462708
        ],
        "angular_velocity": [
            0.14278002083301544,
            0.02389463223516941,
            -4.044514179229736
        ],
        "forward_vector": [
            0.13250458240509033,
            -0.9911823868751526,
            -0.00012838839029427618
        ],
        "right_vector": [
            0.9911823272705078,
            0.13250461220741272,
            -0.0003478777362033725
        ],
        "location": [
            3486.66845703125,
            4531.24267578125,
            367.9092102050781
        ],
        "rotation": [
            0.01993192546069622,
            -0.007356113288551569,
            -82.38565063476562
        ],
        "velocity": [
            0.7195290923118591,
            -5.464838027954102,
            0.005516442935913801
        ],
        "speed": 5.512002974097202,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.221235275268555,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99906063079834,
                "transform": {
                    "location": {
                        "x": 3493.10107421875,
                        "y": 4466.71533203125,
                        "z": 368.02655029296875
                    },
                    "rotation": {
                        "roll": -0.007263183128088713,
                        "pitch": -0.04458064213395119,
                        "yaw": 98.92525482177734
                    }
                },
                "velocity": {
                    "x": -1.2605748176574707,
                    "y": 7.899051189422607,
                    "z": -0.030243901535868645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019357681274414,
                "transform": {
                    "location": {
                        "x": 3486.888916015625,
                        "y": 4508.6630859375,
                        "z": 367.94720458984375
                    },
                    "rotation": {
                        "roll": -0.0007934509194456041,
                        "pitch": -0.1202932819724083,
                        "yaw": 98.50018310546875
                    }
                },
                "velocity": {
                    "x": -1.163568377494812,
                    "y": 7.93447732925415,
                    "z": -0.016911134123802185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.259474277496338,
                "transform": {
                    "location": {
                        "x": 3484.21875,
                        "y": 4549.0966796875,
                        "z": 367.8944396972656
                    },
                    "rotation": {
                        "roll": 0.00040617305785417557,
                        "pitch": 0.06958596408367157,
                        "yaw": -81.52586364746094
                    }
                },
                "velocity": {
                    "x": 1.0638246536254883,
                    "y": -7.181102752685547,
                    "z": 0.003259525168687105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7668392658233643,
                "transform": {
                    "location": {
                        "x": 3493.1650390625,
                        "y": 4487.361328125,
                        "z": 367.9972839355469
                    },
                    "rotation": {
                        "roll": -0.0002746600366663188,
                        "pitch": 0.04173928499221802,
                        "yaw": -80.88737487792969
                    }
                },
                "velocity": {
                    "x": 0.6001003384590149,
                    "y": -3.718505859375,
                    "z": 0.04088730737566948
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03313792496919632,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.20361328125,
                        "z": 368.0252380371094
                    },
                    "rotation": {
                        "roll": 0.0017969758482649922,
                        "pitch": -0.055174265056848526,
                        "yaw": -81.36294555664062
                    }
                },
                "velocity": {
                    "x": 4.445491867954843e-05,
                    "y": 0.00013360995217226446,
                    "z": 0.03313762694597244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.09700482338666916,
        "expert_target_speed": 6.523131082585541,
        "target_point": [
            34.01470700239864,
            0.47855880553289243
        ],
        "target_point_next": [
            85.01085476248736,
            1.0946856741841096
        ]
    },
    "110": {
        "acceleration": [
            -0.20202159881591797,
            1.2311363220214844,
            0.0001325644552707672
        ],
        "angular_velocity": [
            0.16005270183086395,
            0.06788800656795502,
            2.881756067276001
        ],
        "forward_vector": [
            0.13042311370372772,
            -0.991457998752594,
            -0.000910758797544986
        ],
        "right_vector": [
            0.9914582967758179,
            0.13042348623275757,
            -0.0003580305492505431
        ],
        "location": [
            3486.841796875,
            4529.9140625,
            367.9105529785156
        ],
        "rotation": [
            0.02051364816725254,
            -0.0521826408803463,
            -82.50595092773438
        ],
        "velocity": [
            0.6663846373558044,
            -5.1711883544921875,
            0.0055170441046357155
        ],
        "speed": 5.213948358253987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.89548110961914,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.425784587860107,
                "transform": {
                    "location": {
                        "x": 3482.19140625,
                        "y": 4562.3701171875,
                        "z": 368.2406921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031958453357219696,
                        "yaw": -81.6932144165039
                    }
                },
                "velocity": {
                    "x": 0.7710633873939514,
                    "y": -5.281100273132324,
                    "z": -0.9770241379737854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04242992401123,
                "transform": {
                    "location": {
                        "x": 3492.7900390625,
                        "y": 4468.69677734375,
                        "z": 368.0224609375
                    },
                    "rotation": {
                        "roll": 0.005738603882491589,
                        "pitch": -0.03833102062344551,
                        "yaw": 98.91057586669922
                    }
                },
                "velocity": {
                    "x": -1.2206453084945679,
                    "y": 7.949252605438232,
                    "z": -0.008970947004854679
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090311050415039,
                "transform": {
                    "location": {
                        "x": 3486.59716796875,
                        "y": 4510.6572265625,
                        "z": 367.9429931640625
                    },
                    "rotation": {
                        "roll": 0.0007591597968712449,
                        "pitch": -0.12011569738388062,
                        "yaw": 98.47122192382812
                    }
                },
                "velocity": {
                    "x": -1.1702319383621216,
                    "y": 8.005208969116211,
                    "z": -0.0176820270717144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.253439903259277,
                "transform": {
                    "location": {
                        "x": 3484.498779296875,
                        "y": 4547.20849609375,
                        "z": 367.8955078125
                    },
                    "rotation": {
                        "roll": 0.0008810248109512031,
                        "pitch": 0.06215471774339676,
                        "yaw": -81.57683563232422
                    }
                },
                "velocity": {
                    "x": 1.2064132690429688,
                    "y": -8.164790153503418,
                    "z": 0.0054710484109818935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.575721263885498,
                "transform": {
                    "location": {
                        "x": 3493.327392578125,
                        "y": 4486.333984375,
                        "z": 368.0012512207031
                    },
                    "rotation": {
                        "roll": 0.004331611562520266,
                        "pitch": 0.13080494105815887,
                        "yaw": -80.96776580810547
                    }
                },
                "velocity": {
                    "x": 0.6995026469230652,
                    "y": -4.521927833557129,
                    "z": 0.009507494047284126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015777013322804123,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0272521972656
                    },
                    "rotation": {
                        "roll": 0.0010358525905758142,
                        "pitch": 0.024834565818309784,
                        "yaw": -81.36294555664062
                    }
                },
                "velocity": {
                    "x": 1.2865802091255318e-05,
                    "y": 3.4560081985546276e-05,
                    "z": -0.00015339975652750582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.12149081379175186,
        "expert_target_speed": 6.255448127171718,
        "target_point": [
            32.67375460261519,
            0.5514149532845218
        ],
        "target_point_next": [
            83.6684959603961,
            1.274638667017097
        ]
    },
    "115": {
        "acceleration": [
            0.10165929794311523,
            -1.5854644775390625,
            -0.00014095567166805267
        ],
        "angular_velocity": [
            -0.97596675157547,
            -0.09243529289960861,
            -0.5621141791343689
        ],
        "forward_vector": [
            0.12735027074813843,
            -0.9918575882911682,
            -0.0007116793422028422
        ],
        "right_vector": [
            0.991857647895813,
            0.1273506134748459,
            -0.0004617653612513095
        ],
        "location": [
            3487.002197265625,
            4528.6533203125,
            367.91162109375
        ],
        "rotation": [
            0.02645721472799778,
            -0.04077622666954994,
            -82.6834945678711
        ],
        "velocity": [
            0.6323415637016296,
            -5.087060928344727,
            0.006033191457390785
        ],
        "speed": 5.126211538931663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.64014434814453,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.02700138092041,
                "transform": {
                    "location": {
                        "x": 3482.383056640625,
                        "y": 4561.07177734375,
                        "z": 367.8293151855469
                    },
                    "rotation": {
                        "roll": -0.003967283759266138,
                        "pitch": 0.023878339678049088,
                        "yaw": -81.60990905761719
                    }
                },
                "velocity": {
                    "x": 0.7539387345314026,
                    "y": -4.934920310974121,
                    "z": -0.5906575918197632
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.083847522735596,
                "transform": {
                    "location": {
                        "x": 3492.5166015625,
                        "y": 4470.474609375,
                        "z": 368.0216369628906
                    },
                    "rotation": {
                        "roll": 0.0022679364774376154,
                        "pitch": -0.14159664511680603,
                        "yaw": 98.7218017578125
                    }
                },
                "velocity": {
                    "x": -0.9174407720565796,
                    "y": 6.014272212982178,
                    "z": -0.00556225748732686
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012863159179688,
                "transform": {
                    "location": {
                        "x": 3486.30615234375,
                        "y": 4512.64794921875,
                        "z": 367.9387512207031
                    },
                    "rotation": {
                        "roll": -0.0004882862558588386,
                        "pitch": -0.12423430383205414,
                        "yaw": 98.47859954833984
                    }
                },
                "velocity": {
                    "x": -1.1606862545013428,
                    "y": 7.9283342361450195,
                    "z": -0.017536945641040802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.281068801879883,
                "transform": {
                    "location": {
                        "x": 3484.809814453125,
                        "y": 4545.1015625,
                        "z": 367.89691162109375
                    },
                    "rotation": {
                        "roll": 0.0008975981618277729,
                        "pitch": 0.04291407763957977,
                        "yaw": -81.6264877319336
                    }
                },
                "velocity": {
                    "x": 1.2057758569717407,
                    "y": -8.192811965942383,
                    "z": 0.005564374849200249
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.883956432342529,
                "transform": {
                    "location": {
                        "x": 3493.5185546875,
                        "y": 4485.10498046875,
                        "z": 368.0038146972656
                    },
                    "rotation": {
                        "roll": 0.002683431375771761,
                        "pitch": 0.13667207956314087,
                        "yaw": -81.16971588134766
                    }
                },
                "velocity": {
                    "x": 0.7434585690498352,
                    "y": -4.827030181884766,
                    "z": 0.008791160769760609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00038583806599490345,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0269775390625
                    },
                    "rotation": {
                        "roll": 0.0011670987587422132,
                        "pitch": 0.03545551002025604,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": 3.094624844379723e-06,
                    "y": 2.407236024737358e-06,
                    "z": -0.0003858181298710406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.15220682322978973,
        "expert_target_speed": 6.176089173521064,
        "target_point": [
            31.40098490202319,
            0.6541266635008611
        ],
        "target_point_next": [
            82.39324017900393,
            1.5353760347384426
        ]
    },
    "120": {
        "acceleration": [
            -0.2698659896850586,
            1.7011070251464844,
            0.005949018523097038
        ],
        "angular_velocity": [
            0.21805234253406525,
            -0.01503877341747284,
            -0.762420654296875
        ],
        "forward_vector": [
            0.1236758679151535,
            -0.9923187494277954,
            -0.0028011759277433157
        ],
        "right_vector": [
            0.9923223257064819,
            0.12367755174636841,
            -0.00043652832391671836
        ],
        "location": [
            3487.145263671875,
            4527.48876953125,
            367.9129333496094
        ],
        "rotation": [
            0.025011328980326653,
            -0.16049577295780182,
            -82.89567565917969
        ],
        "velocity": [
            0.5205753445625305,
            -4.331754684448242,
            0.0029973029159009457
        ],
        "speed": 4.362923026550628,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.483705520629883,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.169835567474365,
                "transform": {
                    "location": {
                        "x": 3482.577392578125,
                        "y": 4559.80029296875,
                        "z": 367.86041259765625
                    },
                    "rotation": {
                        "roll": -0.0020751936826854944,
                        "pitch": 0.030237246304750443,
                        "yaw": -81.34986877441406
                    }
                },
                "velocity": {
                    "x": 0.7953726649284363,
                    "y": -5.102974891662598,
                    "z": 0.23286813497543335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.689605236053467,
                "transform": {
                    "location": {
                        "x": 3492.299072265625,
                        "y": 4471.8994140625,
                        "z": 368.0198669433594
                    },
                    "rotation": {
                        "roll": 0.0005700414767488837,
                        "pitch": -0.09640128165483475,
                        "yaw": 98.67799377441406
                    }
                },
                "velocity": {
                    "x": -0.8573996424674988,
                    "y": 5.624627113342285,
                    "z": -0.0065500736236572266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087639808654785,
                "transform": {
                    "location": {
                        "x": 3486.0146484375,
                        "y": 4514.6396484375,
                        "z": 367.9344787597656
                    },
                    "rotation": {
                        "roll": 0.00010133914474863559,
                        "pitch": -0.12011569738388062,
                        "yaw": 98.46977233886719
                    }
                },
                "velocity": {
                    "x": -1.1699268817901611,
                    "y": 8.002554893493652,
                    "z": -0.017519596964120865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3071818351745605,
                "transform": {
                    "location": {
                        "x": 3485.09326171875,
                        "y": 4543.17626953125,
                        "z": 367.89837646484375
                    },
                    "rotation": {
                        "roll": 7.360878953477368e-05,
                        "pitch": 0.003367283148691058,
                        "yaw": -81.65728759765625
                    }
                },
                "velocity": {
                    "x": 1.061667561531067,
                    "y": -7.22964334487915,
                    "z": 0.00533639919012785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7847065925598145,
                "transform": {
                    "location": {
                        "x": 3493.64208984375,
                        "y": 4484.35791015625,
                        "z": 368.0055236816406
                    },
                    "rotation": {
                        "roll": -0.001617435016669333,
                        "pitch": 0.06164928525686264,
                        "yaw": -82.25898742675781
                    }
                },
                "velocity": {
                    "x": 0.4161035120487213,
                    "y": -2.75343656539917,
                    "z": 0.006014289800077677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001584631041623652,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.02685546875
                    },
                    "rotation": {
                        "roll": 0.0014403479872271419,
                        "pitch": 0.03576286882162094,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -1.5260031432262622e-05,
                    "y": -7.348414214902732e-07,
                    "z": -0.0015845573507249355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.19086100161075592,
        "expert_target_speed": 5.4650914021232015,
        "target_point": [
            30.225043992621714,
            0.7724349277266143
        ],
        "target_point_next": [
            81.21368724188429,
            1.8424621640649192
        ]
    },
    "125": {
        "acceleration": [
            -0.12577950954437256,
            0.6094741821289062,
            0.005524065345525742
        ],
        "angular_velocity": [
            -0.40043309330940247,
            -0.0506000816822052,
            -0.39801037311553955
        ],
        "forward_vector": [
            0.12050671130418777,
            -0.9927111864089966,
            -0.0016090861754491925
        ],
        "right_vector": [
            0.9927123785018921,
            0.12050743401050568,
            -0.0003581105556804687
        ],
        "location": [
            3487.270751953125,
            4526.43505859375,
            367.913818359375
        ],
        "rotation": [
            0.02051825076341629,
            -0.09219388663768768,
            -83.07864379882812
        ],
        "velocity": [
            0.4824027121067047,
            -4.128463268280029,
            0.006627321243286133
        ],
        "speed": 4.156551615724906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.440183639526367,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.043299674987793,
                "transform": {
                    "location": {
                        "x": 3482.773681640625,
                        "y": 4558.5322265625,
                        "z": 367.8884582519531
                    },
                    "rotation": {
                        "roll": -0.00045776611659675837,
                        "pitch": 0.03074950911104679,
                        "yaw": -81.1666030883789
                    }
                },
                "velocity": {
                    "x": 0.7807334065437317,
                    "y": -4.982394218444824,
                    "z": 0.03273632004857063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.640653133392334,
                "transform": {
                    "location": {
                        "x": 3492.074951171875,
                        "y": 4473.38623046875,
                        "z": 368.0177917480469
                    },
                    "rotation": {
                        "roll": 0.003291216678917408,
                        "pitch": -0.04877437651157379,
                        "yaw": 98.56746673583984
                    }
                },
                "velocity": {
                    "x": -0.9782587885856628,
                    "y": 6.568199157714844,
                    "z": -0.006650266703218222
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.017082214355469,
                "transform": {
                    "location": {
                        "x": 3485.7236328125,
                        "y": 4516.6318359375,
                        "z": 367.9306945800781
                    },
                    "rotation": {
                        "roll": 3.335057785491813e-09,
                        "pitch": -0.09713894873857498,
                        "yaw": 98.46571350097656
                    }
                },
                "velocity": {
                    "x": -1.1569300889968872,
                    "y": 7.933152675628662,
                    "z": -0.014431132934987545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.586153030395508,
                "transform": {
                    "location": {
                        "x": 3485.333251953125,
                        "y": 4541.53857421875,
                        "z": 367.8995666503906
                    },
                    "rotation": {
                        "roll": 0.00010860100883292034,
                        "pitch": -0.018885472789406776,
                        "yaw": -81.66344451904297
                    }
                },
                "velocity": {
                    "x": 0.8095603585243225,
                    "y": -5.5271782875061035,
                    "z": 0.004338092636317015
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.415250539779663,
                "transform": {
                    "location": {
                        "x": 3493.755615234375,
                        "y": 4483.59033203125,
                        "z": 368.006591796875
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.12736935913562775,
                        "yaw": -82.03258514404297
                    }
                },
                "velocity": {
                    "x": 0.5096810460090637,
                    "y": -3.3769989013671875,
                    "z": 0.006354665383696556
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004030156705994159,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0014402478700503707,
                        "pitch": 0.0357082262635231,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": 3.9467937540393905e-07,
                    "y": 1.5276158364940784e-06,
                    "z": -0.0004030125855933875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.22183936834335327,
        "expert_target_speed": 5.271103054797428,
        "target_point": [
            29.161268223791268,
            0.8713826864889604
        ],
        "target_point_next": [
            80.14623340150567,
            2.1042754289147076
        ]
    },
    "130": {
        "acceleration": [
            0.11351704597473145,
            -0.6226921081542969,
            0.009293556213378906
        ],
        "angular_velocity": [
            -0.5372967720031738,
            -0.12518846988677979,
            -0.723587155342102
        ],
        "forward_vector": [
            0.1176329255104065,
            -0.9930570721626282,
            0.00039899349212646484
        ],
        "right_vector": [
            0.993057131767273,
            0.11763285100460052,
            -0.000212826271308586
        ],
        "location": [
            3487.390625,
            4525.40478515625,
            367.9147644042969
        ],
        "rotation": [
            0.012194047681987286,
            0.02286064252257347,
            -83.24449157714844
        ],
        "velocity": [
            0.4811396598815918,
            -4.16395902633667,
            0.006091584917157888
        ],
        "speed": 4.1916643645837866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.422595977783203,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.064597129821777,
                "transform": {
                    "location": {
                        "x": 3482.968994140625,
                        "y": 4557.28466796875,
                        "z": 367.8906555175781
                    },
                    "rotation": {
                        "roll": -0.001037596957758069,
                        "pitch": 0.03301713243126869,
                        "yaw": -81.0754165649414
                    }
                },
                "velocity": {
                    "x": 0.7876241207122803,
                    "y": -5.0029778480529785,
                    "z": 0.0017892455216497183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.426387786865234,
                "transform": {
                    "location": {
                        "x": 3491.785888671875,
                        "y": 4475.3232421875,
                        "z": 368.01470947265625
                    },
                    "rotation": {
                        "roll": 0.0010411294642835855,
                        "pitch": 0.02313384972512722,
                        "yaw": 98.49219512939453
                    }
                },
                "velocity": {
                    "x": -1.2407925128936768,
                    "y": 8.334527015686035,
                    "z": -0.009981164708733559
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08321475982666,
                "transform": {
                    "location": {
                        "x": 3485.4326171875,
                        "y": 4518.62353515625,
                        "z": 367.9274597167969
                    },
                    "rotation": {
                        "roll": -0.00021362373081501573,
                        "pitch": -0.08306192606687546,
                        "yaw": 98.46517181396484
                    }
                },
                "velocity": {
                    "x": -1.1694422960281372,
                    "y": 7.998162746429443,
                    "z": -0.012571210972964764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.048875100910663605,
                "transform": {
                    "location": {
                        "x": 3485.427978515625,
                        "y": 4540.8310546875,
                        "z": 367.9007873535156
                    },
                    "rotation": {
                        "roll": 0.0007511894218623638,
                        "pitch": -0.13208219408988953,
                        "yaw": -80.62767028808594
                    }
                },
                "velocity": {
                    "x": 0.0023691700771450996,
                    "y": -0.04880594089627266,
                    "z": -0.001068863202817738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219776153564453,
                "transform": {
                    "location": {
                        "x": 3493.895751953125,
                        "y": 4482.64599609375,
                        "z": 368.00836181640625
                    },
                    "rotation": {
                        "roll": -0.0011901906691491604,
                        "pitch": 0.1432768702507019,
                        "yaw": -81.74491882324219
                    }
                },
                "velocity": {
                    "x": 0.6338760852813721,
                    "y": -4.1718878746032715,
                    "z": 0.00791621208190918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011588314082473516,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008688398520462215,
                        "pitch": 0.03599509596824646,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -2.611281843201141e-06,
                    "y": 1.1840276101793279e-06,
                    "z": -0.0011588279157876968
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.26250308752059937,
        "expert_target_speed": 5.305381055560677,
        "target_point": [
            28.121403021037068,
            0.9579217672263671
        ],
        "target_point_next": [
            79.10258686208029,
            2.338353892623969
        ]
    },
    "135": {
        "acceleration": [
            0.011010169982910156,
            0.12697219848632812,
            0.00516185536980629
        ],
        "angular_velocity": [
            -0.028461847454309464,
            -0.007657605689018965,
            0.49813923239707947
        ],
        "forward_vector": [
            0.11803889274597168,
            -0.993007242679596,
            0.001847742940299213
        ],
        "right_vector": [
            0.9930089116096497,
            0.11803948134183884,
            0.00021198710601311177
        ],
        "location": [
            3487.5166015625,
            4524.345703125,
            367.9158935546875
        ],
        "rotation": [
            -0.012145987711846828,
            0.10586792975664139,
            -83.22105407714844
        ],
        "velocity": [
            0.5116293430328369,
            -4.257779598236084,
            0.0061248489655554295
        ],
        "speed": 4.288408993065802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.377958297729492,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.617876052856445,
                "transform": {
                    "location": {
                        "x": 3483.17236328125,
                        "y": 4555.9853515625,
                        "z": 367.89093017578125
                    },
                    "rotation": {
                        "roll": 0.0010784363839775324,
                        "pitch": 0.04591253027319908,
                        "yaw": -81.03105163574219
                    }
                },
                "velocity": {
                    "x": 0.8585385680198669,
                    "y": -5.551886081695557,
                    "z": 0.0019738387782126665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.061796188354492,
                "transform": {
                    "location": {
                        "x": 3491.480224609375,
                        "y": 4477.37451171875,
                        "z": 368.01263427734375
                    },
                    "rotation": {
                        "roll": 0.0004545914416667074,
                        "pitch": -0.07101347297430038,
                        "yaw": 98.47061157226562
                    }
                },
                "velocity": {
                    "x": -1.1861348152160645,
                    "y": 7.974053859710693,
                    "z": -0.010278911329805851
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01905632019043,
                "transform": {
                    "location": {
                        "x": 3485.141845703125,
                        "y": 4520.61474609375,
                        "z": 367.9244689941406
                    },
                    "rotation": {
                        "roll": -0.0004882790381088853,
                        "pitch": -0.0867297351360321,
                        "yaw": 98.47386169433594
                    }
                },
                "velocity": {
                    "x": -1.1587467193603516,
                    "y": 7.934885501861572,
                    "z": -0.012918319553136826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6961795091629028,
                "transform": {
                    "location": {
                        "x": 3485.441162109375,
                        "y": 4540.74365234375,
                        "z": 367.8995361328125
                    },
                    "rotation": {
                        "roll": 0.0006767681916244328,
                        "pitch": 0.0006078868173062801,
                        "yaw": -80.64828491210938
                    }
                },
                "velocity": {
                    "x": 0.10246331244707108,
                    "y": -0.6885972619056702,
                    "z": 0.0009991073748096824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2669854164123535,
                "transform": {
                    "location": {
                        "x": 3494.061279296875,
                        "y": 4481.54248046875,
                        "z": 368.0105895996094
                    },
                    "rotation": {
                        "roll": 0.0008665352943353355,
                        "pitch": 0.11518430709838867,
                        "yaw": -81.5690689086914
                    }
                },
                "velocity": {
                    "x": 0.6320278644561768,
                    "y": -4.219912528991699,
                    "z": 0.006454400718212128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006875274120829999,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008688398520462215,
                        "pitch": 0.03599509596824646,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -2.1627440673910314e-06,
                    "y": 1.6195233456528513e-06,
                    "z": -0.0006875221151858568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.28443917632102966,
        "expert_target_speed": 5.396828795498118,
        "target_point": [
            27.055244089804443,
            0.9463452452267247
        ],
        "target_point_next": [
            78.03698786790633,
            2.3059407847325755
        ]
    },
    "140": {
        "acceleration": [
            -0.08909881114959717,
            0.8845043182373047,
            0.017090411856770515
        ],
        "angular_velocity": [
            0.2309805452823639,
            0.056929249316453934,
            -0.155173197388649
        ],
        "forward_vector": [
            0.11898045986890793,
            -0.9928964376449585,
            0.0006269215955398977
        ],
        "right_vector": [
            0.9928966164588928,
            0.11898058652877808,
            0.00017097493400797248
        ],
        "location": [
            3487.640869140625,
            4523.3134765625,
            367.9176940917969
        ],
        "rotation": [
            -0.009796143509447575,
            0.03591996431350708,
            -83.16673278808594
        ],
        "velocity": [
            0.48675939440727234,
            -4.012206077575684,
            0.006208133418112993
        ],
        "speed": 4.041624959960905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.36187744140625,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.183762073516846,
                "transform": {
                    "location": {
                        "x": 3483.404296875,
                        "y": 4554.47998046875,
                        "z": 367.89154052734375
                    },
                    "rotation": {
                        "roll": 0.0014312837738543749,
                        "pitch": 0.05445709452033043,
                        "yaw": -81.14373016357422
                    }
                },
                "velocity": {
                    "x": 0.9335371851921082,
                    "y": -6.112889766693115,
                    "z": 0.0023523233830928802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.892087459564209,
                "transform": {
                    "location": {
                        "x": 3491.19189453125,
                        "y": 4479.32470703125,
                        "z": 368.0101013183594
                    },
                    "rotation": {
                        "roll": 0.0015665460377931595,
                        "pitch": -0.08254966139793396,
                        "yaw": 98.4058837890625
                    }
                },
                "velocity": {
                    "x": -1.1497974395751953,
                    "y": 7.80787467956543,
                    "z": -0.010177869349718094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08301067352295,
                "transform": {
                    "location": {
                        "x": 3484.85107421875,
                        "y": 4522.60693359375,
                        "z": 367.92144775390625
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -0.08515196293592453,
                        "yaw": 98.44706726074219
                    }
                },
                "velocity": {
                    "x": -1.1682915687561035,
                    "y": 7.9981231689453125,
                    "z": -0.013766116462647915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.278714895248413,
                "transform": {
                    "location": {
                        "x": 3485.47900390625,
                        "y": 4540.49853515625,
                        "z": 367.8992919921875
                    },
                    "rotation": {
                        "roll": 0.0013516041217371821,
                        "pitch": 0.05068683251738548,
                        "yaw": -80.77046966552734
                    }
                },
                "velocity": {
                    "x": 0.18834416568279266,
                    "y": -1.2647662162780762,
                    "z": 0.002144880359992385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.899656057357788,
                "transform": {
                    "location": {
                        "x": 3494.19189453125,
                        "y": 4480.666015625,
                        "z": 368.0124206542969
                    },
                    "rotation": {
                        "roll": 0.0005374723696149886,
                        "pitch": 0.05341890826821327,
                        "yaw": -81.53199768066406
                    }
                },
                "velocity": {
                    "x": 0.4290285110473633,
                    "y": -2.8677356243133545,
                    "z": 0.005695056635886431
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001946858683368191,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008688398520462215,
                        "pitch": 0.03599509596824646,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -5.583751317317365e-06,
                    "y": 1.90946730072028e-06,
                    "z": -0.00019459641771391034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.3109278976917267,
        "expert_target_speed": 5.161189455118097,
        "target_point": [
            26.016449472977868,
            0.9201244787182792
        ],
        "target_point_next": [
            76.99945932267046,
            2.2313854570225384
        ]
    },
    "145": {
        "acceleration": [
            -0.05485892295837402,
            0.5589008331298828,
            -0.0003684964030981064
        ],
        "angular_velocity": [
            -0.01734209805727005,
            -0.0042756833136081696,
            0.6559268236160278
        ],
        "forward_vector": [
            0.12000319361686707,
            -0.9927735328674316,
            0.00023543833231087774
        ],
        "right_vector": [
            0.9927735328674316,
            0.12000323086977005,
            0.00014540863048750907
        ],
        "location": [
            3487.760009765625,
            4522.33544921875,
            367.9192810058594
        ],
        "rotation": [
            -0.00833130069077015,
            0.013489622622728348,
            -83.10771179199219
        ],
        "velocity": [
            0.46899768710136414,
            -3.8357114791870117,
            0.0058656977489590645
        ],
        "speed": 3.864277601580073,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.401395797729492,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3813376426696777,
                "transform": {
                    "location": {
                        "x": 3483.591796875,
                        "y": 4553.29248046875,
                        "z": 367.89300537109375
                    },
                    "rotation": {
                        "roll": -3.051909152418375e-05,
                        "pitch": -0.06637577712535858,
                        "yaw": -81.86958312988281
                    }
                },
                "velocity": {
                    "x": 0.3499847650527954,
                    "y": -2.355478525161743,
                    "z": 0.00022034643916413188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.190168380737305,
                "transform": {
                    "location": {
                        "x": 3490.896728515625,
                        "y": 4481.32666015625,
                        "z": 368.0065612792969
                    },
                    "rotation": {
                        "roll": -0.00018309801816940308,
                        "pitch": -0.09610075503587723,
                        "yaw": 98.37803649902344
                    }
                },
                "velocity": {
                    "x": -1.1918888092041016,
                    "y": 8.102965354919434,
                    "z": -0.014435557648539543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.018573760986328,
                "transform": {
                    "location": {
                        "x": 3484.560302734375,
                        "y": 4524.59814453125,
                        "z": 367.91845703125
                    },
                    "rotation": {
                        "roll": -0.0008239757153205574,
                        "pitch": -0.08239256590604782,
                        "yaw": 98.47795104980469
                    }
                },
                "velocity": {
                    "x": -1.159841537475586,
                    "y": 7.934240341186523,
                    "z": -0.011513699777424335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7896912097930908,
                "transform": {
                    "location": {
                        "x": 3485.537353515625,
                        "y": 4540.11474609375,
                        "z": 367.8995361328125
                    },
                    "rotation": {
                        "roll": 0.0013409336097538471,
                        "pitch": 0.05200505629181862,
                        "yaw": -80.92247009277344
                    }
                },
                "velocity": {
                    "x": 0.26207131147384644,
                    "y": -1.770398497581482,
                    "z": 0.0015588378300890326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.005460000596940517,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.1943359375,
                        "z": 368.0137023925781
                    },
                    "rotation": {
                        "roll": 0.0008863145485520363,
                        "pitch": 0.004466943442821503,
                        "yaw": -81.36598205566406
                    }
                },
                "velocity": {
                    "x": -0.0008910131291486323,
                    "y": -0.005379600450396538,
                    "z": 0.00027856489759869874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006506612990051508,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008688398520462215,
                        "pitch": 0.03599509596824646,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -9.747851436259225e-06,
                    "y": -2.0667678199970396e-06,
                    "z": -0.0006505849887616932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.33297017216682434,
        "expert_target_speed": 4.987424789174676,
        "target_point": [
            25.032126562156993,
            0.892412077059404
        ],
        "target_point_next": [
            76.0164600390735,
            2.1511569287457295
        ]
    },
    "150": {
        "acceleration": [
            -0.11842966079711914,
            0.4544496536254883,
            -0.003680046647787094
        ],
        "angular_velocity": [
            -0.06024856120347977,
            0.03331128507852554,
            -0.585561215877533
        ],
        "forward_vector": [
            0.12042117863893509,
            -0.9927228093147278,
            0.0004198550886940211
        ],
        "right_vector": [
            0.9927228689193726,
            0.12042118608951569,
            -3.6195704069541534e-06
        ],
        "location": [
            3487.875,
            4521.392578125,
            367.920654296875
        ],
        "rotation": [
            0.00020738612511195242,
            0.024055924266576767,
            -83.08358764648438
        ],
        "velocity": [
            0.44871774315834045,
            -3.7132039070129395,
            0.005801095627248287
        ],
        "speed": 3.7402180241372656,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.478340148925781,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3496.66796875,
                        "y": 4442.4541015625,
                        "z": 368.12225341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.48676443099975586,
                "transform": {
                    "location": {
                        "x": 3483.61865234375,
                        "y": 4553.15380859375,
                        "z": 367.89306640625
                    },
                    "rotation": {
                        "roll": 8.611277735326439e-05,
                        "pitch": -0.05615098029375076,
                        "yaw": -82.49552917480469
                    }
                },
                "velocity": {
                    "x": 0.07103292644023895,
                    "y": -0.481550008058548,
                    "z": 0.001873445464298129
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9610490798950195,
                "transform": {
                    "location": {
                        "x": 3490.603271484375,
                        "y": 4483.322265625,
                        "z": 368.0028076171875
                    },
                    "rotation": {
                        "roll": -3.052247848245315e-05,
                        "pitch": -0.12521785497665405,
                        "yaw": 98.35578918457031
                    }
                },
                "velocity": {
                    "x": -1.154489278793335,
                    "y": 7.876873016357422,
                    "z": -0.018100371584296227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083158493041992,
                "transform": {
                    "location": {
                        "x": 3484.269287109375,
                        "y": 4526.59033203125,
                        "z": 367.9160461425781
                    },
                    "rotation": {
                        "roll": 0.0009399934788234532,
                        "pitch": -0.052913472056388855,
                        "yaw": 98.44190979003906
                    }
                },
                "velocity": {
                    "x": -1.164252758026123,
                    "y": 7.998867034912109,
                    "z": -0.009870261885225773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.341592788696289,
                "transform": {
                    "location": {
                        "x": 3485.6162109375,
                        "y": 4539.59765625,
                        "z": 367.89984130859375
                    },
                    "rotation": {
                        "roll": 0.00024982725153677166,
                        "pitch": 0.04982622712850571,
                        "yaw": -81.16300201416016
                    }
                },
                "velocity": {
                    "x": 0.3406948745250702,
                    "y": -2.3166744709014893,
                    "z": 0.001813058857806027
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015329905727412552,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.1943359375,
                        "z": 368.0132751464844
                    },
                    "rotation": {
                        "roll": 0.0007810547249391675,
                        "pitch": 0.05176600068807602,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": -1.1624814760580193e-05,
                    "y": 9.735571802593768e-05,
                    "z": -0.00011784451635321602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030345137929543853,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008688398520462215,
                        "pitch": 0.03599509596824646,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -2.5339063540741336e-06,
                    "y": 7.133511417123373e-07,
                    "z": -0.0003034399705938995
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.34770357608795166,
        "expert_target_speed": 4.867492901564587,
        "target_point": [
            24.082643473903147,
            0.8812504257750637
        ],
        "target_point_next": [
            75.06750292955216,
            2.118507462446381
        ]
    },
    "155": {
        "acceleration": [
            0.10123133659362793,
            -0.33205509185791016,
            -0.014056777581572533
        ],
        "angular_velocity": [
            -0.22581975162029266,
            -0.08589157462120056,
            0.8215703964233398
        ],
        "forward_vector": [
            0.12083648145198822,
            -0.9926718473434448,
            0.0011042352998629212
        ],
        "right_vector": [
            0.9926724433898926,
            0.1208367571234703,
            0.00018162743072025478
        ],
        "location": [
            3487.98779296875,
            4520.4658203125,
            367.92193603515625
        ],
        "rotation": [
            -0.010406491346657276,
            0.0632680356502533,
            -83.05961608886719
        ],
        "velocity": [
            0.46190547943115234,
            -3.727464437484741,
            0.005295438691973686
        ],
        "speed": 3.755974947286252,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.574503898620605,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3496.366455078125,
                        "y": 4444.5146484375,
                        "z": 368.0877380371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1202744245529175,
                "transform": {
                    "location": {
                        "x": 3483.6484375,
                        "y": 4552.94287109375,
                        "z": 367.892333984375
                    },
                    "rotation": {
                        "roll": -0.00146484246943146,
                        "pitch": 0.04464211314916611,
                        "yaw": -82.3326644897461
                    }
                },
                "velocity": {
                    "x": 0.16347694396972656,
                    "y": -1.1082807779312134,
                    "z": 0.0019464968936517835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082250595092773,
                "transform": {
                    "location": {
                        "x": 3490.31298828125,
                        "y": 4485.30322265625,
                        "z": 367.99859619140625
                    },
                    "rotation": {
                        "roll": 0.0014337321044877172,
                        "pitch": -0.11437834054231644,
                        "yaw": 98.34342193603516
                    }
                },
                "velocity": {
                    "x": -1.171395182609558,
                    "y": 7.996891498565674,
                    "z": -0.018189791589975357
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0177640914917,
                "transform": {
                    "location": {
                        "x": 3483.978759765625,
                        "y": 4528.58154296875,
                        "z": 367.9141845703125
                    },
                    "rotation": {
                        "roll": -0.001251217327080667,
                        "pitch": -0.04906807467341423,
                        "yaw": 98.47840118408203
                    }
                },
                "velocity": {
                    "x": -1.1604982614517212,
                    "y": 7.9333319664001465,
                    "z": -0.005717296618968248
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.878474235534668,
                "transform": {
                    "location": {
                        "x": 3485.71240234375,
                        "y": 4538.9501953125,
                        "z": 367.9001770019531
                    },
                    "rotation": {
                        "roll": 0.0013192008482292295,
                        "pitch": 0.050283849239349365,
                        "yaw": -81.3199691772461
                    }
                },
                "velocity": {
                    "x": 0.41784578561782837,
                    "y": -2.847984790802002,
                    "z": 0.0013458633329719305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007903276127763093,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.01300048828125
                    },
                    "rotation": {
                        "roll": -0.0007934566237963736,
                        "pitch": 0.08017958700656891,
                        "yaw": -81.36598205566406
                    }
                },
                "velocity": {
                    "x": -7.71771647123387e-06,
                    "y": 1.0901596397161484e-05,
                    "z": -0.000790214748121798
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010399350430816412,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0015230006538331509,
                        "pitch": 0.03578335791826248,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -1.776643330231309e-06,
                    "y": -2.3157801365414343e-07,
                    "z": -0.0010399335296824574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.37554648518562317,
        "expert_target_speed": 4.880985266370567,
        "target_point": [
            23.1494133208158,
            0.8712028166447996
        ],
        "target_point_next": [
            74.13478552283699,
            2.087146938897332
        ]
    },
    "160": {
        "acceleration": [
            0.06565272808074951,
            -0.2965354919433594,
            0.002597421407699585
        ],
        "angular_velocity": [
            -0.06591489911079407,
            0.025134114548563957,
            -0.010641060769557953
        ],
        "forward_vector": [
            0.12254054844379425,
            -0.9924616813659668,
            0.0018851745408028364
        ],
        "right_vector": [
            0.9924634099006653,
            0.12254121899604797,
            0.00024394509091507643
        ],
        "location": [
            3488.10595703125,
            4519.5205078125,
            367.9231872558594
        ],
        "rotation": [
            -0.01397704891860485,
            0.1080126091837883,
            -82.96124267578125
        ],
        "velocity": [
            0.4830912947654724,
            -3.823819398880005,
            0.005815295968204737
        ],
        "speed": 3.8542148349993703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.655484199523926,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3496.0654296875,
                        "y": 4446.5751953125,
                        "z": 368.0533142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6388384103775024,
                "transform": {
                    "location": {
                        "x": 3483.697998046875,
                        "y": 4552.5966796875,
                        "z": 367.8924560546875
                    },
                    "rotation": {
                        "roll": -0.0015258807688951492,
                        "pitch": 0.05098053067922592,
                        "yaw": -82.18354034423828
                    }
                },
                "velocity": {
                    "x": 0.24105657637119293,
                    "y": -1.621011734008789,
                    "z": 0.001944808871485293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.040055274963379,
                "transform": {
                    "location": {
                        "x": 3490.020263671875,
                        "y": 4487.30126953125,
                        "z": 367.9944763183594
                    },
                    "rotation": {
                        "roll": -0.0004272411752026528,
                        "pitch": -0.11538238078355789,
                        "yaw": 98.3366470336914
                    }
                },
                "velocity": {
                    "x": -1.1657601594924927,
                    "y": 7.955074787139893,
                    "z": -0.016755981370806694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083815574645996,
                "transform": {
                    "location": {
                        "x": 3483.6875,
                        "y": 4530.5732421875,
                        "z": 367.9125061035156
                    },
                    "rotation": {
                        "roll": 0.0006085089989937842,
                        "pitch": -0.04818015173077583,
                        "yaw": 98.45323181152344
                    }
                },
                "velocity": {
                    "x": -1.1666218042373657,
                    "y": 7.999189376831055,
                    "z": -0.005549974273890257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.522968053817749,
                "transform": {
                    "location": {
                        "x": 3485.82958984375,
                        "y": 4538.158203125,
                        "z": 367.9006652832031
                    },
                    "rotation": {
                        "roll": 0.0009509124211035669,
                        "pitch": 0.05240120738744736,
                        "yaw": -81.45528411865234
                    }
                },
                "velocity": {
                    "x": 0.5099074840545654,
                    "y": -3.485870599746704,
                    "z": 0.0020101070404052734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011351818684488535,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.0129699707031
                    },
                    "rotation": {
                        "roll": -0.0005187947535887361,
                        "pitch": 0.08382007479667664,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": -1.874041663540993e-05,
                    "y": 1.347623737046888e-07,
                    "z": -0.0011350271524861455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006737599615007639,
                "transform": {
                    "location": {
                        "x": 3495.65869140625,
                        "y": 4470.203125,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0015230006538331509,
                        "pitch": 0.03578335791826248,
                        "yaw": -81.3629379272461
                    }
                },
                "velocity": {
                    "x": -6.862166173959849e-06,
                    "y": 1.2291827715671388e-06,
                    "z": -0.0006737238727509975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.3803567886352539,
        "expert_target_speed": 4.97295442952439,
        "target_point": [
            22.19820642929723,
            0.8300349847587496
        ],
        "target_point_next": [
            73.18559047112987,
            1.958470741790336
        ]
    },
    "165": {
        "acceleration": [
            0.046244263648986816,
            -0.1382923126220703,
            -0.004952428862452507
        ],
        "angular_velocity": [
            0.028313694521784782,
            -0.025532271713018417,
            0.8403609991073608
        ],
        "forward_vector": [
            0.12444392591714859,
            -0.9922246932983398,
            0.0019457326270639896
        ],
        "right_vector": [
            0.9922265410423279,
            0.12444460391998291,
            0.00022690095647703856
        ],
        "location": [
            3488.22802734375,
            4518.55810546875,
            367.9246520996094
        ],
        "rotation": [
            -0.013000492006540298,
            0.11148234456777573,
            -82.8513412475586
        ],
        "velocity": [
            0.4960459768772125,
            -3.868319034576416,
            0.005775184370577335
        ],
        "speed": 3.8999940723598905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.724214553833008,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3495.764892578125,
                        "y": 4448.6357421875,
                        "z": 368.04449462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.016050944104790688,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.184985399246216,
                "transform": {
                    "location": {
                        "x": 3483.767333984375,
                        "y": 4552.12158203125,
                        "z": 367.89276123046875
                    },
                    "rotation": {
                        "roll": -0.0014648458454757929,
                        "pitch": 0.050399962812662125,
                        "yaw": -82.02909851074219
                    }
                },
                "velocity": {
                    "x": 0.3218924403190613,
                    "y": -2.1611437797546387,
                    "z": 0.0019609355367720127
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.055060386657715,
                "transform": {
                    "location": {
                        "x": 3489.729248046875,
                        "y": 4489.2890625,
                        "z": 367.98980712890625
                    },
                    "rotation": {
                        "roll": 0.0002607686328701675,
                        "pitch": -0.14426042139530182,
                        "yaw": 98.32757568359375
                    }
                },
                "velocity": {
                    "x": -1.1644420623779297,
                    "y": 7.970423221588135,
                    "z": -0.02078220248222351
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.017082214355469,
                "transform": {
                    "location": {
                        "x": 3483.397216796875,
                        "y": 4532.564453125,
                        "z": 367.9107666015625
                    },
                    "rotation": {
                        "roll": -0.00045775959733873606,
                        "pitch": -0.05065951123833656,
                        "yaw": 98.46346282958984
                    }
                },
                "velocity": {
                    "x": -1.159613847732544,
                    "y": 7.932772159576416,
                    "z": -0.005806026514619589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.359427452087402,
                "transform": {
                    "location": {
                        "x": 3485.97314453125,
                        "y": 4537.18408203125,
                        "z": 367.901123046875
                    },
                    "rotation": {
                        "roll": 0.0009689101716503501,
                        "pitch": 0.05880109593272209,
                        "yaw": -81.565673828125
                    }
                },
                "velocity": {
                    "x": 0.6293083429336548,
                    "y": -4.313765525817871,
                    "z": 0.0019865797366946936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.495518780662678e-05,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.0129699707031
                    },
                    "rotation": {
                        "roll": -0.0005187947535887361,
                        "pitch": 0.08382007479667664,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": 3.870271484629484e-06,
                    "y": 3.901096079061972e-06,
                    "z": -5.4679749155184254e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4641851484775543,
                "transform": {
                    "location": {
                        "x": 3495.666748046875,
                        "y": 4470.15478515625,
                        "z": 368.0267639160156
                    },
                    "rotation": {
                        "roll": 0.00023040555242914706,
                        "pitch": 0.045058757066726685,
                        "yaw": -81.37800598144531
                    }
                },
                "velocity": {
                    "x": 0.07237792015075684,
                    "y": -0.4585074782371521,
                    "z": -0.0004140853707212955
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4101564586162567,
        "expert_target_speed": 5.014554902920918,
        "target_point": [
            21.229645904364588,
            0.7860880920293432
        ],
        "target_point_next": [
            72.21910109474231,
            1.8166986273614114
        ]
    },
    "170": {
        "acceleration": [
            -0.026568174362182617,
            -0.13267993927001953,
            -0.008916091173887253
        ],
        "angular_velocity": [
            -0.024924427270889282,
            0.020983384922146797,
            -0.20723673701286316
        ],
        "forward_vector": [
            0.1259443312883377,
            -0.9920355081558228,
            0.0018962608883157372
        ],
        "right_vector": [
            0.9920372366905212,
            0.1259448230266571,
            0.00014167993504088372
        ],
        "location": [
            3488.352783203125,
            4517.5859375,
            367.9262390136719
        ],
        "rotation": [
            -0.008117676712572575,
            0.10864781588315964,
            -82.76469421386719
        ],
        "velocity": [
            0.5012741088867188,
            -3.904320478439331,
            0.005766477435827255
        ],
        "speed": 3.936368139618156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.789233207702637,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.042654991149902,
                "transform": {
                    "location": {
                        "x": 3495.4619140625,
                        "y": 4450.63330078125,
                        "z": 368.0428466796875
                    },
                    "rotation": {
                        "roll": 0.017455745488405228,
                        "pitch": 0.004774301778525114,
                        "yaw": 98.65801239013672
                    }
                },
                "velocity": {
                    "x": -1.2581067085266113,
                    "y": 7.943643093109131,
                    "z": -0.001731977448798716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7556357383728027,
                "transform": {
                    "location": {
                        "x": 3483.857421875,
                        "y": 4551.50732421875,
                        "z": 367.89312744140625
                    },
                    "rotation": {
                        "roll": 1.5666419130866416e-05,
                        "pitch": 0.05134936049580574,
                        "yaw": -81.87422180175781
                    }
                },
                "velocity": {
                    "x": 0.4039284288883209,
                    "y": -2.725869655609131,
                    "z": 0.002134952461346984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.034407615661621,
                "transform": {
                    "location": {
                        "x": 3489.4384765625,
                        "y": 4491.27978515625,
                        "z": 367.9845275878906
                    },
                    "rotation": {
                        "roll": 9.981185576179996e-05,
                        "pitch": -0.15908876061439514,
                        "yaw": 98.31303405761719
                    }
                },
                "velocity": {
                    "x": -1.1613386869430542,
                    "y": 7.9500017166137695,
                    "z": -0.022009501233696938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083284378051758,
                "transform": {
                    "location": {
                        "x": 3483.106201171875,
                        "y": 4534.556640625,
                        "z": 367.9090881347656
                    },
                    "rotation": {
                        "roll": 0.00022489104594569653,
                        "pitch": -0.04416400194168091,
                        "yaw": 98.4599609375
                    }
                },
                "velocity": {
                    "x": -1.168001651763916,
                    "y": 7.998451232910156,
                    "z": -0.006132239941507578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.281190395355225,
                "transform": {
                    "location": {
                        "x": 3486.1494140625,
                        "y": 4535.98095703125,
                        "z": 367.9020690917969
                    },
                    "rotation": {
                        "roll": 5.10730424139183e-05,
                        "pitch": 0.0711774006485939,
                        "yaw": -81.6417465209961
                    }
                },
                "velocity": {
                    "x": 0.7623113989830017,
                    "y": -5.225880146026611,
                    "z": 0.005516080651432276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.0129699707031
                    },
                    "rotation": {
                        "roll": -0.0005187947535887361,
                        "pitch": 0.08382007479667664,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4321773648262024,
                "transform": {
                    "location": {
                        "x": 3495.677001953125,
                        "y": 4470.09130859375,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0008337984909303486,
                        "pitch": 0.037470415234565735,
                        "yaw": -81.4170913696289
                    }
                },
                "velocity": {
                    "x": 0.06887348741292953,
                    "y": -0.426653116941452,
                    "z": 0.0009072303655557334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4144461750984192,
        "expert_target_speed": 5.0469342301722175,
        "target_point": [
            20.250671437379076,
            0.7526526831434639
        ],
        "target_point_next": [
            71.24162716414376,
            1.7061372179940406
        ]
    },
    "175": {
        "acceleration": [
            -0.00299990177154541,
            -0.08554458618164062,
            -0.005483813583850861
        ],
        "angular_velocity": [
            -0.027554938569664955,
            -0.022535063326358795,
            0.28879889845848083
        ],
        "forward_vector": [
            0.12577730417251587,
            -0.9920563697814941,
            0.002056954661384225
        ],
        "right_vector": [
            0.9920584559440613,
            0.125777468085289,
            -4.951690789312124e-05
        ],
        "location": [
            3488.476806640625,
            4516.60595703125,
            367.92803955078125
        ],
        "rotation": [
            0.002837115665897727,
            0.11785490810871124,
            -82.77433776855469
        ],
        "velocity": [
            0.4958624541759491,
            -3.9324467182159424,
            0.005858859978616238
        ],
        "speed": 3.9635863514081198,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.855595588684082,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9561448097229,
                "transform": {
                    "location": {
                        "x": 3495.149658203125,
                        "y": 4452.60791015625,
                        "z": 368.0425720214844
                    },
                    "rotation": {
                        "roll": 0.0054777381010353565,
                        "pitch": -0.011932339519262314,
                        "yaw": 98.95248413085938
                    }
                },
                "velocity": {
                    "x": -1.255065679550171,
                    "y": 7.8565287590026855,
                    "z": -0.001628770842216909
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3529770374298096,
                "transform": {
                    "location": {
                        "x": 3483.96826171875,
                        "y": 4550.751953125,
                        "z": 367.8935546875
                    },
                    "rotation": {
                        "roll": 0.0003879818832501769,
                        "pitch": 0.05216215178370476,
                        "yaw": -81.76786804199219
                    }
                },
                "velocity": {
                    "x": 0.490604043006897,
                    "y": -3.316889762878418,
                    "z": 0.002095136558637023
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071338653564453,
                "transform": {
                    "location": {
                        "x": 3489.1474609375,
                        "y": 4493.2724609375,
                        "z": 367.97894287109375
                    },
                    "rotation": {
                        "roll": 0.0001586557482369244,
                        "pitch": -0.15728558599948883,
                        "yaw": 98.30799102783203
                    }
                },
                "velocity": {
                    "x": -1.1661932468414307,
                    "y": 7.986616134643555,
                    "z": -0.0217914916574955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.018301010131836,
                "transform": {
                    "location": {
                        "x": 3482.8154296875,
                        "y": 4536.5478515625,
                        "z": 367.9076843261719
                    },
                    "rotation": {
                        "roll": 0.0006280223024077713,
                        "pitch": -0.03149399906396866,
                        "yaw": 98.4590835571289
                    }
                },
                "velocity": {
                    "x": -1.1563185453414917,
                    "y": 7.934484481811523,
                    "z": -0.005431775934994221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.560049057006836,
                "transform": {
                    "location": {
                        "x": 3486.342529296875,
                        "y": 4534.66259765625,
                        "z": 367.9031677246094
                    },
                    "rotation": {
                        "roll": -0.00036621239269152284,
                        "pitch": 0.06307679414749146,
                        "yaw": -81.72926330566406
                    }
                },
                "velocity": {
                    "x": 0.8014938831329346,
                    "y": -5.501975059509277,
                    "z": 0.004800043068826199
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006195827736519277,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.0129699707031
                    },
                    "rotation": {
                        "roll": -0.0005187947535887361,
                        "pitch": 0.08382007479667664,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": -6.78982451063348e-06,
                    "y": -4.0680168922335724e-07,
                    "z": -0.0006195454043336213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1742875576019287,
                "transform": {
                    "location": {
                        "x": 3495.70703125,
                        "y": 4469.89697265625,
                        "z": 368.0268249511719
                    },
                    "rotation": {
                        "roll": 0.00015882363368291408,
                        "pitch": 0.05168403685092926,
                        "yaw": -81.35002136230469
                    }
                },
                "velocity": {
                    "x": 0.1829969733953476,
                    "y": -1.1599397659301758,
                    "z": 0.0017480277456343174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.43347060680389404,
        "expert_target_speed": 5.070340624356723,
        "target_point": [
            19.2627473192593,
            0.7562785579930891
        ],
        "target_point_next": [
            70.25354201616219,
            1.718336178604293
        ]
    },
    "180": {
        "acceleration": [
            -0.1930028200149536,
            0.8936738967895508,
            -0.004089735448360443
        ],
        "angular_velocity": [
            0.22598661482334137,
            0.050942715257406235,
            -0.996825098991394
        ],
        "forward_vector": [
            0.12416964024305344,
            -0.9922592639923096,
            0.0018672931473702192
        ],
        "right_vector": [
            0.9922609925270081,
            0.12416939437389374,
            -0.000244552968069911
        ],
        "location": [
            3488.598388671875,
            4515.626953125,
            367.9299011230469
        ],
        "rotation": [
            0.014011877588927746,
            0.1069880798459053,
            -82.86717987060547
        ],
        "velocity": [
            0.4687897264957428,
            -3.8547163009643555,
            0.006068076938390732
        ],
        "speed": 3.883117506410059,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.934479713439941,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004731178283691,
                "transform": {
                    "location": {
                        "x": 3494.844970703125,
                        "y": 4454.580078125,
                        "z": 368.0421142578125
                    },
                    "rotation": {
                        "roll": -0.005859375931322575,
                        "pitch": -0.01553184911608696,
                        "yaw": 98.79644012451172
                    }
                },
                "velocity": {
                    "x": -1.2084555625915527,
                    "y": 7.912986755371094,
                    "z": -0.0018377684755250812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.148977756500244,
                "transform": {
                    "location": {
                        "x": 3484.10498046875,
                        "y": 4549.82421875,
                        "z": 367.8940124511719
                    },
                    "rotation": {
                        "roll": -0.0006713865441270173,
                        "pitch": 0.0575716607272625,
                        "yaw": -81.68453216552734
                    }
                },
                "velocity": {
                    "x": 0.6080760955810547,
                    "y": -4.104175090789795,
                    "z": 0.002310047158971429
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020893096923828,
                "transform": {
                    "location": {
                        "x": 3488.856689453125,
                        "y": 4495.26220703125,
                        "z": 367.9734191894531
                    },
                    "rotation": {
                        "roll": 3.437785926507786e-05,
                        "pitch": -0.15771588683128357,
                        "yaw": 98.30699920654297
                    }
                },
                "velocity": {
                    "x": -1.1590088605880737,
                    "y": 7.936683654785156,
                    "z": -0.02184721827507019
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08273696899414,
                "transform": {
                    "location": {
                        "x": 3482.524658203125,
                        "y": 4538.5400390625,
                        "z": 367.9065856933594
                    },
                    "rotation": {
                        "roll": -0.0005188009236007929,
                        "pitch": -0.029731811955571175,
                        "yaw": 98.46121215820312
                    }
                },
                "velocity": {
                    "x": -1.168681025505066,
                    "y": 7.997799396514893,
                    "z": -0.005566510837525129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.735936164855957,
                "transform": {
                    "location": {
                        "x": 3486.56494140625,
                        "y": 4533.1357421875,
                        "z": 367.90423583984375
                    },
                    "rotation": {
                        "roll": -0.0004272474907338619,
                        "pitch": 0.08656581491231918,
                        "yaw": -81.77849578857422
                    }
                },
                "velocity": {
                    "x": 0.9684798717498779,
                    "y": -6.665946960449219,
                    "z": 0.005649757105857134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015276572958100587,
                "transform": {
                    "location": {
                        "x": 3494.2607421875,
                        "y": 4480.19384765625,
                        "z": 368.0129699707031
                    },
                    "rotation": {
                        "roll": -0.0005187947535887361,
                        "pitch": 0.08382007479667664,
                        "yaw": -81.36595153808594
                    }
                },
                "velocity": {
                    "x": 1.9665601939777844e-05,
                    "y": 9.914822840073612e-06,
                    "z": -0.00015116986469365656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7925292253494263,
                "transform": {
                    "location": {
                        "x": 3495.765869140625,
                        "y": 4469.52197265625,
                        "z": 368.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0002377760538365692,
                        "pitch": 0.052496831864118576,
                        "yaw": -81.26006317138672
                    }
                },
                "velocity": {
                    "x": 0.27947285771369934,
                    "y": -1.7706080675125122,
                    "z": 0.0017375086899846792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4580497443675995,
        "expert_target_speed": 4.991317283775785,
        "target_point": [
            18.274971805395644,
            0.7884255571974919
        ],
        "target_point_next": [
            69.2641399053798,
            1.8331432983281122
        ]
    },
    "185": {
        "acceleration": [
            -0.2537041902542114,
            1.8035507202148438,
            0.01297779381275177
        ],
        "angular_velocity": [
            0.35240083932876587,
            0.024955909699201584,
            0.005945359356701374
        ],
        "forward_vector": [
            0.12168864160776138,
            -0.9925682544708252,
            0.0002926587767433375
        ],
        "right_vector": [
            0.9925682544708252,
            0.12168856710195541,
            -0.0002477384696248919
        ],
        "location": [
            3488.708740234375,
            4514.7119140625,
            367.9319763183594
        ],
        "rotation": [
            0.014194371178746223,
            0.016768112778663635,
            -83.01042938232422
        ],
        "velocity": [
            0.4089111089706421,
            -3.4567809104919434,
            0.00670033460482955
        ],
        "speed": 3.480882439580675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.087675094604492,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.918295383453369,
                "transform": {
                    "location": {
                        "x": 3494.5439453125,
                        "y": 4456.546875,
                        "z": 368.04156494140625
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": -0.01394724566489458,
                        "yaw": 98.70242309570312
                    }
                },
                "velocity": {
                    "x": -1.1928279399871826,
                    "y": 7.827934265136719,
                    "z": -0.0022264765575528145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.112232208251953,
                "transform": {
                    "location": {
                        "x": 3484.2744140625,
                        "y": 4548.6767578125,
                        "z": 367.89471435546875
                    },
                    "rotation": {
                        "roll": -0.0002136202820111066,
                        "pitch": 0.06328170001506805,
                        "yaw": -81.62144470214844
                    }
                },
                "velocity": {
                    "x": 0.7502276301383972,
                    "y": -5.056879997253418,
                    "z": 0.006260852795094252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077754974365234,
                "transform": {
                    "location": {
                        "x": 3488.56591796875,
                        "y": 4497.25390625,
                        "z": 367.9679260253906
                    },
                    "rotation": {
                        "roll": -0.00024414014478679746,
                        "pitch": -0.1568552851676941,
                        "yaw": 98.3034896850586
                    }
                },
                "velocity": {
                    "x": -1.1665130853652954,
                    "y": 7.993052005767822,
                    "z": -0.022211894392967224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.018214225769043,
                "transform": {
                    "location": {
                        "x": 3482.233642578125,
                        "y": 4540.53125,
                        "z": 367.90545654296875
                    },
                    "rotation": {
                        "roll": -0.00015258704661391675,
                        "pitch": -0.03182867914438248,
                        "yaw": 98.47044372558594
                    }
                },
                "velocity": {
                    "x": -1.1580581665039062,
                    "y": 7.934143543243408,
                    "z": -0.005385312717407942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.79555606842041,
                "transform": {
                    "location": {
                        "x": 3486.826904296875,
                        "y": 4531.33154296875,
                        "z": 367.9058532714844
                    },
                    "rotation": {
                        "roll": -0.001556394505314529,
                        "pitch": 0.08863536268472672,
                        "yaw": -81.77500915527344
                    }
                },
                "velocity": {
                    "x": 1.1209321022033691,
                    "y": -7.714542865753174,
                    "z": 0.005949678365141153
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.19991938769817352,
                "transform": {
                    "location": {
                        "x": 3494.262939453125,
                        "y": 4480.1796875,
                        "z": 368.0129089355469
                    },
                    "rotation": {
                        "roll": 0.0002586937043815851,
                        "pitch": 0.08892905712127686,
                        "yaw": -81.38402557373047
                    }
                },
                "velocity": {
                    "x": 0.029179634526371956,
                    "y": -0.1977783739566803,
                    "z": -0.00016349792713299394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.57259464263916,
                "transform": {
                    "location": {
                        "x": 3495.85107421875,
                        "y": 4468.9794921875,
                        "z": 368.0274658203125
                    },
                    "rotation": {
                        "roll": 0.00036444643046706915,
                        "pitch": 0.052899811416864395,
                        "yaw": -81.19834899902344
                    }
                },
                "velocity": {
                    "x": 0.4009658396244049,
                    "y": -2.541154384613037,
                    "z": 0.0021084975451231003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.48919957876205444,
        "expert_target_speed": 4.60495712724259,
        "target_point": [
            17.35127672769934,
            0.835919905861088
        ],
        "target_point_next": [
            68.33767427418186,
            2.008081976189837
        ]
    },
    "190": {
        "acceleration": [
            -0.17628848552703857,
            0.896306037902832,
            0.013426775112748146
        ],
        "angular_velocity": [
            -0.10593980550765991,
            -0.0030533846002072096,
            -1.3713786602020264
        ],
        "forward_vector": [
            0.11903326958417892,
            -0.9928901791572571,
            -0.0004042387008666992
        ],
        "right_vector": [
            0.9928902387619019,
            0.11903336644172668,
            -0.0002250932448077947
        ],
        "location": [
            3488.803955078125,
            4513.89892578125,
            367.93389892578125
        ],
        "rotation": [
            0.012896893545985222,
            -0.02316117100417614,
            -83.16368865966797
        ],
        "velocity": [
            0.35595226287841797,
            -3.111623764038086,
            0.0062692067585885525
        ],
        "speed": 3.1319170586678715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.350192070007324,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.196530342102051,
                "transform": {
                    "location": {
                        "x": 3494.29345703125,
                        "y": 4458.20263671875,
                        "z": 368.0400695800781
                    },
                    "rotation": {
                        "roll": -0.0035400420892983675,
                        "pitch": 0.10922154784202576,
                        "yaw": 98.59901428222656
                    }
                },
                "velocity": {
                    "x": -0.9130982160568237,
                    "y": 6.128885269165039,
                    "z": -0.0017262744950130582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.404694557189941,
                "transform": {
                    "location": {
                        "x": 3484.468017578125,
                        "y": 4547.369140625,
                        "z": 367.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0003967280499637127,
                        "pitch": 0.04616524651646614,
                        "yaw": -81.5815658569336
                    }
                },
                "velocity": {
                    "x": 0.7938672304153442,
                    "y": -5.346072673797607,
                    "z": 0.002205543452873826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020720481872559,
                "transform": {
                    "location": {
                        "x": 3488.275146484375,
                        "y": 4499.24462890625,
                        "z": 367.9623718261719
                    },
                    "rotation": {
                        "roll": 0.00010809615923790261,
                        "pitch": -0.15951906144618988,
                        "yaw": 98.30317687988281
                    }
                },
                "velocity": {
                    "x": -1.1583032608032227,
                    "y": 7.936613082885742,
                    "z": -0.02180591970682144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083183288574219,
                "transform": {
                    "location": {
                        "x": 3481.943115234375,
                        "y": 4542.52294921875,
                        "z": 367.9043273925781
                    },
                    "rotation": {
                        "roll": -0.0016784657491371036,
                        "pitch": -0.030367018654942513,
                        "yaw": 98.45488739013672
                    }
                },
                "velocity": {
                    "x": -1.1686512231826782,
                    "y": 7.998254299163818,
                    "z": -0.004833249840885401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.2652153968811035,
                "transform": {
                    "location": {
                        "x": 3487.1015625,
                        "y": 4529.43994140625,
                        "z": 367.9079284667969
                    },
                    "rotation": {
                        "roll": -0.0006713864277116954,
                        "pitch": 0.04367905855178833,
                        "yaw": -81.73284149169922
                    }
                },
                "velocity": {
                    "x": 1.046235203742981,
                    "y": -7.189486026763916,
                    "z": 0.0061013889499008656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6490554809570312,
                "transform": {
                    "location": {
                        "x": 3494.279541015625,
                        "y": 4480.07373046875,
                        "z": 368.01300048828125
                    },
                    "rotation": {
                        "roll": 9.862099977908656e-05,
                        "pitch": 0.09743264317512512,
                        "yaw": -81.44114685058594
                    }
                },
                "velocity": {
                    "x": 0.09647049009799957,
                    "y": -0.641845166683197,
                    "z": 0.001100568799301982
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0343799591064453,
                "transform": {
                    "location": {
                        "x": 3495.9443359375,
                        "y": 4468.3857421875,
                        "z": 368.0279846191406
                    },
                    "rotation": {
                        "roll": 0.0008901941473595798,
                        "pitch": 0.030114302411675453,
                        "yaw": -81.14676666259766
                    }
                },
                "velocity": {
                    "x": 0.317635178565979,
                    "y": -2.0094292163848877,
                    "z": 0.0019597052596509457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5219690799713135,
        "expert_target_speed": 4.267406281588183,
        "target_point": [
            16.530436985577985,
            0.884560477637969
        ],
        "target_point_next": [
            67.51351703518901,
            2.1930891712591603
        ]
    },
    "195": {
        "acceleration": [
            -0.05549192428588867,
            0.058770179748535156,
            0.0022220611572265625
        ],
        "angular_velocity": [
            -0.2854968011379242,
            -0.07956114411354065,
            -0.13916541635990143
        ],
        "forward_vector": [
            0.11552201956510544,
            -0.9933046698570251,
            0.0007264612941071391
        ],
        "right_vector": [
            0.9933048486709595,
            0.11552184075117111,
            -0.00027643662178888917
        ],
        "location": [
            3488.8896484375,
            4513.1328125,
            367.9353332519531
        ],
        "rotation": [
            0.015838654711842537,
            0.04162317141890526,
            -83.36626434326172
        ],
        "velocity": [
            0.33147192001342773,
            -3.0429108142852783,
            0.006297330837696791
        ],
        "speed": 3.0609116056253054,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.672677516937256,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4571099281311035,
                "transform": {
                    "location": {
                        "x": 3494.0625,
                        "y": 4459.7490234375,
                        "z": 368.0406494140625
                    },
                    "rotation": {
                        "roll": -0.0006408697227016091,
                        "pitch": -0.017089132219552994,
                        "yaw": 98.55033111572266
                    }
                },
                "velocity": {
                    "x": -0.9524526000022888,
                    "y": 6.386477947235107,
                    "z": -0.0016886519733816385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.501336097717285,
                "transform": {
                    "location": {
                        "x": 3484.684814453125,
                        "y": 4545.90234375,
                        "z": 367.8963317871094
                    },
                    "rotation": {
                        "roll": 0.0003404224116820842,
                        "pitch": 0.06386909633874893,
                        "yaw": -81.54415130615234
                    }
                },
                "velocity": {
                    "x": 0.9514016509056091,
                    "y": -6.431344985961914,
                    "z": 0.002213878557085991
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07580280303955,
                "transform": {
                    "location": {
                        "x": 3487.984375,
                        "y": 4501.23583984375,
                        "z": 367.9567565917969
                    },
                    "rotation": {
                        "roll": -0.0002746493264567107,
                        "pitch": -0.15835793316364288,
                        "yaw": 98.30335998535156
                    }
                },
                "velocity": {
                    "x": -1.1662392616271973,
                    "y": 7.9911208152771,
                    "z": -0.02170022949576378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.892411231994629,
                "transform": {
                    "location": {
                        "x": 3481.6533203125,
                        "y": 4544.50537109375,
                        "z": 367.9031677246094
                    },
                    "rotation": {
                        "roll": -0.0011596700642257929,
                        "pitch": -0.047538112848997116,
                        "yaw": 98.48004913330078
                    }
                },
                "velocity": {
                    "x": -1.1408230066299438,
                    "y": 7.809523582458496,
                    "z": -0.004855060484260321
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.163755416870117,
                "transform": {
                    "location": {
                        "x": 3487.326904296875,
                        "y": 4527.892578125,
                        "z": 367.9097595214844
                    },
                    "rotation": {
                        "roll": -0.0014343257062137127,
                        "pitch": -0.02846822701394558,
                        "yaw": -81.70844268798828
                    }
                },
                "velocity": {
                    "x": 0.5998469591140747,
                    "y": -4.120320796966553,
                    "z": 0.0009002875885926187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2355176210403442,
                "transform": {
                    "location": {
                        "x": 3494.314697265625,
                        "y": 4479.84033203125,
                        "z": 368.013427734375
                    },
                    "rotation": {
                        "roll": -0.00027465869789011776,
                        "pitch": 0.0974053218960762,
                        "yaw": -81.46442413330078
                    }
                },
                "velocity": {
                    "x": 0.18352389335632324,
                    "y": -1.2218092679977417,
                    "z": 0.002245359355583787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.902883529663086,
                "transform": {
                    "location": {
                        "x": 3496.02294921875,
                        "y": 4467.8857421875,
                        "z": 368.0283203125
                    },
                    "rotation": {
                        "roll": 0.0004490032442845404,
                        "pitch": 0.029451774433255196,
                        "yaw": -81.11308288574219
                    }
                },
                "velocity": {
                    "x": 0.2972462475299835,
                    "y": -1.879522681236267,
                    "z": 0.0022279261611402035
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5477638244628906,
        "expert_target_speed": 4.1982922122304345,
        "target_point": [
            15.756321992534533,
            0.9463945068125326
        ],
        "target_point_next": [
            66.73445591033574,
            2.435206431067411
        ]
    },
    "200": {
        "acceleration": [
            0.06661593914031982,
            -1.089768409729004,
            0.0052513182163238525
        ],
        "angular_velocity": [
            -0.4189225137233734,
            -0.060623835772275925,
            -1.525443434715271
        ],
        "forward_vector": [
            0.11167691648006439,
            -0.9937419295310974,
            0.0022782068699598312
        ],
        "right_vector": [
            0.9937445521354675,
            0.11167660355567932,
            -0.0002633704280015081
        ],
        "location": [
            3488.973388671875,
            4512.3583984375,
            367.93670654296875
        ],
        "rotation": [
            0.015090054832398891,
            0.13053174316883087,
            -83.5879898071289
        ],
        "velocity": [
            0.3361327648162842,
            -3.1955580711364746,
            0.0065148258581757545
        ],
        "speed": 3.21318792192248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.009294033050537,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.129068851470947,
                "transform": {
                    "location": {
                        "x": 3493.812744140625,
                        "y": 4461.42236328125,
                        "z": 368.04052734375
                    },
                    "rotation": {
                        "roll": -0.0010375955607742071,
                        "pitch": -0.05890354886651039,
                        "yaw": 98.50214385986328
                    }
                },
                "velocity": {
                    "x": -1.0464242696762085,
                    "y": 7.051851749420166,
                    "z": -0.0017365074018016458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.531982421875,
                "transform": {
                    "location": {
                        "x": 3484.94140625,
                        "y": 4544.166015625,
                        "z": 367.897216796875
                    },
                    "rotation": {
                        "roll": 5.626238817058038e-06,
                        "pitch": 0.06910785287618637,
                        "yaw": -81.55867004394531
                    }
                },
                "velocity": {
                    "x": 1.09995698928833,
                    "y": -7.451231002807617,
                    "z": 0.00331426621414721
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023330688476562,
                "transform": {
                    "location": {
                        "x": 3487.693603515625,
                        "y": 4503.2265625,
                        "z": 367.95123291015625
                    },
                    "rotation": {
                        "roll": 0.0007049862761050463,
                        "pitch": -0.15884287655353546,
                        "yaw": 98.30226135253906
                    }
                },
                "velocity": {
                    "x": -1.1585036516189575,
                    "y": 7.939220905303955,
                    "z": -0.021817969158291817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5787248611450195,
                "transform": {
                    "location": {
                        "x": 3481.375,
                        "y": 4546.4169921875,
                        "z": 367.9020690917969
                    },
                    "rotation": {
                        "roll": 0.0006781003321520984,
                        "pitch": -0.08095822483301163,
                        "yaw": 98.45481872558594
                    }
                },
                "velocity": {
                    "x": -1.0904018878936768,
                    "y": 7.499870300292969,
                    "z": -0.006051158998161554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.32751360535621643,
                "transform": {
                    "location": {
                        "x": 3487.370849609375,
                        "y": 4527.58642578125,
                        "z": 367.9106140136719
                    },
                    "rotation": {
                        "roll": -0.0004882790963165462,
                        "pitch": -0.0933823436498642,
                        "yaw": -81.69876861572266
                    }
                },
                "velocity": {
                    "x": 0.047473564743995667,
                    "y": -0.32404807209968567,
                    "z": 0.002061862964183092
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7249975204467773,
                "transform": {
                    "location": {
                        "x": 3494.368896484375,
                        "y": 4479.4755859375,
                        "z": 368.0140075683594
                    },
                    "rotation": {
                        "roll": 9.538931044517085e-05,
                        "pitch": 0.09340966492891312,
                        "yaw": -81.42411804199219
                    }
                },
                "velocity": {
                    "x": 0.25618216395378113,
                    "y": -1.7058677673339844,
                    "z": 0.0015410137129947543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.004551410675049,
                "transform": {
                    "location": {
                        "x": 3496.09521484375,
                        "y": 4467.42724609375,
                        "z": 368.0285949707031
                    },
                    "rotation": {
                        "roll": 0.0019571196753531694,
                        "pitch": 0.037402112036943436,
                        "yaw": -81.10075378417969
                    }
                },
                "velocity": {
                    "x": 0.303383469581604,
                    "y": -1.9814590215682983,
                    "z": 0.002209310419857502
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5804089903831482,
        "expert_target_speed": 4.345557470787472,
        "target_point": [
            14.973620790473042,
            1.0106177874110613
        ],
        "target_point_next": [
            65.94561285167612,
            2.6966557465707472
        ]
    },
    "205": {
        "acceleration": [
            0.131760835647583,
            -1.442708969116211,
            0.0034172087907791138
        ],
        "angular_velocity": [
            -0.28481584787368774,
            -0.06213652715086937,
            -0.14602026343345642
        ],
        "forward_vector": [
            0.10843463987112045,
            -0.9940959811210632,
            0.0038880009669810534
        ],
        "right_vector": [
            0.9941035509109497,
            0.10843491554260254,
            -0.00014090524928178638
        ],
        "location": [
            3489.06201171875,
            4511.51611328125,
            367.9382019042969
        ],
        "rotation": [
            0.008073337376117706,
            0.22276660799980164,
            -83.77486419677734
        ],
        "velocity": [
            0.36763033270835876,
            -3.533510684967041,
            0.006323022767901421
        ],
        "speed": 3.5525835419175587,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.319484710693359,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.541533470153809,
                "transform": {
                    "location": {
                        "x": 3493.51220703125,
                        "y": 4463.4521484375,
                        "z": 368.04046630859375
                    },
                    "rotation": {
                        "roll": -0.0018920815782621503,
                        "pitch": -0.14145320653915405,
                        "yaw": 98.4823226928711
                    }
                },
                "velocity": {
                    "x": -1.2468323707580566,
                    "y": 8.450040817260742,
                    "z": -0.0033898544497787952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.733351230621338,
                "transform": {
                    "location": {
                        "x": 3485.21923828125,
                        "y": 4542.28759765625,
                        "z": 367.89837646484375
                    },
                    "rotation": {
                        "roll": 0.00012443253945093602,
                        "pitch": 0.04852849245071411,
                        "yaw": -81.60182189941406
                    }
                },
                "velocity": {
                    "x": 1.1281551122665405,
                    "y": -7.650618076324463,
                    "z": 0.005269059911370277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07415771484375,
                "transform": {
                    "location": {
                        "x": 3487.403076171875,
                        "y": 4505.21826171875,
                        "z": 367.9456481933594
                    },
                    "rotation": {
                        "roll": -0.0014038091758266091,
                        "pitch": -0.15826229751110077,
                        "yaw": 98.3013916015625
                    }
                },
                "velocity": {
                    "x": -1.165703535079956,
                    "y": 7.989537239074707,
                    "z": -0.02123764529824257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.29362678527832,
                "transform": {
                    "location": {
                        "x": 3481.1064453125,
                        "y": 4548.251953125,
                        "z": 367.9010925292969
                    },
                    "rotation": {
                        "roll": -0.001678470172919333,
                        "pitch": -0.07065147161483765,
                        "yaw": 98.52758026123047
                    }
                },
                "velocity": {
                    "x": -1.0569417476654053,
                    "y": 7.216635704040527,
                    "z": -0.005715370178222656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0731849670410156,
                "transform": {
                    "location": {
                        "x": 3487.3984375,
                        "y": 4527.3994140625,
                        "z": 367.9095153808594
                    },
                    "rotation": {
                        "roll": -0.0002746600948739797,
                        "pitch": 0.055133283138275146,
                        "yaw": -81.70955657958984
                    }
                },
                "velocity": {
                    "x": 0.1546471118927002,
                    "y": -1.06198251247406,
                    "z": 0.001808071043342352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.086167335510254,
                "transform": {
                    "location": {
                        "x": 3494.442138671875,
                        "y": 4478.98828125,
                        "z": 368.01470947265625
                    },
                    "rotation": {
                        "roll": 0.00046383976587094367,
                        "pitch": 0.09022679179906845,
                        "yaw": -81.42959594726562
                    }
                },
                "velocity": {
                    "x": 0.30957719683647156,
                    "y": -2.06306791305542,
                    "z": 0.0024726008996367455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7796826362609863,
                "transform": {
                    "location": {
                        "x": 3496.1865234375,
                        "y": 4466.83203125,
                        "z": 368.02886962890625
                    },
                    "rotation": {
                        "roll": 0.001358657842501998,
                        "pitch": 0.0511581152677536,
                        "yaw": -81.16886901855469
                    }
                },
                "velocity": {
                    "x": 0.4185943603515625,
                    "y": -2.747982978820801,
                    "z": 0.0016530989669263363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.6335808634757996,
        "expert_target_speed": 4.672097002130573,
        "target_point": [
            14.123316058546937,
            1.0626885632089318
        ],
        "target_point_next": [
            65.0895371862722,
            2.9149851503914013
        ]
    },
    "210": {
        "acceleration": [
            0.19142389297485352,
            -1.5239572525024414,
            0.0045309122651815414
        ],
        "angular_velocity": [
            -0.13214723765850067,
            -0.05139905959367752,
            -0.8485928773880005
        ],
        "forward_vector": [
            0.10557002574205399,
            -0.9944007992744446,
            0.004701477475464344
        ],
        "right_vector": [
            0.994411826133728,
            0.1055707260966301,
            -9.864684398053214e-05
        ],
        "location": [
            3489.15869140625,
            4510.58447265625,
            367.93994140625
        ],
        "rotation": [
            0.005652110558003187,
            0.2693758010864258,
            -83.93992614746094
        ],
        "velocity": [
            0.4013877809047699,
            -3.906093120574951,
            0.007027587853372097
        ],
        "speed": 3.9266621470738494,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.607905864715576,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.985132217407227,
                "transform": {
                    "location": {
                        "x": 3493.210205078125,
                        "y": 4465.4951171875,
                        "z": 368.0382995605469
                    },
                    "rotation": {
                        "roll": -0.0007324220496229827,
                        "pitch": -0.007629320956766605,
                        "yaw": 98.3829574584961
                    }
                },
                "velocity": {
                    "x": -1.1624194383621216,
                    "y": 7.900068283081055,
                    "z": -0.006206998601555824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.619843006134033,
                "transform": {
                    "location": {
                        "x": 3485.482177734375,
                        "y": 4540.50341796875,
                        "z": 367.89984130859375
                    },
                    "rotation": {
                        "roll": -0.0003662111412268132,
                        "pitch": 0.00523875467479229,
                        "yaw": -81.62865447998047
                    }
                },
                "velocity": {
                    "x": 0.9626855254173279,
                    "y": -6.549468040466309,
                    "z": 0.005511684343218803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02159595489502,
                "transform": {
                    "location": {
                        "x": 3487.1123046875,
                        "y": 4507.208984375,
                        "z": 367.9407043457031
                    },
                    "rotation": {
                        "roll": 0.00019710884953383356,
                        "pitch": -0.13284717500209808,
                        "yaw": 98.30558776855469
                    }
                },
                "velocity": {
                    "x": -1.1587765216827393,
                    "y": 7.937439441680908,
                    "z": -0.01718180626630783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.127890586853027,
                "transform": {
                    "location": {
                        "x": 3480.84521484375,
                        "y": 4550.03759765625,
                        "z": 367.9000549316406
                    },
                    "rotation": {
                        "roll": 0.0010027812095358968,
                        "pitch": -0.06939471513032913,
                        "yaw": 98.5294189453125
                    }
                },
                "velocity": {
                    "x": -1.0308200120925903,
                    "y": 7.052957534790039,
                    "z": -0.0053384494967758656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5834522247314453,
                "transform": {
                    "location": {
                        "x": 3487.4462890625,
                        "y": 4527.0703125,
                        "z": 367.9097900390625
                    },
                    "rotation": {
                        "roll": -0.0001831045956350863,
                        "pitch": 0.07780268043279648,
                        "yaw": -81.68766784667969
                    }
                },
                "velocity": {
                    "x": 0.22868818044662476,
                    "y": -1.5668505430221558,
                    "z": 0.0014661407331004739
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6647104620933533,
                "transform": {
                    "location": {
                        "x": 3494.477783203125,
                        "y": 4478.75146484375,
                        "z": 368.0154724121094
                    },
                    "rotation": {
                        "roll": 0.0005810430739074945,
                        "pitch": 0.03426705673336983,
                        "yaw": -81.43016052246094
                    }
                },
                "velocity": {
                    "x": 0.09830676019191742,
                    "y": -0.6573976278305054,
                    "z": 0.002030286705121398
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6035401821136475,
                "transform": {
                    "location": {
                        "x": 3496.290283203125,
                        "y": 4466.154296875,
                        "z": 368.02935791015625
                    },
                    "rotation": {
                        "roll": 0.0006145720253698528,
                        "pitch": 0.03650736063718796,
                        "yaw": -81.22651672363281
                    }
                },
                "velocity": {
                    "x": 0.3915669023990631,
                    "y": -2.573925733566284,
                    "z": 0.001798009849153459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.6547734141349792,
        "expert_target_speed": 5.022385930425875,
        "target_point": [
            13.183554264709045,
            1.1055954231241372
        ],
        "target_point_next": [
            64.14422632145158,
            3.104745795711607
        ]
    },
    "215": {
        "acceleration": [
            0.1410919427871704,
            -1.1007499694824219,
            0.007789041846990585
        ],
        "angular_velocity": [
            0.08252677321434021,
            -0.018881382420659065,
            0.415701687335968
        ],
        "forward_vector": [
            0.1057390421628952,
            -0.9943814873695374,
            0.00496957590803504
        ],
        "right_vector": [
            0.994393527507782,
            0.10574174672365189,
            0.0002844221889972687
        ],
        "location": [
            3489.267333984375,
            4509.55859375,
            367.9420471191406
        ],
        "rotation": [
            -0.016296392306685448,
            0.28473690152168274,
            -83.93017578125
        ],
        "velocity": [
            0.45759788155555725,
            -4.259909152984619,
            0.009898156858980656
        ],
        "speed": 4.28441615776132,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 4.910648345947266,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.936197280883789,
                "transform": {
                    "location": {
                        "x": 3492.923095703125,
                        "y": 4467.4462890625,
                        "z": 368.03717041015625
                    },
                    "rotation": {
                        "roll": 0.0004245314630679786,
                        "pitch": -0.02553807571530342,
                        "yaw": 98.39451599121094
                    }
                },
                "velocity": {
                    "x": -1.1557462215423584,
                    "y": 7.851588726043701,
                    "z": -0.005663842894136906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.00260066986084,
                "transform": {
                    "location": {
                        "x": 3485.6552734375,
                        "y": 4539.3564453125,
                        "z": 367.9013671875
                    },
                    "rotation": {
                        "roll": -0.0007018996984697878,
                        "pitch": -0.10058136284351349,
                        "yaw": -82.15361785888672
                    }
                },
                "velocity": {
                    "x": 0.2863112986087799,
                    "y": -1.9820278882980347,
                    "z": -0.0009990691905841231
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075468063354492,
                "transform": {
                    "location": {
                        "x": 3486.8212890625,
                        "y": 4509.20068359375,
                        "z": 367.9361877441406
                    },
                    "rotation": {
                        "roll": 0.0005081965355202556,
                        "pitch": -0.11971955001354218,
                        "yaw": 98.30615997314453
                    }
                },
                "velocity": {
                    "x": -1.1665934324264526,
                    "y": 7.9907402992248535,
                    "z": -0.0180046409368515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.773566246032715,
                "transform": {
                    "location": {
                        "x": 3480.59423828125,
                        "y": 4551.75341796875,
                        "z": 367.8990478515625
                    },
                    "rotation": {
                        "roll": -0.0014648467767983675,
                        "pitch": -0.07556238025426865,
                        "yaw": 98.55438232421875
                    }
                },
                "velocity": {
                    "x": -0.9818247556686401,
                    "y": 6.702029228210449,
                    "z": -0.004827222786843777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1999282836914062,
                "transform": {
                    "location": {
                        "x": 3487.515869140625,
                        "y": 4526.5986328125,
                        "z": 367.9103698730469
                    },
                    "rotation": {
                        "roll": 0.00025586222182027996,
                        "pitch": 0.08349905908107758,
                        "yaw": -81.7912368774414
                    }
                },
                "velocity": {
                    "x": 0.3168356120586395,
                    "y": -2.176992416381836,
                    "z": 0.0020625400356948376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.297437310218811,
                "transform": {
                    "location": {
                        "x": 3494.513427734375,
                        "y": 4478.51123046875,
                        "z": 368.0153503417969
                    },
                    "rotation": {
                        "roll": 0.0004824326897505671,
                        "pitch": 0.08762449026107788,
                        "yaw": -81.38795471191406
                    }
                },
                "velocity": {
                    "x": 0.19287358224391937,
                    "y": -1.283020257949829,
                    "z": 0.0015946101630106568
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8033032417297363,
                "transform": {
                    "location": {
                        "x": 3496.39111328125,
                        "y": 4465.49365234375,
                        "z": 368.0296936035156
                    },
                    "rotation": {
                        "roll": -0.00021362352708820254,
                        "pitch": 0.034799810498952866,
                        "yaw": -81.26665496826172
                    }
                },
                "velocity": {
                    "x": 0.4214942753314972,
                    "y": -2.7714345455169678,
                    "z": 0.001392688718624413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.1596146821975708,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.704386293888092,
        "expert_target_speed": 5.358096020436549,
        "target_point": [
            12.15212693432695,
            1.103792086446506
        ],
        "target_point_next": [
            63.11313885155607,
            3.094260136706665
        ]
    },
    "220": {
        "acceleration": [
            0.15345871448516846,
            -0.5162620544433594,
            -0.009086616337299347
        ],
        "angular_velocity": [
            0.21734316647052765,
            0.010896699503064156,
            0.5002998113632202
        ],
        "forward_vector": [
            0.10750632733106613,
            -0.9941956400871277,
            0.004176962189376354
        ],
        "right_vector": [
            0.9942039847373962,
            0.10750913619995117,
            0.0004537987697403878
        ],
        "location": [
            3489.38623046875,
            4508.4697265625,
            367.9446105957031
        ],
        "rotation": [
            -0.026000982150435448,
            0.2393229901790619,
            -83.82836151123047
        ],
        "velocity": [
            0.495147705078125,
            -4.429626941680908,
            0.00928900670260191
        ],
        "speed": 4.4572150601367095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 4.316199779510498,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.106110572814941,
                "transform": {
                    "location": {
                        "x": 3492.630615234375,
                        "y": 4469.4384765625,
                        "z": 368.03607177734375
                    },
                    "rotation": {
                        "roll": -0.0004272438236512244,
                        "pitch": -0.05059804022312164,
                        "yaw": 98.33444213867188
                    }
                },
                "velocity": {
                    "x": -1.174589991569519,
                    "y": 8.020557403564453,
                    "z": -0.005653075873851776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2546429932117462,
                "transform": {
                    "location": {
                        "x": 3485.671875,
                        "y": 4539.27001953125,
                        "z": 367.90087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.05380139872431755,
                        "yaw": -82.53125
                    }
                },
                "velocity": {
                    "x": 0.03622104600071907,
                    "y": -0.2520536482334137,
                    "z": -0.00022609710867982358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021777153015137,
                "transform": {
                    "location": {
                        "x": 3486.5302734375,
                        "y": 4511.19091796875,
                        "z": 367.93194580078125
                    },
                    "rotation": {
                        "roll": -0.0004577570944093168,
                        "pitch": -0.12234917283058167,
                        "yaw": 98.3060531616211
                    }
                },
                "velocity": {
                    "x": -1.1588311195373535,
                    "y": 7.93761682510376,
                    "z": -0.01627667434513569
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.655847072601318,
                "transform": {
                    "location": {
                        "x": 3480.350830078125,
                        "y": 4553.41357421875,
                        "z": 367.8981018066406
                    },
                    "rotation": {
                        "roll": 9.234434401150793e-05,
                        "pitch": -0.0658566802740097,
                        "yaw": 98.57904815673828
                    }
                },
                "velocity": {
                    "x": -0.9654719233512878,
                    "y": 6.585449695587158,
                    "z": -0.003918380476534367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.70938777923584,
                "transform": {
                    "location": {
                        "x": 3487.60546875,
                        "y": 4525.9892578125,
                        "z": 367.91107177734375
                    },
                    "rotation": {
                        "roll": 0.0003328653983771801,
                        "pitch": 0.08978283405303955,
                        "yaw": -81.91020965576172
                    }
                },
                "velocity": {
                    "x": 0.3903067409992218,
                    "y": -2.681126117706299,
                    "z": 0.00213623046875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7615760564804077,
                "transform": {
                    "location": {
                        "x": 3494.56982421875,
                        "y": 4478.130859375,
                        "z": 368.01580810546875
                    },
                    "rotation": {
                        "roll": 0.0011389388237148523,
                        "pitch": 0.09410633891820908,
                        "yaw": -81.33831024169922
                    }
                },
                "velocity": {
                    "x": 0.26163002848625183,
                    "y": -1.7420378923416138,
                    "z": 0.0019746399484574795
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4157116413116455,
                "transform": {
                    "location": {
                        "x": 3496.5078125,
                        "y": 4464.7275390625,
                        "z": 368.0299987792969
                    },
                    "rotation": {
                        "roll": 0.0006643610540777445,
                        "pitch": 0.039792679250240326,
                        "yaw": -81.30101013183594
                    }
                },
                "velocity": {
                    "x": 0.5130739212036133,
                    "y": -3.3769567012786865,
                    "z": 0.0021757984068244696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00195197609718889,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9777526855469
                    },
                    "rotation": {
                        "roll": -0.0012817393289878964,
                        "pitch": 0.15902727842330933,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 1.0943501365545671e-05,
                    "y": 2.6097521299561777e-07,
                    "z": -0.0019519453635439277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7306042313575745,
        "expert_target_speed": 5.517773946149317,
        "target_point": [
            11.058730648981943,
            1.0810477758898036
        ],
        "target_point_next": [
            62.02319940758297,
            2.9809485208380337
        ]
    },
    "225": {
        "acceleration": [
            0.14865517616271973,
            -0.29613494873046875,
            0.001934058964252472
        ],
        "angular_velocity": [
            0.08858022838830948,
            -0.05993267148733139,
            1.099052906036377
        ],
        "forward_vector": [
            0.11111889034509659,
            -0.9938008189201355,
            0.003543607657775283
        ],
        "right_vector": [
            0.9938066005706787,
            0.111121766269207,
            0.0006269042496569455
        ],
        "location": [
            3489.513671875,
            4507.35009765625,
            367.9474792480469
        ],
        "rotation": [
            -0.0359191931784153,
            0.2030341923236847,
            -83.6201400756836
        ],
        "velocity": [
            0.5288910865783691,
            -4.517829895019531,
            0.010337505489587784
        ],
        "speed": 4.548682528138696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 3.9308202266693115,
        "front_vehicle_info": {
            "id": 4505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.42333984375,
                4506.94287109375,
                367.950927734375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3498.58740234375,
                        "y": 4429.30859375,
                        "z": 368.2517395019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06884147226810455,
                        "yaw": 98.3067626953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017312049865723,
                "transform": {
                    "location": {
                        "x": 3492.33837890625,
                        "y": 4471.43310546875,
                        "z": 368.0345153808594
                    },
                    "rotation": {
                        "roll": 0.0005034346831962466,
                        "pitch": -0.03552381321787834,
                        "yaw": 98.35472106933594
                    }
                },
                "velocity": {
                    "x": -1.1622096300125122,
                    "y": 7.93262243270874,
                    "z": -0.007594394497573376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8264462947845459,
                "transform": {
                    "location": {
                        "x": 3485.69091796875,
                        "y": 4539.13623046875,
                        "z": 367.9001159667969
                    },
                    "rotation": {
                        "roll": -0.0014343250077217817,
                        "pitch": 0.04154803976416588,
                        "yaw": -82.52043914794922
                    }
                },
                "velocity": {
                    "x": 0.11820729821920395,
                    "y": -0.8179473876953125,
                    "z": 0.0016228388994932175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074048042297363,
                "transform": {
                    "location": {
                        "x": 3486.2392578125,
                        "y": 4513.1826171875,
                        "z": 367.92767333984375
                    },
                    "rotation": {
                        "roll": -0.0006408719345927238,
                        "pitch": -0.12203498184680939,
                        "yaw": 98.30608367919922
                    }
                },
                "velocity": {
                    "x": -1.1663320064544678,
                    "y": 7.989344120025635,
                    "z": -0.017183780670166016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.32535457611084,
                "transform": {
                    "location": {
                        "x": 3480.115478515625,
                        "y": 4555.0185546875,
                        "z": 367.897216796875
                    },
                    "rotation": {
                        "roll": -0.0005493169883266091,
                        "pitch": -0.07123203575611115,
                        "yaw": 98.60910034179688
                    }
                },
                "velocity": {
                    "x": -0.917158842086792,
                    "y": 6.258508205413818,
                    "z": -0.0024357223883271217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.279305934906006,
                "transform": {
                    "location": {
                        "x": 3487.7138671875,
                        "y": 4525.2451171875,
                        "z": 367.9118957519531
                    },
                    "rotation": {
                        "roll": -0.00048827918362803757,
                        "pitch": 0.0988396629691124,
                        "yaw": -81.89875793457031
                    }
                },
                "velocity": {
                    "x": 0.4723484218120575,
                    "y": -3.245107412338257,
                    "z": 0.0037144373636692762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.322432279586792,
                "transform": {
                    "location": {
                        "x": 3494.646484375,
                        "y": 4477.6240234375,
                        "z": 368.0165100097656
                    },
                    "rotation": {
                        "roll": 0.0003101236652582884,
                        "pitch": 0.0938946083188057,
                        "yaw": -81.36750030517578
                    }
                },
                "velocity": {
                    "x": 0.3446574807167053,
                    "y": -2.2967145442962646,
                    "z": 0.002259759930893779
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.148730278015137,
                "transform": {
                    "location": {
                        "x": 3496.65087890625,
                        "y": 4463.78857421875,
                        "z": 368.0304260253906
                    },
                    "rotation": {
                        "roll": 0.0002650167152751237,
                        "pitch": 0.037354301661252975,
                        "yaw": -81.32572937011719
                    }
                },
                "velocity": {
                    "x": 0.6229326725006104,
                    "y": -4.101696968078613,
                    "z": 0.001636457396671176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0754144568636548e-05,
                "transform": {
                    "location": {
                        "x": 3494.4345703125,
                        "y": 4500.01611328125,
                        "z": 367.9776611328125
                    },
                    "rotation": {
                        "roll": -0.0011291599366813898,
                        "pitch": 0.15905460715293884,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 4.817359240405494e-07,
                    "y": 7.520541203120956e-06,
                    "z": 7.672093488508835e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7633222341537476,
        "expert_target_speed": 5.601871329891049,
        "target_point": [
            9.93573001207364,
            1.0386114331956073
        ],
        "target_point_next": [
            60.9067667944179,
            2.7532857521219283
        ]
    },
    "230": {
        "acceleration": [
            0.024764537811279297,
            0.5214595794677734,
            0.005587004125118256
        ],
        "angular_velocity": [
            0.2179468423128128,
            0.03594845160841942,
            0.9388260841369629
        ],
        "forward_vector": [
            0.11577368527650833,
            -0.9932706356048584,
            0.003142232308164239
        ],
        "right_vector": [
            0.9932750463485718,
            0.11577632278203964,
            0.0006716457428410649
        ],
        "location": [
            3489.64892578125,
            4506.21630859375,
            367.9504089355469
        ],
        "rotation": [
            -0.0384826585650444,
            0.18003694713115692,
            -83.35171508789062
        ],
        "velocity": [
            0.5532608032226562,
            -4.511782646179199,
            0.010302076116204262
        ],
        "speed": 4.5455780889504425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.834510326385498,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.434326171875,
                4500.01318359375,
                367.97760009765625
            ],
            "velocity": [
                0.002426308346912265,
                -0.06311692297458649,
                0.0003839683486148715
            ],
            "speed_kmh": 0.22739294973873583,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3498.286376953125,
                        "y": 4431.36669921875,
                        "z": 368.11529541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06884147226810455,
                        "yaw": 98.3067626953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026779174804688,
                "transform": {
                    "location": {
                        "x": 3492.048095703125,
                        "y": 4473.4150390625,
                        "z": 368.03253173828125
                    },
                    "rotation": {
                        "roll": 0.0002496989327482879,
                        "pitch": -0.06942886859178543,
                        "yaw": 98.31238555908203
                    }
                },
                "velocity": {
                    "x": -1.159995675086975,
                    "y": 7.942512512207031,
                    "z": -0.009753446094691753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3363829851150513,
                "transform": {
                    "location": {
                        "x": 3485.728271484375,
                        "y": 4538.86865234375,
                        "z": 367.9001770019531
                    },
                    "rotation": {
                        "roll": -0.0006713898037560284,
                        "pitch": 0.05190260335803032,
                        "yaw": -82.40187072753906
                    }
                },
                "velocity": {
                    "x": 0.19060645997524261,
                    "y": -1.3227192163467407,
                    "z": 0.0016134261386469007
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021446228027344,
                "transform": {
                    "location": {
                        "x": 3485.9482421875,
                        "y": 4515.1728515625,
                        "z": 367.92340087890625
                    },
                    "rotation": {
                        "roll": -0.0005798336351290345,
                        "pitch": -0.12035475671291351,
                        "yaw": 98.30595397949219
                    }
                },
                "velocity": {
                    "x": -1.1587932109832764,
                    "y": 7.937290668487549,
                    "z": -0.014724540524184704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.201521873474121,
                "transform": {
                    "location": {
                        "x": 3479.889404296875,
                        "y": 4556.5654296875,
                        "z": 367.8963623046875
                    },
                    "rotation": {
                        "roll": -0.000579836021643132,
                        "pitch": -0.06646456569433212,
                        "yaw": 98.58740997314453
                    }
                },
                "velocity": {
                    "x": -0.8995339274406433,
                    "y": 6.135935306549072,
                    "z": -0.002480030059814453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.99281907081604,
                "transform": {
                    "location": {
                        "x": 3487.84375,
                        "y": 4524.34814453125,
                        "z": 367.9129943847656
                    },
                    "rotation": {
                        "roll": 0.0005140727735124528,
                        "pitch": 0.11131841689348221,
                        "yaw": -81.82543182373047
                    }
                },
                "velocity": {
                    "x": 0.5758332014083862,
                    "y": -3.9510738849639893,
                    "z": 0.005927171558141708
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8677115440368652,
                "transform": {
                    "location": {
                        "x": 3494.7431640625,
                        "y": 4476.97998046875,
                        "z": 368.0173645019531
                    },
                    "rotation": {
                        "roll": 0.0017025768756866455,
                        "pitch": 0.09465958923101425,
                        "yaw": -81.41545104980469
                    }
                },
                "velocity": {
                    "x": 0.4207187592983246,
                    "y": -2.8366811275482178,
                    "z": 0.002297315513715148
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.904899597167969,
                "transform": {
                    "location": {
                        "x": 3496.8212890625,
                        "y": 4462.66748046875,
                        "z": 368.0308532714844
                    },
                    "rotation": {
                        "roll": -0.00012206796964164823,
                        "pitch": 0.03266196325421333,
                        "yaw": -81.34341430664062
                    }
                },
                "velocity": {
                    "x": 0.7368553280830383,
                    "y": -4.8492350578308105,
                    "z": 0.001658487250097096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06316471099853516,
                "transform": {
                    "location": {
                        "x": 3494.434326171875,
                        "y": 4500.01318359375,
                        "z": 367.97760009765625
                    },
                    "rotation": {
                        "roll": 0.009149015881121159,
                        "pitch": 0.16667026281356812,
                        "yaw": -81.72506713867188
                    }
                },
                "velocity": {
                    "x": 0.002426308346912265,
                    "y": -0.06311692297458649,
                    "z": 0.0003839683486148715
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7559105753898621,
        "expert_target_speed": 5.598671213363155,
        "target_point": [
            8.798663450557722,
            0.9889659688250073
        ],
        "target_point_next": [
            59.77717478046593,
            2.464798369030456
        ]
    },
    "235": {
        "acceleration": [
            -0.127793550491333,
            1.6129207611083984,
            -0.005010981112718582
        ],
        "angular_velocity": [
            0.41636577248573303,
            0.040050774812698364,
            1.3202747106552124
        ],
        "forward_vector": [
            0.12040159106254578,
            -0.9927237033843994,
            0.0017541637644171715
        ],
        "right_vector": [
            0.9927249550819397,
            0.12040283530950546,
            0.0006210480933077633
        ],
        "location": [
            3489.784912109375,
            4505.12158203125,
            367.9534606933594
        ],
        "rotation": [
            -0.03558349609375,
            0.10050623118877411,
            -83.08470916748047
        ],
        "velocity": [
            0.5376428365707397,
            -4.220925331115723,
            0.010277080349624157
        ],
        "speed": 4.2550288448576,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.953566074371338,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.412109375,
                4499.93115234375,
                367.9772033691406
            ],
            "velocity": [
                -0.20088118314743042,
                -0.3999965190887451,
                0.0018646048847585917
            ],
            "speed_kmh": 1.611392902253364,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3497.98583984375,
                        "y": 4433.42626953125,
                        "z": 368.0581970214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.014835170470178127,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04504108428955,
                "transform": {
                    "location": {
                        "x": 3491.75732421875,
                        "y": 4475.40380859375,
                        "z": 368.0299377441406
                    },
                    "rotation": {
                        "roll": 1.235304898727918e-05,
                        "pitch": -0.08111532032489777,
                        "yaw": 98.34455108642578
                    }
                },
                "velocity": {
                    "x": -1.1647131443023682,
                    "y": 7.960277557373047,
                    "z": -0.010121021419763565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8363598585128784,
                "transform": {
                    "location": {
                        "x": 3485.783935546875,
                        "y": 4538.47216796875,
                        "z": 367.90045166015625
                    },
                    "rotation": {
                        "roll": -0.0017700199969112873,
                        "pitch": 0.04884267970919609,
                        "yaw": -82.22493743896484
                    }
                },
                "velocity": {
                    "x": 0.2634447515010834,
                    "y": -1.8173640966415405,
                    "z": 0.0014265441568568349
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073914527893066,
                "transform": {
                    "location": {
                        "x": 3485.65771484375,
                        "y": 4517.1640625,
                        "z": 367.91986083984375
                    },
                    "rotation": {
                        "roll": -0.00024413620121777058,
                        "pitch": -0.09023362398147583,
                        "yaw": 98.30198669433594
                    }
                },
                "velocity": {
                    "x": -1.1657614707946777,
                    "y": 7.98930025100708,
                    "z": -0.013484878465533257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.903302192687988,
                "transform": {
                    "location": {
                        "x": 3479.669189453125,
                        "y": 4558.06201171875,
                        "z": 367.8955383300781
                    },
                    "rotation": {
                        "roll": -0.0006103517953306437,
                        "pitch": -0.06656018644571304,
                        "yaw": 98.64497375488281
                    }
                },
                "velocity": {
                    "x": -0.8583881855010986,
                    "y": 5.840559482574463,
                    "z": -0.00265439017675817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.931196689605713,
                "transform": {
                    "location": {
                        "x": 3488.00439453125,
                        "y": 4523.2421875,
                        "z": 367.9146728515625
                    },
                    "rotation": {
                        "roll": -0.0003662162635009736,
                        "pitch": 0.11734264343976974,
                        "yaw": -81.76237487792969
                    }
                },
                "velocity": {
                    "x": 0.7121443152427673,
                    "y": -4.879499435424805,
                    "z": 0.006057539023458958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5101943016052246,
                "transform": {
                    "location": {
                        "x": 3494.8603515625,
                        "y": 4476.19091796875,
                        "z": 368.018310546875
                    },
                    "rotation": {
                        "roll": 0.0001749871444189921,
                        "pitch": 0.09705698490142822,
                        "yaw": -81.47758483886719
                    }
                },
                "velocity": {
                    "x": 0.5139359831809998,
                    "y": -3.472365140914917,
                    "z": 0.0036382675170898438
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.425657749176025,
                "transform": {
                    "location": {
                        "x": 3497.01513671875,
                        "y": 4461.38134765625,
                        "z": 368.0314636230469
                    },
                    "rotation": {
                        "roll": 0.0005616163252852857,
                        "pitch": 0.02811988815665245,
                        "yaw": -81.40846252441406
                    }
                },
                "velocity": {
                    "x": 0.8009998202323914,
                    "y": -5.366205215454102,
                    "z": 0.001770782400853932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4476091265678406,
                "transform": {
                    "location": {
                        "x": 3494.412109375,
                        "y": 4499.93115234375,
                        "z": 367.9772033691406
                    },
                    "rotation": {
                        "roll": 0.13699056208133698,
                        "pitch": 0.23605816066265106,
                        "yaw": -83.05156707763672
                    }
                },
                "velocity": {
                    "x": -0.20088118314743042,
                    "y": -0.3999965190887451,
                    "z": 0.0018646048847585917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7751427888870239,
        "expert_target_speed": 0,
        "target_point": [
            7.700040617182827,
            0.9447651092027566
        ],
        "target_point_next": [
            58.68487556063719,
            2.1830318315980124
        ]
    },
    "240": {
        "acceleration": [
            -0.35091161727905273,
            3.170647621154785,
            0.007524304091930389
        ],
        "angular_velocity": [
            0.5974155068397522,
            0.09205454587936401,
            0.3767752945423126
        ],
        "forward_vector": [
            0.12451201677322388,
            -0.9922177791595459,
            -0.0007386206416413188
        ],
        "right_vector": [
            0.992218017578125,
            0.12451168149709702,
            0.0004889562260359526
        ],
        "location": [
            3489.91015625,
            4504.14794921875,
            367.9566955566406
        ],
        "rotation": [
            -0.02801513671875,
            -0.042319849133491516,
            -82.84741973876953
        ],
        "velocity": [
            0.46739324927330017,
            -3.541851043701172,
            0.009798889048397541
        ],
        "speed": 3.572557244500546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.238414764404297,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.362060546875,
                4499.77783203125,
                367.9776916503906
            ],
            "velocity": [
                -0.37210285663604736,
                -0.7482791543006897,
                0.0019932840950787067
            ],
            "speed_kmh": 3.008502148261578,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.986938953399658,
                "transform": {
                    "location": {
                        "x": 3497.685546875,
                        "y": 4435.4716796875,
                        "z": 368.0502014160156
                    },
                    "rotation": {
                        "roll": 0.011629393324255943,
                        "pitch": 0.018885472789406776,
                        "yaw": 98.36604309082031
                    }
                },
                "velocity": {
                    "x": -1.2174336910247803,
                    "y": 7.893548965454102,
                    "z": -0.030553488060832024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031015396118164,
                "transform": {
                    "location": {
                        "x": 3491.466552734375,
                        "y": 4477.39208984375,
                        "z": 368.0272521972656
                    },
                    "rotation": {
                        "roll": 0.00025536524481140077,
                        "pitch": -0.07617026567459106,
                        "yaw": 98.2979965209961
                    }
                },
                "velocity": {
                    "x": -1.1614937782287598,
                    "y": 7.946574687957764,
                    "z": -0.009749440476298332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3777410984039307,
                "transform": {
                    "location": {
                        "x": 3485.858642578125,
                        "y": 4537.94873046875,
                        "z": 367.9007873535156
                    },
                    "rotation": {
                        "roll": -0.00021362524421419948,
                        "pitch": 0.04964864253997803,
                        "yaw": -82.09838104248047
                    }
                },
                "velocity": {
                    "x": 0.3415939509868622,
                    "y": -2.3530757427215576,
                    "z": 0.0012484645703807473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022933006286621,
                "transform": {
                    "location": {
                        "x": 3485.3671875,
                        "y": 4519.1552734375,
                        "z": 367.916748046875
                    },
                    "rotation": {
                        "roll": -0.001373289618641138,
                        "pitch": -0.08487192541360855,
                        "yaw": 98.30170440673828
                    }
                },
                "velocity": {
                    "x": -1.1583144664764404,
                    "y": 7.938865661621094,
                    "z": -0.01285287830978632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.782923221588135,
                "transform": {
                    "location": {
                        "x": 3479.457763671875,
                        "y": 4559.50634765625,
                        "z": 367.89471435546875
                    },
                    "rotation": {
                        "roll": 0.0002731743734329939,
                        "pitch": -0.06494143605232239,
                        "yaw": 98.62584686279297
                    }
                },
                "velocity": {
                    "x": -0.837599515914917,
                    "y": 5.72194242477417,
                    "z": -0.001800489379093051
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.283303260803223,
                "transform": {
                    "location": {
                        "x": 3488.19189453125,
                        "y": 4521.95556640625,
                        "z": 367.91693115234375
                    },
                    "rotation": {
                        "roll": -0.0004577601212076843,
                        "pitch": 0.10218645632266998,
                        "yaw": -81.72003936767578
                    }
                },
                "velocity": {
                    "x": 0.7635636925697327,
                    "y": -5.227827548980713,
                    "z": 0.009068651124835014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.342395782470703,
                "transform": {
                    "location": {
                        "x": 3495.00439453125,
                        "y": 4475.220703125,
                        "z": 368.01959228515625
                    },
                    "rotation": {
                        "roll": -0.00042724766535684466,
                        "pitch": 0.1032041534781456,
                        "yaw": -81.52815246582031
                    }
                },
                "velocity": {
                    "x": 0.6350416541099548,
                    "y": -4.295706272125244,
                    "z": 0.005542335566133261
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.116334438323975,
                "transform": {
                    "location": {
                        "x": 3497.232421875,
                        "y": 4459.92822265625,
                        "z": 368.03173828125
                    },
                    "rotation": {
                        "roll": 0.0010390477254986763,
                        "pitch": 0.03335864096879959,
                        "yaw": -81.51393127441406
                    }
                },
                "velocity": {
                    "x": 0.8993610739707947,
                    "y": -6.049850940704346,
                    "z": 0.001300916657783091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8356950283050537,
                "transform": {
                    "location": {
                        "x": 3494.362060546875,
                        "y": 4499.77783203125,
                        "z": 367.9776916503906
                    },
                    "rotation": {
                        "roll": 0.14940114319324493,
                        "pitch": 0.2373080849647522,
                        "yaw": -85.6050033569336
                    }
                },
                "velocity": {
                    "x": -0.37210285663604736,
                    "y": -0.7482791543006897,
                    "z": 0.0019932840950787067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.8107386827468872,
        "expert_target_speed": 0,
        "target_point": [
            57.71176216340878,
            1.936948263293873
        ],
        "target_point_next": [
            87.70596243025432,
            2.541249881562205
        ]
    },
    "245": {
        "acceleration": [
            -0.49897193908691406,
            3.881368637084961,
            0.0013114884495735168
        ],
        "angular_velocity": [
            0.4099109172821045,
            0.15548303723335266,
            1.4587708711624146
        ],
        "forward_vector": [
            0.12803831696510315,
            -0.9917665719985962,
            -0.002285001566633582
        ],
        "right_vector": [
            0.9917691946029663,
            0.1280379593372345,
            0.0003041322052013129
        ],
        "location": [
            3490.01513671875,
            4503.35791015625,
            367.95916748046875
        ],
        "rotation": [
            -0.017425537109375,
            -0.13092106580734253,
            -82.64373016357422
        ],
        "velocity": [
            0.3752235472202301,
            -2.7738051414489746,
            0.00943522434681654
        ],
        "speed": 2.799069072587759,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.736833095550537,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.2587890625,
                4499.49755859375,
                367.9779968261719
            ],
            "velocity": [
                -0.8007433414459229,
                -1.4553529024124146,
                0.0020342159550637007
            ],
            "speed_kmh": 5.979952303550879,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033140182495117,
                "transform": {
                    "location": {
                        "x": 3497.375244140625,
                        "y": 4437.4501953125,
                        "z": 368.0465393066406
                    },
                    "rotation": {
                        "roll": 0.01318295393139124,
                        "pitch": 0.024670641869306564,
                        "yaw": 98.87532043457031
                    }
                },
                "velocity": {
                    "x": -1.2764519453048706,
                    "y": 7.931077003479004,
                    "z": -0.005420932546257973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035372734069824,
                "transform": {
                    "location": {
                        "x": 3491.1767578125,
                        "y": 4479.37890625,
                        "z": 368.0245666503906
                    },
                    "rotation": {
                        "roll": -0.0008544947486370802,
                        "pitch": -0.0777275487780571,
                        "yaw": 98.33012390136719
                    }
                },
                "velocity": {
                    "x": -1.1615493297576904,
                    "y": 7.950968265533447,
                    "z": -0.01120977383106947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9462990760803223,
                "transform": {
                    "location": {
                        "x": 3485.95361328125,
                        "y": 4537.28759765625,
                        "z": 367.901123046875
                    },
                    "rotation": {
                        "roll": -0.0013732920633628964,
                        "pitch": 0.050461433827877045,
                        "yaw": -81.97643280029297
                    }
                },
                "velocity": {
                    "x": 0.42465323209762573,
                    "y": -2.9155354499816895,
                    "z": 0.0010362624889239669
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072848320007324,
                "transform": {
                    "location": {
                        "x": 3485.076904296875,
                        "y": 4521.146484375,
                        "z": 367.9137268066406
                    },
                    "rotation": {
                        "roll": -0.0011291435221210122,
                        "pitch": -0.08602622896432877,
                        "yaw": 98.3015365600586
                    }
                },
                "velocity": {
                    "x": -1.1655670404434204,
                    "y": 7.988251686096191,
                    "z": -0.013317737728357315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.497295379638672,
                "transform": {
                    "location": {
                        "x": 3479.253662109375,
                        "y": 4560.8994140625,
                        "z": 367.8939514160156
                    },
                    "rotation": {
                        "roll": 0.0007854521973058581,
                        "pitch": -0.06423792243003845,
                        "yaw": 98.63605499267578
                    }
                },
                "velocity": {
                    "x": -0.7952452898025513,
                    "y": 5.439470291137695,
                    "z": -0.0017286204965785146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.297547340393066,
                "transform": {
                    "location": {
                        "x": 3488.3994140625,
                        "y": 4520.53564453125,
                        "z": 367.9189758300781
                    },
                    "rotation": {
                        "roll": 7.381821342278272e-05,
                        "pitch": 0.11502721160650253,
                        "yaw": -81.72573852539062
                    }
                },
                "velocity": {
                    "x": 0.9094403386116028,
                    "y": -6.231526851654053,
                    "z": 0.009474401362240314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.272609710693359,
                "transform": {
                    "location": {
                        "x": 3495.181884765625,
                        "y": 4474.0224609375,
                        "z": 368.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0008798419148661196,
                        "pitch": 0.10745935887098312,
                        "yaw": -81.56535339355469
                    }
                },
                "velocity": {
                    "x": 0.7713114023208618,
                    "y": -5.215883255004883,
                    "z": 0.007295808754861355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2636871337890625,
                "transform": {
                    "location": {
                        "x": 3497.478271484375,
                        "y": 4458.2734375,
                        "z": 368.0321350097656
                    },
                    "rotation": {
                        "roll": 0.0013598199002444744,
                        "pitch": 0.039765357971191406,
                        "yaw": -81.54724884033203
                    }
                },
                "velocity": {
                    "x": 1.0676301717758179,
                    "y": -7.184797286987305,
                    "z": 0.0018711757147684693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.661097764968872,
                "transform": {
                    "location": {
                        "x": 3494.2587890625,
                        "y": 4499.49755859375,
                        "z": 367.9779968261719
                    },
                    "rotation": {
                        "roll": 0.2662796378135681,
                        "pitch": 0.29681268334388733,
                        "yaw": -90.11644744873047
                    }
                },
                "velocity": {
                    "x": -0.8007433414459229,
                    "y": -1.4553529024124146,
                    "z": 0.0020342159550637007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.802577793598175,
        "expert_target_speed": 0,
        "target_point": [
            56.92130502233553,
            1.7288214317355148
        ],
        "target_point_next": [
            86.9174639431823,
            2.2264961134138606
        ]
    },
    "250": {
        "acceleration": [
            -2.1893110275268555,
            16.798463821411133,
            -0.05288061127066612
        ],
        "angular_velocity": [
            3.9195730686187744,
            0.47229310870170593,
            0.0004627648741006851
        ],
        "forward_vector": [
            0.13166776299476624,
            -0.9912279844284058,
            -0.01143633108586073
        ],
        "right_vector": [
            0.9912925958633423,
            0.13167765736579895,
            -0.0001124744230764918
        ],
        "location": [
            3490.072998046875,
            4502.92236328125,
            367.9625244140625
        ],
        "rotation": [
            0.0064447312615811825,
            -0.6552678346633911,
            -82.43352508544922
        ],
        "velocity": [
            0.001402970403432846,
            -0.012349524535238743,
            -3.580778502509929e-05
        ],
        "speed": 0.01242896142883114,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.548083782196045,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.037353515625,
                4499.041015625,
                367.9786376953125
            ],
            "velocity": [
                -1.4226278066635132,
                -2.1719841957092285,
                0.004745368845760822
            ],
            "speed_kmh": 9.347119573768161,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.945343017578125,
                "transform": {
                    "location": {
                        "x": 3497.068603515625,
                        "y": 4439.42333984375,
                        "z": 368.0464782714844
                    },
                    "rotation": {
                        "roll": -0.004791259299963713,
                        "pitch": -0.01785411313176155,
                        "yaw": 98.82090759277344
                    }
                },
                "velocity": {
                    "x": -1.2075923681259155,
                    "y": 7.853037357330322,
                    "z": -0.0019474125001579523
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037238121032715,
                "transform": {
                    "location": {
                        "x": 3490.88623046875,
                        "y": 4481.36669921875,
                        "z": 368.0210876464844
                    },
                    "rotation": {
                        "roll": 0.0002409113076282665,
                        "pitch": -0.10641434043645859,
                        "yaw": 98.29283905029297
                    }
                },
                "velocity": {
                    "x": -1.1620429754257202,
                    "y": 7.952776908874512,
                    "z": -0.013791656121611595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.594397783279419,
                "transform": {
                    "location": {
                        "x": 3486.070556640625,
                        "y": 4536.4794921875,
                        "z": 367.9017028808594
                    },
                    "rotation": {
                        "roll": -0.0006408674526028335,
                        "pitch": 0.0575375109910965,
                        "yaw": -81.86980438232422
                    }
                },
                "velocity": {
                    "x": 0.518894612789154,
                    "y": -3.556745767593384,
                    "z": 0.0020527744200080633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022689819335938,
                "transform": {
                    "location": {
                        "x": 3484.786865234375,
                        "y": 4523.13671875,
                        "z": 367.9107360839844
                    },
                    "rotation": {
                        "roll": -0.0003051743842661381,
                        "pitch": -0.08639505505561829,
                        "yaw": 98.3017349243164
                    }
                },
                "velocity": {
                    "x": -1.1583017110824585,
                    "y": 7.9386210441589355,
                    "z": -0.013458013534545898
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3987932205200195,
                "transform": {
                    "location": {
                        "x": 3479.05615234375,
                        "y": 4562.24755859375,
                        "z": 367.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0014038047520443797,
                        "pitch": -0.06250305473804474,
                        "yaw": 98.63111114501953
                    }
                },
                "velocity": {
                    "x": -0.7828189134597778,
                    "y": 5.341736793518066,
                    "z": -0.0029382610227912664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3646979331970215,
                "transform": {
                    "location": {
                        "x": 3488.6455078125,
                        "y": 4518.84814453125,
                        "z": 367.9215087890625
                    },
                    "rotation": {
                        "roll": 0.00030481789144687355,
                        "pitch": 0.124008908867836,
                        "yaw": -81.73143005371094
                    }
                },
                "velocity": {
                    "x": 1.063650131225586,
                    "y": -7.287477016448975,
                    "z": 0.010056009516119957
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.551151752471924,
                "transform": {
                    "location": {
                        "x": 3495.377197265625,
                        "y": 4472.70263671875,
                        "z": 368.0228576660156
                    },
                    "rotation": {
                        "roll": 0.0008066666196100414,
                        "pitch": 0.0707334354519844,
                        "yaw": -81.60758972167969
                    }
                },
                "velocity": {
                    "x": 0.811267077922821,
                    "y": -5.491547584533691,
                    "z": 0.00619336124509573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054476737976074,
                "transform": {
                    "location": {
                        "x": 3497.760498046875,
                        "y": 4456.37060546875,
                        "z": 368.03271484375
                    },
                    "rotation": {
                        "roll": 0.0012063023168593645,
                        "pitch": 0.03668494522571564,
                        "yaw": -81.57306671142578
                    }
                },
                "velocity": {
                    "x": 1.1761972904205322,
                    "y": -7.968133449554443,
                    "z": 0.0018730259034782648
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5964221954345703,
                "transform": {
                    "location": {
                        "x": 3494.037353515625,
                        "y": 4499.041015625,
                        "z": 367.9786376953125
                    },
                    "rotation": {
                        "roll": 0.38204771280288696,
                        "pitch": 0.3350276052951813,
                        "yaw": -97.68281555175781
                    }
                },
                "velocity": {
                    "x": -1.4226278066635132,
                    "y": -2.1719841957092285,
                    "z": 0.004745368845760822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7768200635910034,
        "expert_target_speed": 0,
        "target_point": [
            56.487891894742454,
            1.5199447490091087
        ],
        "target_point_next": [
            86.48567498409258,
            1.9075525634016355
        ]
    },
    "255": {
        "acceleration": [
            0.005503988359123468,
            -0.010644029825925827,
            0.004249617923051119
        ],
        "angular_velocity": [
            -1.984991431236267,
            -0.3008304238319397,
            -0.0003619570634327829
        ],
        "forward_vector": [
            0.1316729038953781,
            -0.9912748336791992,
            -0.006041012704372406
        ],
        "right_vector": [
            0.9912928938865662,
            0.13167531788349152,
            -2.716202288866043e-06
        ],
        "location": [
            3490.07373046875,
            4502.92041015625,
            367.96136474609375
        ],
        "rotation": [
            0.0001556297647766769,
            -0.34612664580345154,
            -82.43358612060547
        ],
        "velocity": [
            -0.0010023373179137707,
            0.006257244385778904,
            -0.000744716206099838
        ],
        "speed": 0.006337017232282407,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.879605293273926,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.710205078125,
                4498.30029296875,
                367.97955322265625
            ],
            "velocity": [
                -1.5935665369033813,
                -3.7074313163757324,
                0.009019593708217144
            ],
            "speed_kmh": 14.527497748622473,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994441509246826,
                "transform": {
                    "location": {
                        "x": 3496.765869140625,
                        "y": 4441.392578125,
                        "z": 368.04583740234375
                    },
                    "rotation": {
                        "roll": -0.0012207037070766091,
                        "pitch": -0.01760822720825672,
                        "yaw": 98.75521087646484
                    }
                },
                "velocity": {
                    "x": -1.2126516103744507,
                    "y": 7.901934623718262,
                    "z": -0.0018487261841073632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035067558288574,
                "transform": {
                    "location": {
                        "x": 3490.59619140625,
                        "y": 4483.3544921875,
                        "z": 368.017333984375
                    },
                    "rotation": {
                        "roll": -0.0008544891024939716,
                        "pitch": -0.11948049068450928,
                        "yaw": 98.33244323730469
                    }
                },
                "velocity": {
                    "x": -1.1618329286575317,
                    "y": 7.950608253479004,
                    "z": -0.0168581772595644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.457634925842285,
                "transform": {
                    "location": {
                        "x": 3486.21533203125,
                        "y": 4535.482421875,
                        "z": 367.90234375
                    },
                    "rotation": {
                        "roll": 0.000511164020281285,
                        "pitch": 0.07054218649864197,
                        "yaw": -81.78728485107422
                    }
                },
                "velocity": {
                    "x": 0.6444103717803955,
                    "y": -4.410809516906738,
                    "z": 0.0024763010442256927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073468208312988,
                "transform": {
                    "location": {
                        "x": 3484.49609375,
                        "y": 4525.12841796875,
                        "z": 367.9078369140625
                    },
                    "rotation": {
                        "roll": -3.0519098800141364e-05,
                        "pitch": -0.0786154717206955,
                        "yaw": 98.30147552490234
                    }
                },
                "velocity": {
                    "x": -1.1656827926635742,
                    "y": 7.988865852355957,
                    "z": -0.00955788604915142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.111145973205566,
                "transform": {
                    "location": {
                        "x": 3478.865966796875,
                        "y": 4563.54541015625,
                        "z": 367.8927001953125
                    },
                    "rotation": {
                        "roll": 6.7343091359362e-05,
                        "pitch": -0.055146943777799606,
                        "yaw": 98.66192626953125
                    }
                },
                "velocity": {
                    "x": -0.7417551875114441,
                    "y": 5.057035446166992,
                    "z": -0.0017621517181396484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.621670722961426,
                "transform": {
                    "location": {
                        "x": 3488.924072265625,
                        "y": 4516.93896484375,
                        "z": 367.9248352050781
                    },
                    "rotation": {
                        "roll": 0.00043374451342970133,
                        "pitch": 0.11214487254619598,
                        "yaw": -81.70542907714844
                    }
                },
                "velocity": {
                    "x": 1.1003234386444092,
                    "y": -7.541813850402832,
                    "z": 0.013899535872042179
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.680788516998291,
                "transform": {
                    "location": {
                        "x": 3495.600830078125,
                        "y": 4471.185546875,
                        "z": 368.024169921875
                    },
                    "rotation": {
                        "roll": 0.0012293847976252437,
                        "pitch": 0.06761886924505234,
                        "yaw": -81.63432312011719
                    }
                },
                "velocity": {
                    "x": 0.9713487029075623,
                    "y": -6.609794616699219,
                    "z": 0.005441541317850351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.256410598754883,
                "transform": {
                    "location": {
                        "x": 3498.060791015625,
                        "y": 4454.33544921875,
                        "z": 368.0334167480469
                    },
                    "rotation": {
                        "roll": 0.0002750726998783648,
                        "pitch": 0.02343437820672989,
                        "yaw": -81.61809539794922
                    }
                },
                "velocity": {
                    "x": 1.2022955417633057,
                    "y": -8.168402671813965,
                    "z": 0.0024661635980010033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.035416126251221,
                "transform": {
                    "location": {
                        "x": 3493.710205078125,
                        "y": 4498.30029296875,
                        "z": 367.97955322265625
                    },
                    "rotation": {
                        "roll": -0.07336422055959702,
                        "pitch": 0.44724759459495544,
                        "yaw": -104.48040771484375
                    }
                },
                "velocity": {
                    "x": -1.5935665369033813,
                    "y": -3.7074313163757324,
                    "z": 0.009019593708217144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7849035263061523,
        "expert_target_speed": 0.0,
        "target_point": [
            56.485858631567666,
            1.5195019775308918
        ],
        "target_point_next": [
            86.48364154186459,
            1.9071236489792174
        ]
    },
    "260": {
        "acceleration": [
            0.24608565866947174,
            -1.5064082145690918,
            0.006090518087148666
        ],
        "angular_velocity": [
            -1.2866833209991455,
            -0.2589927613735199,
            0.34763026237487793
        ],
        "forward_vector": [
            0.1317375898361206,
            -0.9912846088409424,
            -0.000125765785924159
        ],
        "right_vector": [
            0.9912846088409424,
            0.1317375898361206,
            3.888213541358709e-05
        ],
        "location": [
            3490.07421875,
            4502.91748046875,
            367.9601135253906
        ],
        "rotation": [
            -0.0022277822718024254,
            -0.007205849047750235,
            -82.42998504638672
        ],
        "velocity": [
            0.011836305260658264,
            -0.07219760864973068,
            -0.0002140235883416608
        ],
        "speed": 0.07316141617658281,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.66109561920166,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.38623046875,
                4497.13818359375,
                367.9824523925781
            ],
            "velocity": [
                -0.9653648734092712,
                -5.112692832946777,
                0.014801444485783577
            ],
            "speed_kmh": 18.730996302285998,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.774198055267334,
                "transform": {
                    "location": {
                        "x": 3496.4755859375,
                        "y": 4443.291015625,
                        "z": 368.0445251464844
                    },
                    "rotation": {
                        "roll": -0.006378175690770149,
                        "pitch": 0.08095822483301163,
                        "yaw": 98.67758178710938
                    }
                },
                "velocity": {
                    "x": -1.0032497644424438,
                    "y": 6.699495792388916,
                    "z": -0.0016011237166821957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035726547241211,
                "transform": {
                    "location": {
                        "x": 3490.30517578125,
                        "y": 4485.341796875,
                        "z": 368.01312255859375
                    },
                    "rotation": {
                        "roll": -0.0005798335187137127,
                        "pitch": -0.11712408065795898,
                        "yaw": 98.29698944091797
                    }
                },
                "velocity": {
                    "x": -1.159781813621521,
                    "y": 7.951571464538574,
                    "z": -0.017630375921726227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.202716827392578,
                "transform": {
                    "location": {
                        "x": 3486.3935546875,
                        "y": 4534.25927734375,
                        "z": 367.9033203125
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 0.07997468113899231,
                        "yaw": -81.72783660888672
                    }
                },
                "velocity": {
                    "x": 0.7526360750198364,
                    "y": -5.147987365722656,
                    "z": 0.005097684916108847
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020702362060547,
                "transform": {
                    "location": {
                        "x": 3484.2060546875,
                        "y": 4527.119140625,
                        "z": 367.90557861328125
                    },
                    "rotation": {
                        "roll": -9.155224688583985e-05,
                        "pitch": -0.04962815344333649,
                        "yaw": 98.30326843261719
                    }
                },
                "velocity": {
                    "x": -1.1597654819488525,
                    "y": 7.936405658721924,
                    "z": -0.008937167935073376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.998636245727539,
                "transform": {
                    "location": {
                        "x": 3478.681396484375,
                        "y": 4564.80615234375,
                        "z": 367.8926086425781
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": -0.012089434079825878,
                        "yaw": 98.58944702148438
                    }
                },
                "velocity": {
                    "x": -0.7255826592445374,
                    "y": 4.945694446563721,
                    "z": -0.00023171424982137978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.273914337158203,
                "transform": {
                    "location": {
                        "x": 3489.17529296875,
                        "y": 4515.21533203125,
                        "z": 367.9283447265625
                    },
                    "rotation": {
                        "roll": 0.00046461677993647754,
                        "pitch": 0.08534321188926697,
                        "yaw": -81.69017028808594
                    }
                },
                "velocity": {
                    "x": 0.9062457084655762,
                    "y": -6.208102703094482,
                    "z": 0.01347176544368267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.491859436035156,
                "transform": {
                    "location": {
                        "x": 3495.86328125,
                        "y": 4469.40087890625,
                        "z": 368.0252685546875
                    },
                    "rotation": {
                        "roll": 0.0010140636004507542,
                        "pitch": 0.06791256368160248,
                        "yaw": -81.66383361816406
                    }
                },
                "velocity": {
                    "x": 1.0876740217208862,
                    "y": -7.412482738494873,
                    "z": 0.005287609063088894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.916102886199951,
                "transform": {
                    "location": {
                        "x": 3498.3564453125,
                        "y": 4452.3271484375,
                        "z": 368.0340881347656
                    },
                    "rotation": {
                        "roll": 0.0005901359836570919,
                        "pitch": 0.011385925114154816,
                        "yaw": -81.63475036621094
                    }
                },
                "velocity": {
                    "x": 1.1504753828048706,
                    "y": -7.832055568695068,
                    "z": 0.0011293888092041016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.203054428100586,
                "transform": {
                    "location": {
                        "x": 3493.38623046875,
                        "y": 4497.13818359375,
                        "z": 367.9824523925781
                    },
                    "rotation": {
                        "roll": -0.7442017197608948,
                        "pitch": 0.4991433620452881,
                        "yaw": -104.61674499511719
                    }
                },
                "velocity": {
                    "x": -0.9653648734092712,
                    "y": -5.112692832946777,
                    "z": 0.014801444485783577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7868404984474182,
        "expert_target_speed": 0.0,
        "target_point": [
            56.48298495888852,
            1.5158754723477967
        ],
        "target_point_next": [
            86.4807920237069,
            1.9016233115013481
        ]
    },
    "265": {
        "acceleration": [
            0.4353828430175781,
            -1.9509989023208618,
            0.006785201840102673
        ],
        "angular_velocity": [
            -0.6712145209312439,
            -0.2559858560562134,
            0.23470422625541687
        ],
        "forward_vector": [
            0.1324067860841751,
            -0.9911912679672241,
            0.0028914171271026134
        ],
        "right_vector": [
            0.9911953210830688,
            0.13240791857242584,
            0.00020452994795050472
        ],
        "location": [
            3490.0791015625,
            4502.890625,
            367.9594421386719
        ],
        "rotation": [
            -0.01171875186264515,
            0.16566622257232666,
            -82.39127349853516
        ],
        "velocity": [
            0.04848983511328697,
            -0.25389108061790466,
            0.0014236068818718195
        ],
        "speed": 0.25848006678783014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.729060649871826,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.197998046875,
                4495.81884765625,
                367.9881896972656
            ],
            "velocity": [
                -0.4415557384490967,
                -5.366880416870117,
                0.013294000178575516
            ],
            "speed_kmh": 19.38610984133184,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.1504316329956055,
                "transform": {
                    "location": {
                        "x": 3496.240478515625,
                        "y": 4444.8544921875,
                        "z": 368.0442199707031
                    },
                    "rotation": {
                        "roll": -0.001037602312862873,
                        "pitch": 0.06237328425049782,
                        "yaw": 98.56790161132812
                    }
                },
                "velocity": {
                    "x": -0.9090312719345093,
                    "y": 6.082883358001709,
                    "z": -0.002212781924754381
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034673690795898,
                "transform": {
                    "location": {
                        "x": 3490.01513671875,
                        "y": 4487.330078125,
                        "z": 368.0090637207031
                    },
                    "rotation": {
                        "roll": 7.798036676831543e-05,
                        "pitch": -0.11608588695526123,
                        "yaw": 98.33132934570312
                    }
                },
                "velocity": {
                    "x": -1.1617032289505005,
                    "y": 7.950229167938232,
                    "z": -0.016807574778795242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.706663608551025,
                "transform": {
                    "location": {
                        "x": 3486.587646484375,
                        "y": 4532.9296875,
                        "z": 367.90460205078125
                    },
                    "rotation": {
                        "roll": -0.0009765643626451492,
                        "pitch": 0.06758471578359604,
                        "yaw": -81.69493865966797
                    }
                },
                "velocity": {
                    "x": 0.8264604210853577,
                    "y": -5.64649772644043,
                    "z": 0.006041212007403374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07451343536377,
                "transform": {
                    "location": {
                        "x": 3483.9150390625,
                        "y": 4529.10986328125,
                        "z": 367.90380859375
                    },
                    "rotation": {
                        "roll": 0.0008546893950551748,
                        "pitch": -0.047947924584150314,
                        "yaw": 98.30857849121094
                    }
                },
                "velocity": {
                    "x": -1.1669057607650757,
                    "y": 7.989747524261475,
                    "z": -0.005588273983448744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.154303550720215,
                "transform": {
                    "location": {
                        "x": 3478.511474609375,
                        "y": 4565.97705078125,
                        "z": 367.8921813964844
                    },
                    "rotation": {
                        "roll": 0.0018546755891293287,
                        "pitch": -0.09207094460725784,
                        "yaw": 98.44229888916016
                    }
                },
                "velocity": {
                    "x": -0.5933435559272766,
                    "y": 4.11171293258667,
                    "z": 0.0006157302996143699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1833068132400513,
                "transform": {
                    "location": {
                        "x": 3489.28125,
                        "y": 4514.490234375,
                        "z": 367.93084716796875
                    },
                    "rotation": {
                        "roll": 4.2340172512922436e-05,
                        "pitch": -0.032019924372434616,
                        "yaw": -81.68107604980469
                    }
                },
                "velocity": {
                    "x": 0.1710292547941208,
                    "y": -1.1708775758743286,
                    "z": 0.003109750570729375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.442703247070312,
                "transform": {
                    "location": {
                        "x": 3496.157470703125,
                        "y": 4467.39306640625,
                        "z": 368.0265197753906
                    },
                    "rotation": {
                        "roll": 0.0004370356909930706,
                        "pitch": 0.06974988430738449,
                        "yaw": -81.67033386230469
                    }
                },
                "velocity": {
                    "x": 1.2244343757629395,
                    "y": -8.353440284729004,
                    "z": 0.005800141952931881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.772333145141602,
                "transform": {
                    "location": {
                        "x": 3498.62548828125,
                        "y": 4450.494140625,
                        "z": 368.03472900390625
                    },
                    "rotation": {
                        "roll": 0.00028697840753011405,
                        "pitch": -0.006871169898658991,
                        "yaw": -81.65525817871094
                    }
                },
                "velocity": {
                    "x": 0.9816303849220276,
                    "y": -6.700813293457031,
                    "z": 0.001748151727952063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.385030746459961,
                "transform": {
                    "location": {
                        "x": 3493.197998046875,
                        "y": 4495.81884765625,
                        "z": 367.9881896972656
                    },
                    "rotation": {
                        "roll": -0.555450439453125,
                        "pitch": 0.23184393346309662,
                        "yaw": -99.72540283203125
                    }
                },
                "velocity": {
                    "x": -0.4415557384490967,
                    "y": -5.366880416870117,
                    "z": 0.013294000178575516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7935225963592529,
        "expert_target_speed": 0.0,
        "target_point": [
            56.45673130036073,
            1.476406657816212
        ],
        "target_point_next": [
            86.45479228967324,
            1.841874816437965
        ]
    },
    "270": {
        "acceleration": [
            0.6892028450965881,
            -4.4619011878967285,
            0.000383756123483181
        ],
        "angular_velocity": [
            -0.6444957852363586,
            -0.017374051734805107,
            0.3786334991455078
        ],
        "forward_vector": [
            0.13716204464435577,
            -0.990526556968689,
            0.006605695933103561
        ],
        "right_vector": [
            0.9905475974082947,
            0.13716831803321838,
            0.000502794049680233
        ],
        "location": [
            3490.108154296875,
            4502.72216796875,
            367.95928955078125
        ],
        "rotation": [
            -0.028808603063225746,
            0.3784812390804291,
            -82.11616516113281
        ],
        "velocity": [
            0.1795416921377182,
            -1.0423572063446045,
            0.0020145797170698643
        ],
        "speed": 1.0577068425769984,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.769953727722168,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.100341796875,
                4494.478515625,
                367.99249267578125
            ],
            "velocity": [
                -0.07904107868671417,
                -5.684886932373047,
                0.014095515944063663
            ],
            "speed_kmh": 20.467633900865035,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.893442630767822,
                "transform": {
                    "location": {
                        "x": 3496.002197265625,
                        "y": 4446.44970703125,
                        "z": 368.0447692871094
                    },
                    "rotation": {
                        "roll": 0.0003993294667452574,
                        "pitch": -0.05893087014555931,
                        "yaw": 98.5260238647461
                    }
                },
                "velocity": {
                    "x": -1.0191242694854736,
                    "y": 6.817692756652832,
                    "z": -0.001770400907844305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036410331726074,
                "transform": {
                    "location": {
                        "x": 3489.724853515625,
                        "y": 4489.31787109375,
                        "z": 368.00421142578125
                    },
                    "rotation": {
                        "roll": -3.0515830076183192e-05,
                        "pitch": -0.1420542597770691,
                        "yaw": 98.29052734375
                    }
                },
                "velocity": {
                    "x": -1.1596990823745728,
                    "y": 7.95226526260376,
                    "z": -0.021490568295121193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.791610240936279,
                "transform": {
                    "location": {
                        "x": 3486.815185546875,
                        "y": 4531.3759765625,
                        "z": 367.90582275390625
                    },
                    "rotation": {
                        "roll": -0.0009765647118911147,
                        "pitch": 0.08522026240825653,
                        "yaw": -81.68186950683594
                    }
                },
                "velocity": {
                    "x": 0.9835822582244873,
                    "y": -6.72000789642334,
                    "z": 0.005698346998542547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021429061889648,
                "transform": {
                    "location": {
                        "x": 3483.6240234375,
                        "y": 4531.1005859375,
                        "z": 367.902099609375
                    },
                    "rotation": {
                        "roll": -0.0001525837287772447,
                        "pitch": -0.049921851605176926,
                        "yaw": 98.30933380126953
                    }
                },
                "velocity": {
                    "x": -1.1592392921447754,
                    "y": 7.937219142913818,
                    "z": -0.0062325382605195045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.856923580169678,
                "transform": {
                    "location": {
                        "x": 3478.30517578125,
                        "y": 4567.056640625,
                        "z": 367.89312744140625
                    },
                    "rotation": {
                        "roll": -0.11093137413263321,
                        "pitch": 0.07627955079078674,
                        "yaw": 100.1744155883789
                    }
                },
                "velocity": {
                    "x": -1.0305620431900024,
                    "y": 4.746329307556152,
                    "z": 0.002494935877621174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.055680990219116,
                "transform": {
                    "location": {
                        "x": 3489.341796875,
                        "y": 4514.0732421875,
                        "z": 367.9304504394531
                    },
                    "rotation": {
                        "roll": -0.0004272478399798274,
                        "pitch": 0.11591513454914093,
                        "yaw": -81.65635681152344
                    }
                },
                "velocity": {
                    "x": 0.29745224118232727,
                    "y": -2.0340425968170166,
                    "z": 0.004139289725571871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.631990432739258,
                "transform": {
                    "location": {
                        "x": 3496.44970703125,
                        "y": 4465.3984375,
                        "z": 368.0282287597656
                    },
                    "rotation": {
                        "roll": 0.000788800127338618,
                        "pitch": 0.016208037734031677,
                        "yaw": -81.67723083496094
                    }
                },
                "velocity": {
                    "x": 1.1055155992507935,
                    "y": -7.551496505737305,
                    "z": 0.0036510657519102097
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.910515308380127,
                "transform": {
                    "location": {
                        "x": 3498.849853515625,
                        "y": 4448.95947265625,
                        "z": 368.03515625
                    },
                    "rotation": {
                        "roll": 0.0008883526897989213,
                        "pitch": -0.005491471849381924,
                        "yaw": -81.66963958740234
                    }
                },
                "velocity": {
                    "x": 0.8553410768508911,
                    "y": -5.848297119140625,
                    "z": 0.001631612773053348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.68545389175415,
                "transform": {
                    "location": {
                        "x": 3493.100341796875,
                        "y": 4494.478515625,
                        "z": 367.99249267578125
                    },
                    "rotation": {
                        "roll": -0.2667541205883026,
                        "pitch": 0.1447795182466507,
                        "yaw": -96.5517578125
                    }
                },
                "velocity": {
                    "x": -0.07904107868671417,
                    "y": -5.684886932373047,
                    "z": 0.014095515944063663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.7632482647895813,
        "expert_target_speed": 0.46672688800380824,
        "target_point": [
            56.29231916962634,
            1.1996631949939127
        ],
        "target_point_next": [
            86.29178907135648,
            1.421103274171573
        ]
    },
    "275": {
        "acceleration": [
            0.6938880681991577,
            -4.066870212554932,
            -0.00018539372831583023
        ],
        "angular_velocity": [
            -0.3784056007862091,
            -0.12112782150506973,
            1.9188179969787598
        ],
        "forward_vector": [
            0.14216576516628265,
            -0.9898080825805664,
            0.008303666487336159
        ],
        "right_vector": [
            0.989841639995575,
            0.14217376708984375,
            0.0003792207862716168
        ],
        "location": [
            3490.16845703125,
            4502.3525390625,
            367.9598693847656
        ],
        "rotation": [
            -0.021728498861193657,
            0.4757704734802246,
            -81.82653045654297
        ],
        "velocity": [
            0.3076367676258087,
            -1.8640085458755493,
            0.0036711501888930798
        ],
        "speed": 1.8892242428818067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.655312538146973,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.055908203125,
                4493.13916015625,
                367.9964294433594
            ],
            "velocity": [
                -0.008881700225174427,
                -5.31909704208374,
                0.014014186337590218
            ],
            "speed_kmh": 19.148842507618465,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.22647762298584,
                "transform": {
                    "location": {
                        "x": 3495.732177734375,
                        "y": 4448.26123046875,
                        "z": 368.04498291015625
                    },
                    "rotation": {
                        "roll": -0.0030212425626814365,
                        "pitch": -0.1575314700603485,
                        "yaw": 98.46502685546875
                    }
                },
                "velocity": {
                    "x": -1.2016490697860718,
                    "y": 8.138240814208984,
                    "z": -0.002175607718527317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035263061523438,
                "transform": {
                    "location": {
                        "x": 3489.434814453125,
                        "y": 4491.3056640625,
                        "z": 367.9990234375
                    },
                    "rotation": {
                        "roll": -0.00015258595522027463,
                        "pitch": -0.1604343056678772,
                        "yaw": 98.3310317993164
                    }
                },
                "velocity": {
                    "x": -1.1639748811721802,
                    "y": 7.950479984283447,
                    "z": -0.021677041426301003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.7736053466796875,
                "transform": {
                    "location": {
                        "x": 3487.0830078125,
                        "y": 4529.5458984375,
                        "z": 367.9074401855469
                    },
                    "rotation": {
                        "roll": -0.00094604556215927,
                        "pitch": 0.08560275286436081,
                        "yaw": -81.69740295410156
                    }
                },
                "velocity": {
                    "x": 1.124395728111267,
                    "y": -7.6918559074401855,
                    "z": 0.005597085691988468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072990417480469,
                "transform": {
                    "location": {
                        "x": 3483.3330078125,
                        "y": 4533.09130859375,
                        "z": 367.90032958984375
                    },
                    "rotation": {
                        "roll": 0.0009242719388566911,
                        "pitch": -0.04956667870283127,
                        "yaw": 98.30619049072266
                    }
                },
                "velocity": {
                    "x": -1.16621994972229,
                    "y": 7.988307952880859,
                    "z": -0.006369695533066988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.37856912612915,
                "transform": {
                    "location": {
                        "x": 3478.04345703125,
                        "y": 4568.20654296875,
                        "z": 367.8936767578125
                    },
                    "rotation": {
                        "roll": -0.053436268121004105,
                        "pitch": -0.008025472052395344,
                        "yaw": 101.94306945800781
                    }
                },
                "velocity": {
                    "x": -0.9987218976020813,
                    "y": 4.26314640045166,
                    "z": 0.0017054271884262562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6115410327911377,
                "transform": {
                    "location": {
                        "x": 3489.425537109375,
                        "y": 4513.49169921875,
                        "z": 367.9314880371094
                    },
                    "rotation": {
                        "roll": -3.05291723634582e-05,
                        "pitch": 0.1438574343919754,
                        "yaw": -81.50005340576172
                    }
                },
                "velocity": {
                    "x": 0.3794519007205963,
                    "y": -2.5838212966918945,
                    "z": 0.005468330346047878
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.579153537750244,
                "transform": {
                    "location": {
                        "x": 3496.70556640625,
                        "y": 4463.650390625,
                        "z": 368.0291748046875
                    },
                    "rotation": {
                        "roll": 0.0006499013979919255,
                        "pitch": -0.012963698245584965,
                        "yaw": -81.67951965332031
                    }
                },
                "velocity": {
                    "x": 0.9521716833114624,
                    "y": -6.509886741638184,
                    "z": 0.0026377104222774506
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.402439594268799,
                "transform": {
                    "location": {
                        "x": 3499.070556640625,
                        "y": 4447.45361328125,
                        "z": 368.0353698730469
                    },
                    "rotation": {
                        "roll": 0.0012997594894841313,
                        "pitch": 0.021685849875211716,
                        "yaw": -81.67534637451172
                    }
                },
                "velocity": {
                    "x": 0.9268920421600342,
                    "y": -6.334990501403809,
                    "z": 0.002160024596378207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.319122791290283,
                "transform": {
                    "location": {
                        "x": 3493.055908203125,
                        "y": 4493.13916015625,
                        "z": 367.9964294433594
                    },
                    "rotation": {
                        "roll": -0.1056823581457138,
                        "pitch": 0.0914698913693428,
                        "yaw": -92.73916625976562
                    }
                },
                "velocity": {
                    "x": -0.008881700225174427,
                    "y": -5.31909704208374,
                    "z": 0.014014186337590218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.07782178372144699,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7383214831352234,
        "expert_target_speed": 1.8486568342717853,
        "target_point": [
            55.923217016571954,
            0.9079301645201285
        ],
        "target_point_next": [
            85.92342303206604,
            0.9777092544466512
        ]
    },
    "280": {
        "acceleration": [
            1.2263095378875732,
            -6.50662899017334,
            0.01564827747642994
        ],
        "angular_velocity": [
            -0.8955381512641907,
            -0.30048835277557373,
            2.6264865398406982
        ],
        "forward_vector": [
            0.1505817025899887,
            -0.9885353446006775,
            0.011093984358012676
        ],
        "right_vector": [
            0.9885945320129395,
            0.15059968829154968,
            0.0007983664982020855
        ],
        "location": [
            3490.2724609375,
            4501.72802734375,
            367.96099853515625
        ],
        "rotation": [
            -0.045745849609375,
            0.6356515288352966,
            -81.33882141113281
        ],
        "velocity": [
            0.5474247336387634,
            -3.17018461227417,
            0.008530531078577042
        ],
        "speed": 3.2171018502527087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.343826293945312,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.07958984375,
                4491.7724609375,
                367.9993591308594
            ],
            "velocity": [
                0.23821072280406952,
                -5.500004768371582,
                0.013831768184900284
            ],
            "speed_kmh": 19.818641881173548,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.297760009765625,
                "transform": {
                    "location": {
                        "x": 3495.424072265625,
                        "y": 4450.345703125,
                        "z": 368.0435791015625
                    },
                    "rotation": {
                        "roll": -0.0010986319975927472,
                        "pitch": -0.05090539529919624,
                        "yaw": 98.41119384765625
                    }
                },
                "velocity": {
                    "x": -1.211005449295044,
                    "y": 8.208913803100586,
                    "z": -0.002284565009176731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036798477172852,
                "transform": {
                    "location": {
                        "x": 3489.14404296875,
                        "y": 4493.29345703125,
                        "z": 367.99346923828125
                    },
                    "rotation": {
                        "roll": -0.00024413346545770764,
                        "pitch": -0.1572582721710205,
                        "yaw": 98.2920150756836
                    }
                },
                "velocity": {
                    "x": -1.1593745946884155,
                    "y": 7.952707290649414,
                    "z": -0.02089962363243103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.860555171966553,
                "transform": {
                    "location": {
                        "x": 3487.350341796875,
                        "y": 4527.716796875,
                        "z": 367.9095153808594
                    },
                    "rotation": {
                        "roll": 1.6675270053667646e-09,
                        "pitch": 0.03332449123263359,
                        "yaw": -81.69400787353516
                    }
                },
                "velocity": {
                    "x": 0.9922500252723694,
                    "y": -6.788417339324951,
                    "z": 0.006357708014547825
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021492004394531,
                "transform": {
                    "location": {
                        "x": 3483.04248046875,
                        "y": 4535.08203125,
                        "z": 367.8988342285156
                    },
                    "rotation": {
                        "roll": 0.0008820918737910688,
                        "pitch": -0.04358343407511711,
                        "yaw": 98.30211639404297
                    }
                },
                "velocity": {
                    "x": -1.1580880880355835,
                    "y": 7.937450885772705,
                    "z": -0.005648059770464897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.495988845825195,
                "transform": {
                    "location": {
                        "x": 3477.78564453125,
                        "y": 4569.27783203125,
                        "z": 367.8943176269531
                    },
                    "rotation": {
                        "roll": -0.0272521935403347,
                        "pitch": 0.03428071737289429,
                        "yaw": 102.9299545288086
                    }
                },
                "velocity": {
                    "x": -1.0636310577392578,
                    "y": 4.368363857269287,
                    "z": 0.0014200686709955335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1722962856292725,
                "transform": {
                    "location": {
                        "x": 3489.53076171875,
                        "y": 4512.77392578125,
                        "z": 367.9330749511719
                    },
                    "rotation": {
                        "roll": 0.000980775454081595,
                        "pitch": 0.14255286753177643,
                        "yaw": -81.45735931396484
                    }
                },
                "velocity": {
                    "x": 0.4614027440547943,
                    "y": -3.1385562419891357,
                    "z": 0.006037693005055189
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.145310401916504,
                "transform": {
                    "location": {
                        "x": 3496.911865234375,
                        "y": 4462.236328125,
                        "z": 368.0297546386719
                    },
                    "rotation": {
                        "roll": 0.00035411264980211854,
                        "pitch": -0.03107052855193615,
                        "yaw": -81.644775390625
                    }
                },
                "velocity": {
                    "x": 0.7449689507484436,
                    "y": -5.09109354019165,
                    "z": 0.002403106540441513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5878777503967285,
                "transform": {
                    "location": {
                        "x": 3499.3056640625,
                        "y": 4445.84716796875,
                        "z": 368.0357971191406
                    },
                    "rotation": {
                        "roll": -0.0006713871262036264,
                        "pitch": 0.022539623081684113,
                        "yaw": -81.67605590820312
                    }
                },
                "velocity": {
                    "x": 0.9536728262901306,
                    "y": -6.518484115600586,
                    "z": 0.0015985965728759766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.505178451538086,
                "transform": {
                    "location": {
                        "x": 3493.07958984375,
                        "y": 4491.7724609375,
                        "z": 367.9993591308594
                    },
                    "rotation": {
                        "roll": -0.1710510104894638,
                        "pitch": 0.19742660224437714,
                        "yaw": -89.94210815429688
                    }
                },
                "velocity": {
                    "x": 0.23821072280406952,
                    "y": -5.500004768371582,
                    "z": 0.013831768184900284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8429840803146362,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7184079885482788,
        "expert_target_speed": 3.3330738589098234,
        "target_point": [
            55.29586712277319,
            0.42314458696927026
        ],
        "target_point_next": [
            85.29558038452531,
            0.23757975696916667
        ]
    },
    "285": {
        "acceleration": [
            1.156858205795288,
            -5.730180740356445,
            0.03458365797996521
        ],
        "angular_velocity": [
            -0.20839805901050568,
            -0.08042611181735992,
            2.9709460735321045
        ],
        "forward_vector": [
            0.16288672387599945,
            -0.9865472912788391,
            0.01387146208435297
        ],
        "right_vector": [
            0.9866387248039246,
            0.16291877627372742,
            0.001204697648063302
        ],
        "location": [
            3490.447509765625,
            4500.7275390625,
            367.9632263183594
        ],
        "rotation": [
            -0.0690307542681694,
            0.7948017716407776,
            -80.62459564208984
        ],
        "velocity": [
            0.8508014678955078,
            -4.703167915344238,
            0.012971267104148865
        ],
        "speed": 4.779503277297403,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.651507377624512,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.139404296875,
                4490.421875,
                368.0033264160156
            ],
            "velocity": [
                0.39190673828125,
                -5.3459343910217285,
                0.013486041687428951
            ],
            "speed_kmh": 19.297070324847134,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.817539215087891,
                "transform": {
                    "location": {
                        "x": 3495.1318359375,
                        "y": 4452.32568359375,
                        "z": 368.04248046875
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.01838686875998974,
                        "yaw": 98.39326477050781
                    }
                },
                "velocity": {
                    "x": -1.1408799886703491,
                    "y": 7.733841896057129,
                    "z": -0.001751050935126841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036216735839844,
                "transform": {
                    "location": {
                        "x": 3488.85400390625,
                        "y": 4495.2822265625,
                        "z": 367.9880065917969
                    },
                    "rotation": {
                        "roll": -0.00012205672828713432,
                        "pitch": -0.1563771665096283,
                        "yaw": 98.32874298095703
                    }
                },
                "velocity": {
                    "x": -1.1615363359451294,
                    "y": 7.9518022537231445,
                    "z": -0.02140394225716591
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2026705741882324,
                "transform": {
                    "location": {
                        "x": 3487.5341796875,
                        "y": 4526.45654296875,
                        "z": 367.91168212890625
                    },
                    "rotation": {
                        "roll": -0.00021362029656302184,
                        "pitch": -0.0667104572057724,
                        "yaw": -81.68797302246094
                    }
                },
                "velocity": {
                    "x": 0.31840288639068604,
                    "y": -2.179535388946533,
                    "z": 0.0018043994205072522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073535919189453,
                "transform": {
                    "location": {
                        "x": 3482.75244140625,
                        "y": 4537.0732421875,
                        "z": 367.89739990234375
                    },
                    "rotation": {
                        "roll": 0.0006019771681167185,
                        "pitch": -0.029636189341545105,
                        "yaw": 98.30097198486328
                    }
                },
                "velocity": {
                    "x": -1.1656606197357178,
                    "y": 7.988941669464111,
                    "z": -0.005239152815192938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3477.65234375,
                        "y": 4570.31298828125,
                        "z": 367.8951416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08683902025222778,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0119171142578125,
                "transform": {
                    "location": {
                        "x": 3489.64892578125,
                        "y": 4511.9716796875,
                        "z": 367.9349060058594
                    },
                    "rotation": {
                        "roll": 0.0002121298894053325,
                        "pitch": 0.12351713329553604,
                        "yaw": -81.50028228759766
                    }
                },
                "velocity": {
                    "x": 0.4374780058860779,
                    "y": -2.979970693588257,
                    "z": 0.005725736264139414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.3082451820373535,
                "transform": {
                    "location": {
                        "x": 3497.098876953125,
                        "y": 4460.9580078125,
                        "z": 368.02972412109375
                    },
                    "rotation": {
                        "roll": 0.00036873138742521405,
                        "pitch": 0.0117069436237216,
                        "yaw": -81.63310241699219
                    }
                },
                "velocity": {
                    "x": 0.7679716348648071,
                    "y": -5.2523980140686035,
                    "z": 0.001951351179741323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.270541191101074,
                "transform": {
                    "location": {
                        "x": 3499.553955078125,
                        "y": 4444.1494140625,
                        "z": 368.0362548828125
                    },
                    "rotation": {
                        "roll": 0.0011782043147832155,
                        "pitch": 0.02862532064318657,
                        "yaw": -81.68281555175781
                    }
                },
                "velocity": {
                    "x": 1.0514403581619263,
                    "y": -7.194111347198486,
                    "z": 0.0020803927909582853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.360297203063965,
                "transform": {
                    "location": {
                        "x": 3493.139404296875,
                        "y": 4490.421875,
                        "z": 368.0033264160156
                    },
                    "rotation": {
                        "roll": -0.1296691745519638,
                        "pitch": 0.13415174186229706,
                        "yaw": -87.70256042480469
                    }
                },
                "velocity": {
                    "x": 0.39190673828125,
                    "y": -5.3459343910217285,
                    "z": 0.013486041687428951
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.18245412409305573,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6631631255149841,
        "expert_target_speed": 4.724782476343287,
        "target_point": [
            54.281205738456435,
            -0.2758936950451556
        ],
        "target_point_next": [
            84.2762750866828,
            -0.835397840311618
        ]
    },
    "290": {
        "acceleration": [
            -0.007325410842895508,
            0.36309242248535156,
            -0.007451251149177551
        ],
        "angular_velocity": [
            1.684755563735962,
            0.3981746733188629,
            2.174807071685791
        ],
        "forward_vector": [
            0.1739579141139984,
            -0.9846934676170349,
            0.010837103240191936
        ],
        "right_vector": [
            0.9847489595413208,
            0.1739785522222519,
            0.000985312624834478
        ],
        "location": [
            3490.68359375,
            4499.42724609375,
            367.96783447265625
        ],
        "rotation": [
            -0.056457579135894775,
            0.6209324598312378,
            -79.98138427734375
        ],
        "velocity": [
            0.9897630214691162,
            -5.3241400718688965,
            0.015576610341668129
        ],
        "speed": 5.415357637640178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.685988426208496,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.234619140625,
                4489.05029296875,
                368.0061950683594
            ],
            "velocity": [
                0.5455595850944519,
                -5.542147636413574,
                0.013556060381233692
            ],
            "speed_kmh": 20.048224961103166,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.098525047302246,
                "transform": {
                    "location": {
                        "x": 3494.84326171875,
                        "y": 4454.2890625,
                        "z": 368.0423278808594
                    },
                    "rotation": {
                        "roll": -0.00045776276965625584,
                        "pitch": -0.029205886647105217,
                        "yaw": 98.35946655273438
                    }
                },
                "velocity": {
                    "x": -1.1753331422805786,
                    "y": 8.012784004211426,
                    "z": -0.0019154929323121905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036101341247559,
                "transform": {
                    "location": {
                        "x": 3488.563720703125,
                        "y": 4497.27001953125,
                        "z": 367.9824523925781
                    },
                    "rotation": {
                        "roll": -0.0005798345082439482,
                        "pitch": -0.15731291472911835,
                        "yaw": 98.2847671508789
                    }
                },
                "velocity": {
                    "x": -1.1587275266647339,
                    "y": 7.952094554901123,
                    "z": -0.02147149108350277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4008210301399231,
                "transform": {
                    "location": {
                        "x": 3487.54931640625,
                        "y": 4526.3515625,
                        "z": 367.9115905761719
                    },
                    "rotation": {
                        "roll": 0.0009186938405036926,
                        "pitch": -0.0257839635014534,
                        "yaw": -81.66423797607422
                    }
                },
                "velocity": {
                    "x": 0.05809895694255829,
                    "y": -0.3965819776058197,
                    "z": 0.0021778868976980448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021040916442871,
                "transform": {
                    "location": {
                        "x": 3482.4619140625,
                        "y": 4539.0634765625,
                        "z": 367.8963623046875
                    },
                    "rotation": {
                        "roll": -0.0006103498162701726,
                        "pitch": -0.03122762404382229,
                        "yaw": 98.30436706542969
                    }
                },
                "velocity": {
                    "x": -1.1585341691970825,
                    "y": 7.936930179595947,
                    "z": -0.005178909283131361
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3477.843994140625,
                        "y": 4571.34033203125,
                        "z": 367.89678955078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09336184710264206,
                        "yaw": 98.30677795410156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1036217212677,
                "transform": {
                    "location": {
                        "x": 3489.7578125,
                        "y": 4511.2333984375,
                        "z": 367.93658447265625
                    },
                    "rotation": {
                        "roll": 0.0003994135477114469,
                        "pitch": 0.12118121236562729,
                        "yaw": -81.56449890136719
                    }
                },
                "velocity": {
                    "x": 0.4495666027069092,
                    "y": -3.0708835124969482,
                    "z": 0.005735759623348713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.107789993286133,
                "transform": {
                    "location": {
                        "x": 3497.3037109375,
                        "y": 4459.560546875,
                        "z": 368.0298767089844
                    },
                    "rotation": {
                        "roll": 0.0008992755901999772,
                        "pitch": 0.040229812264442444,
                        "yaw": -81.67610931396484
                    }
                },
                "velocity": {
                    "x": 0.8838932514190674,
                    "y": -6.043494701385498,
                    "z": 0.0020643328316509724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.951557636260986,
                "transform": {
                    "location": {
                        "x": 3499.832763671875,
                        "y": 4442.24072265625,
                        "z": 368.0367736816406
                    },
                    "rotation": {
                        "roll": 0.00030180736212059855,
                        "pitch": 0.03275075554847717,
                        "yaw": -81.69060516357422
                    }
                },
                "velocity": {
                    "x": 1.1490753889083862,
                    "y": -7.868093490600586,
                    "z": 0.002192325657233596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.568951606750488,
                "transform": {
                    "location": {
                        "x": 3493.234619140625,
                        "y": 4489.05029296875,
                        "z": 368.0061950683594
                    },
                    "rotation": {
                        "roll": -0.0850219652056694,
                        "pitch": 0.17070691287517548,
                        "yaw": -86.21940612792969
                    }
                },
                "velocity": {
                    "x": 0.5455595850944519,
                    "y": -5.542147636413574,
                    "z": 0.013556060381233692
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.6000145077705383,
        "expert_target_speed": 5.2424795338874395,
        "target_point": [
            52.953151608762745,
            -0.8915262252991276
        ],
        "target_point_next": [
            82.94004962716058,
            -1.7877278363709657
        ]
    },
    "295": {
        "acceleration": [
            0.8363533020019531,
            -4.559164047241211,
            0.0014547258615493774
        ],
        "angular_velocity": [
            -0.3662980794906616,
            0.05433833226561546,
            1.2847899198532104
        ],
        "forward_vector": [
            0.1817285120487213,
            -0.9832882881164551,
            0.010904691182076931
        ],
        "right_vector": [
            0.9833452105522156,
            0.18174637854099274,
            0.0006609572446905077
        ],
        "location": [
            3490.9560546875,
            4497.97021484375,
            367.97186279296875
        ],
        "rotation": [
            -0.0378723181784153,
            0.6248051524162292,
            -79.52891540527344
        ],
        "velocity": [
            1.2181583642959595,
            -6.453124046325684,
            0.017372703179717064
        ],
        "speed": 6.567093707095322,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.55311393737793,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.356689453125,
                4487.69384765625,
                368.00994873046875
            ],
            "velocity": [
                0.526340901851654,
                -5.319664001464844,
                0.013607893139123917
            ],
            "speed_kmh": 19.244363936130874,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037958145141602,
                "transform": {
                    "location": {
                        "x": 3494.549560546875,
                        "y": 4456.29248046875,
                        "z": 368.0416259765625
                    },
                    "rotation": {
                        "roll": 0.00029795285081490874,
                        "pitch": -0.020019283518195152,
                        "yaw": 98.3458251953125
                    }
                },
                "velocity": {
                    "x": -1.1650835275650024,
                    "y": 7.953071117401123,
                    "z": -0.00203425413928926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036515235900879,
                "transform": {
                    "location": {
                        "x": 3488.27392578125,
                        "y": 4499.25830078125,
                        "z": 367.9768981933594
                    },
                    "rotation": {
                        "roll": 0.0004952306626364589,
                        "pitch": -0.15890434384346008,
                        "yaw": 98.3171615600586
                    }
                },
                "velocity": {
                    "x": -1.162964105606079,
                    "y": 7.9518938064575195,
                    "z": -0.021733369678258896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0214301347732544,
                "transform": {
                    "location": {
                        "x": 3487.5771484375,
                        "y": 4526.15966796875,
                        "z": 367.910888671875
                    },
                    "rotation": {
                        "roll": 0.0006872183876112103,
                        "pitch": 0.08132705837488174,
                        "yaw": -81.62153625488281
                    }
                },
                "velocity": {
                    "x": 0.14802247285842896,
                    "y": -1.0106462240219116,
                    "z": 0.0017759418115019798
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07317066192627,
                "transform": {
                    "location": {
                        "x": 3482.1708984375,
                        "y": 4541.0546875,
                        "z": 367.8952331542969
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03131641447544098,
                        "yaw": 98.30487823486328
                    }
                },
                "velocity": {
                    "x": -1.1660640239715576,
                    "y": 7.988513469696045,
                    "z": -0.005187177564948797
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3477.2939453125,
                        "y": 4573.0556640625,
                        "z": 367.8996887207031
                    },
                    "rotation": {
                        "roll": -3.335057563447208e-09,
                        "pitch": 0.09344381093978882,
                        "yaw": 115.79056549072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7072956562042236,
                "transform": {
                    "location": {
                        "x": 3489.880859375,
                        "y": 4510.39453125,
                        "z": 367.938232421875
                    },
                    "rotation": {
                        "roll": -0.0010070822900161147,
                        "pitch": 0.13957491517066956,
                        "yaw": -81.6058578491211
                    }
                },
                "velocity": {
                    "x": 0.5367544889450073,
                    "y": -3.668227434158325,
                    "z": 0.006573982071131468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.323734283447266,
                "transform": {
                    "location": {
                        "x": 3497.546875,
                        "y": 4457.8984375,
                        "z": 368.0301818847656
                    },
                    "rotation": {
                        "roll": 0.0012119072489440441,
                        "pitch": 0.05453222617506981,
                        "yaw": -81.71207427978516
                    }
                },
                "velocity": {
                    "x": 1.0570502281188965,
                    "y": -7.247049331665039,
                    "z": 0.002056121826171875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.150146484375,
                "transform": {
                    "location": {
                        "x": 3500.125,
                        "y": 4440.23974609375,
                        "z": 368.03741455078125
                    },
                    "rotation": {
                        "roll": 9.274949843529612e-05,
                        "pitch": 0.022129811346530914,
                        "yaw": -81.69169616699219
                    }
                },
                "velocity": {
                    "x": 1.1777286529541016,
                    "y": -8.064603805541992,
                    "z": 0.0025474547874182463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.345656394958496,
                "transform": {
                    "location": {
                        "x": 3493.356689453125,
                        "y": 4487.69384765625,
                        "z": 368.00994873046875
                    },
                    "rotation": {
                        "roll": -0.0407104529440403,
                        "pitch": 0.08658630400896072,
                        "yaw": -84.96489715576172
                    }
                },
                "velocity": {
                    "x": 0.526340901851654,
                    "y": -5.319664001464844,
                    "z": 0.013607893139123917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5221505165100098,
        "expert_target_speed": 5.921212987093444,
        "target_point": [
            51.46217674375901,
            -1.312773910586852
        ],
        "target_point_next": [
            81.44106283842578,
            -2.4457428494703155
        ]
    },
    "300": {
        "acceleration": [
            0.13847112655639648,
            -2.2025585174560547,
            0.004706941545009613
        ],
        "angular_velocity": [
            0.4131762981414795,
            0.3244205117225647,
            -0.6024850606918335
        ],
        "forward_vector": [
            0.18339824676513672,
            -0.982985258102417,
            0.010249434970319271
        ],
        "right_vector": [
            0.9830371737480164,
            0.1834062933921814,
            -0.00015680630167480558
        ],
        "location": [
            3491.278564453125,
            4496.2451171875,
            367.9768371582031
        ],
        "rotation": [
            0.00898481160402298,
            0.5872596502304077,
            -79.43167877197266
        ],
        "velocity": [
            1.3416095972061157,
            -7.251957416534424,
            0.019289549440145493
        ],
        "speed": 7.375012046264344,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.137923240661621,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.4951171875,
                4486.3525390625,
                368.0126037597656
            ],
            "velocity": [
                0.6282442212104797,
                -5.548529148101807,
                0.011512107215821743
            ],
            "speed_kmh": 20.10238163813239,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3500.271240234375,
                        "y": 4417.7734375,
                        "z": 368.1861572265625
                    },
                    "rotation": {
                        "roll": 1.3340232918324091e-08,
                        "pitch": 0.10112777352333069,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027030944824219,
                "transform": {
                    "location": {
                        "x": 3494.259033203125,
                        "y": 4458.275390625,
                        "z": 368.041015625
                    },
                    "rotation": {
                        "roll": 0.00014741517952643335,
                        "pitch": -0.010866830125451088,
                        "yaw": 98.33727264404297
                    }
                },
                "velocity": {
                    "x": -1.1614673137664795,
                    "y": 7.942557334899902,
                    "z": -0.0016632365295663476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035828590393066,
                "transform": {
                    "location": {
                        "x": 3487.9833984375,
                        "y": 4501.24658203125,
                        "z": 367.9713439941406
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": -0.1583852469921112,
                        "yaw": 98.28861236572266
                    }
                },
                "velocity": {
                    "x": -1.159483790397644,
                    "y": 7.951709270477295,
                    "z": -0.021316342055797577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6552926301956177,
                "transform": {
                    "location": {
                        "x": 3487.625,
                        "y": 4525.8232421875,
                        "z": 367.9112548828125
                    },
                    "rotation": {
                        "roll": 0.0001945805997820571,
                        "pitch": 0.09414049237966537,
                        "yaw": -81.47776794433594
                    }
                },
                "velocity": {
                    "x": 0.24015434086322784,
                    "y": -1.6377778053283691,
                    "z": 0.0018105983035638928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020027160644531,
                "transform": {
                    "location": {
                        "x": 3481.8798828125,
                        "y": 4543.04541015625,
                        "z": 367.8941345214844
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": -0.032197508960962296,
                        "yaw": 98.30498504638672
                    }
                },
                "velocity": {
                    "x": -1.158376932144165,
                    "y": 7.935929298400879,
                    "z": -0.005705633200705051
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4516,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3476.116455078125,
                        "y": 4574.755859375,
                        "z": 367.9051818847656
                    },
                    "rotation": {
                        "roll": -6.67013155819518e-09,
                        "pitch": 0.1577363759279251,
                        "yaw": 134.11331176757812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.580438613891602,
                "transform": {
                    "location": {
                        "x": 3490.03125,
                        "y": 4509.36962890625,
                        "z": 367.9402770996094
                    },
                    "rotation": {
                        "roll": -0.0002441467368043959,
                        "pitch": 0.1504758894443512,
                        "yaw": -81.64335632324219
                    }
                },
                "velocity": {
                    "x": 0.6625487208366394,
                    "y": -4.532253742218018,
                    "z": 0.011164264753460884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.199859619140625,
                "transform": {
                    "location": {
                        "x": 3497.82470703125,
                        "y": 4455.9931640625,
                        "z": 368.03082275390625
                    },
                    "rotation": {
                        "roll": 0.0003672277962323278,
                        "pitch": 0.04356294497847557,
                        "yaw": -81.72294616699219
                    }
                },
                "velocity": {
                    "x": 1.1833125352859497,
                    "y": -8.114028930664062,
                    "z": 0.0015114211710169911
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052773475646973,
                "transform": {
                    "location": {
                        "x": 3500.41748046875,
                        "y": 4438.2353515625,
                        "z": 368.0375671386719
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": -0.004699169658124447,
                        "yaw": -81.69463348388672
                    }
                },
                "velocity": {
                    "x": 1.1632202863693237,
                    "y": -7.968317031860352,
                    "z": -0.0024244117084890604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.5839948654174805,
                "transform": {
                    "location": {
                        "x": 3493.4951171875,
                        "y": 4486.3525390625,
                        "z": 368.0126037597656
                    },
                    "rotation": {
                        "roll": -0.0652465745806694,
                        "pitch": 0.1265702247619629,
                        "yaw": -84.18944549560547
                    }
                },
                "velocity": {
                    "x": 0.6282442212104797,
                    "y": -5.548529148101807,
                    "z": 0.011512107215821743
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.37689408659935,
        "expert_target_speed": 6.167662040701903,
        "target_point": [
            49.70488893647483,
            -1.4007624235474125
        ],
        "target_point_next": [
            79.68180884205053,
            -2.5846133720114963
        ]
    },
    "305": {
        "acceleration": [
            -0.24042129516601562,
            -0.3926658630371094,
            -0.011987872421741486
        ],
        "angular_velocity": [
            0.7903066873550415,
            0.34175971150398254,
            -2.0677645206451416
        ],
        "forward_vector": [
            0.17646925151348114,
            -0.9842830300331116,
            0.006750889588147402
        ],
        "right_vector": [
            0.9843061566352844,
            0.1764644980430603,
            -0.001297465874813497
        ],
        "location": [
            3491.611083984375,
            4494.39697265625,
            367.9825744628906
        ],
        "rotation": [
            0.07434103637933731,
            0.3868004083633423,
            -79.8355941772461
        ],
        "velocity": [
            1.3021409511566162,
            -7.4601922035217285,
            0.020969333127141
        ],
        "speed": 7.572980837831655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.645236015319824,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.652099609375,
                4484.97021484375,
                368.0152893066406
            ],
            "velocity": [
                0.6638103127479553,
                -5.314583778381348,
                0.009625997394323349
            ],
            "speed_kmh": 19.281197223468105,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3499.97021484375,
                        "y": 4419.83349609375,
                        "z": 368.1168212890625
                    },
                    "rotation": {
                        "roll": 1.3340232918324091e-08,
                        "pitch": 0.10112777352333069,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.014439582824707,
                "transform": {
                    "location": {
                        "x": 3493.96826171875,
                        "y": 4460.25927734375,
                        "z": 368.04052734375
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.019226981326937675,
                        "yaw": 98.33120727539062
                    }
                },
                "velocity": {
                    "x": -1.1610864400863647,
                    "y": 7.929887294769287,
                    "z": -0.0018510245718061924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035821914672852,
                "transform": {
                    "location": {
                        "x": 3487.693359375,
                        "y": 4503.234375,
                        "z": 367.96575927734375
                    },
                    "rotation": {
                        "roll": 0.00021994092094246298,
                        "pitch": -0.1583852469921112,
                        "yaw": 98.3305892944336
                    }
                },
                "velocity": {
                    "x": -1.1632641553878784,
                    "y": 7.951148509979248,
                    "z": -0.02218855358660221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1667394638061523,
                "transform": {
                    "location": {
                        "x": 3487.693115234375,
                        "y": 4525.3486328125,
                        "z": 367.9118347167969
                    },
                    "rotation": {
                        "roll": -9.155400766758248e-05,
                        "pitch": 0.09771951287984848,
                        "yaw": -81.31449890136719
                    }
                },
                "velocity": {
                    "x": 0.31545236706733704,
                    "y": -2.1436522006988525,
                    "z": 0.0021875191014260054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.856357574462891,
                "transform": {
                    "location": {
                        "x": 3481.592529296875,
                        "y": 4545.0166015625,
                        "z": 367.89312744140625
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": -0.04226520657539368,
                        "yaw": 98.3028564453125
                    }
                },
                "velocity": {
                    "x": -1.1329822540283203,
                    "y": 7.77423095703125,
                    "z": -0.00571863166987896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.244463920593262,
                "transform": {
                    "location": {
                        "x": 3490.213134765625,
                        "y": 4508.125,
                        "z": 367.943359375
                    },
                    "rotation": {
                        "roll": 6.0838247009087354e-05,
                        "pitch": 0.14966309070587158,
                        "yaw": -81.66851043701172
                    }
                },
                "velocity": {
                    "x": 0.758236825466156,
                    "y": -5.18934440612793,
                    "z": 0.01362873986363411
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.31450366973877,
                "transform": {
                    "location": {
                        "x": 3498.13232421875,
                        "y": 4453.8818359375,
                        "z": 368.03155517578125
                    },
                    "rotation": {
                        "roll": 0.00015431792417075485,
                        "pitch": 0.027375396341085434,
                        "yaw": -81.70561218261719
                    }
                },
                "velocity": {
                    "x": 1.199199914932251,
                    "y": -8.227568626403809,
                    "z": 0.001873607630841434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059701919555664,
                "transform": {
                    "location": {
                        "x": 3500.708251953125,
                        "y": 4436.244140625,
                        "z": 368.0370178222656
                    },
                    "rotation": {
                        "roll": 0.0003148724790662527,
                        "pitch": -0.047947924584150314,
                        "yaw": -81.69480895996094
                    }
                },
                "velocity": {
                    "x": 1.164207100868225,
                    "y": -7.975174427032471,
                    "z": -0.0036892795469611883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3558878898620605,
                "transform": {
                    "location": {
                        "x": 3493.652099609375,
                        "y": 4484.97021484375,
                        "z": 368.0152893066406
                    },
                    "rotation": {
                        "roll": -0.0489196702837944,
                        "pitch": 0.12482170015573502,
                        "yaw": -83.60215759277344
                    }
                },
                "velocity": {
                    "x": 0.6638103127479553,
                    "y": -5.314583778381348,
                    "z": 0.009625997394323349
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.3684539496898651,
        "expert_target_speed": 5.807133636779103,
        "target_point": [
            47.83570937778224,
            -1.0514699914473784
        ],
        "target_point_next": [
            77.82023029400564,
            -2.0239593322834875
        ]
    },
    "310": {
        "acceleration": [
            -0.7175111770629883,
            2.905550003051758,
            -0.004942715167999268
        ],
        "angular_velocity": [
            1.1059520244598389,
            0.1417696326971054,
            -1.96074378490448
        ],
        "forward_vector": [
            0.1676502376794815,
            -0.9858431220054626,
            0.0026098457165062428
        ],
        "right_vector": [
            0.9858459234237671,
            0.16764654219150543,
            -0.0015775045612826943
        ],
        "location": [
            3491.923583984375,
            4492.56787109375,
            367.9885559082031
        ],
        "rotation": [
            0.09038469940423965,
            0.14953331649303436,
            -80.34873962402344
        ],
        "velocity": [
            1.1719671487808228,
            -7.084878444671631,
            0.021044673398137093
        ],
        "speed": 7.18115656239259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.127130508422852,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.8115234375,
                4483.63818359375,
                368.0182189941406
            ],
            "velocity": [
                0.6768989562988281,
                -5.51174259185791,
                0.010107278823852539
            ],
            "speed_kmh": 19.991380786708902,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3499.669189453125,
                        "y": 4421.89404296875,
                        "z": 368.0474853515625
                    },
                    "rotation": {
                        "roll": 1.3340232918324091e-08,
                        "pitch": 0.10112777352333069,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064898490905762,
                "transform": {
                    "location": {
                        "x": 3493.677001953125,
                        "y": 4462.24951171875,
                        "z": 368.0399475097656
                    },
                    "rotation": {
                        "roll": 0.00015151064144447446,
                        "pitch": -0.017027661204338074,
                        "yaw": 98.3306655883789
                    }
                },
                "velocity": {
                    "x": -1.168480634689331,
                    "y": 7.979802131652832,
                    "z": -0.0017019843216985464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035497665405273,
                "transform": {
                    "location": {
                        "x": 3487.40283203125,
                        "y": 4505.22216796875,
                        "z": 367.96026611328125
                    },
                    "rotation": {
                        "roll": 0.00013703118020202965,
                        "pitch": -0.15823498368263245,
                        "yaw": 98.29279327392578
                    }
                },
                "velocity": {
                    "x": -1.1615179777145386,
                    "y": 7.951077938079834,
                    "z": -0.021346110850572586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7350220680236816,
                "transform": {
                    "location": {
                        "x": 3487.782470703125,
                        "y": 4524.73876953125,
                        "z": 367.91253662109375
                    },
                    "rotation": {
                        "roll": 0.0018709679134190083,
                        "pitch": 0.10472045093774796,
                        "yaw": -81.25846099853516
                    }
                },
                "velocity": {
                    "x": 0.3988189995288849,
                    "y": -2.70578670501709,
                    "z": 0.002740564290434122
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.426381587982178,
                "transform": {
                    "location": {
                        "x": 3481.3173828125,
                        "y": 4546.90185546875,
                        "z": 367.89208984375
                    },
                    "rotation": {
                        "roll": -0.0002746584068518132,
                        "pitch": -0.05399264395236969,
                        "yaw": 98.3005599975586
                    }
                },
                "velocity": {
                    "x": -1.0721479654312134,
                    "y": 7.348578929901123,
                    "z": -0.0052674007602036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.764745712280273,
                "transform": {
                    "location": {
                        "x": 3490.40966796875,
                        "y": 4506.78076171875,
                        "z": 367.94671630859375
                    },
                    "rotation": {
                        "roll": 0.0006228637066669762,
                        "pitch": 0.16132906079292297,
                        "yaw": -81.67444610595703
                    }
                },
                "velocity": {
                    "x": 0.8335212469100952,
                    "y": -5.704151630401611,
                    "z": 0.013614092022180557
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.863347053527832,
                "transform": {
                    "location": {
                        "x": 3498.422119140625,
                        "y": 4451.89404296875,
                        "z": 368.0323486328125
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": 0.0015367924934253097,
                        "yaw": -81.69648742675781
                    }
                },
                "velocity": {
                    "x": 1.1350910663604736,
                    "y": -7.780989170074463,
                    "z": 0.0018898105481639504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040072441101074,
                "transform": {
                    "location": {
                        "x": 3500.998779296875,
                        "y": 4434.2529296875,
                        "z": 368.0354309082031
                    },
                    "rotation": {
                        "roll": -0.00033569487277418375,
                        "pitch": -0.04443720728158951,
                        "yaw": -81.69475555419922
                    }
                },
                "velocity": {
                    "x": 1.1613260507583618,
                    "y": -7.955756664276123,
                    "z": -0.005653009284287691
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.55316162109375,
                "transform": {
                    "location": {
                        "x": 3493.8115234375,
                        "y": 4483.63818359375,
                        "z": 368.0182189941406
                    },
                    "rotation": {
                        "roll": -0.005004880949854851,
                        "pitch": 0.09513770043849945,
                        "yaw": -83.00481414794922
                    }
                },
                "velocity": {
                    "x": 0.6768989562988281,
                    "y": -5.51174259185791,
                    "z": 0.010107278823852539
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.36090779304504395,
        "expert_target_speed": 5.121108987735183,
        "target_point": [
            45.987603506317896,
            -0.624453772820388
        ],
        "target_point_next": [
            75.97963125373016,
            -1.3283725834314755
        ]
    },
    "315": {
        "acceleration": [
            -0.2510547637939453,
            -0.34104347229003906,
            -0.006460919976234436
        ],
        "angular_velocity": [
            -0.4383689761161804,
            0.007449588272720575,
            -2.034597873687744
        ],
        "forward_vector": [
            0.15920348465442657,
            -0.9872457385063171,
            0.00026881691883318126
        ],
        "right_vector": [
            0.9872445464134216,
            0.15920285880565643,
            -0.0016250277403742075
        ],
        "location": [
            3492.19775390625,
            4490.87158203125,
            367.9938659667969
        ],
        "rotation": [
            0.09310727566480637,
            0.015402075834572315,
            -80.8393325805664
        ],
        "velocity": [
            1.0411789417266846,
            -6.687993049621582,
            0.01817057654261589
        ],
        "speed": 6.768552623750641,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.779537200927734,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3493.982421875,
                4482.275390625,
                368.0206298828125
            ],
            "velocity": [
                0.6951901912689209,
                -5.3616766929626465,
                0.009540996514260769
            ],
            "speed_kmh": 19.463638092785423,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042076110839844,
                "transform": {
                    "location": {
                        "x": 3499.37109375,
                        "y": 4423.9150390625,
                        "z": 368.0159606933594
                    },
                    "rotation": {
                        "roll": -0.0029907263815402985,
                        "pitch": 0.09570460766553879,
                        "yaw": 98.46830749511719
                    }
                },
                "velocity": {
                    "x": -1.2125861644744873,
                    "y": 7.950124263763428,
                    "z": -0.012491492554545403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996301651000977,
                "transform": {
                    "location": {
                        "x": 3493.38623046875,
                        "y": 4464.23486328125,
                        "z": 368.03912353515625
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": -0.024773094803094864,
                        "yaw": 98.322998046875
                    }
                },
                "velocity": {
                    "x": -1.1549683809280396,
                    "y": 7.912450790405273,
                    "z": -0.0039004802238196135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035760879516602,
                "transform": {
                    "location": {
                        "x": 3487.1123046875,
                        "y": 4507.21044921875,
                        "z": 367.9552917480469
                    },
                    "rotation": {
                        "roll": 0.0005710093537345529,
                        "pitch": -0.13464350998401642,
                        "yaw": 98.3312759399414
                    }
                },
                "velocity": {
                    "x": -1.1640746593475342,
                    "y": 7.9509782791137695,
                    "z": -0.01812179572880268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2801973819732666,
                "transform": {
                    "location": {
                        "x": 3487.892333984375,
                        "y": 4523.994140625,
                        "z": 367.91351318359375
                    },
                    "rotation": {
                        "roll": 0.0015648562693968415,
                        "pitch": 0.10632555186748505,
                        "yaw": -81.30549621582031
                    }
                },
                "velocity": {
                    "x": 0.47775888442993164,
                    "y": -3.2452144622802734,
                    "z": 0.004951057489961386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2919697761535645,
                "transform": {
                    "location": {
                        "x": 3481.0517578125,
                        "y": 4548.7197265625,
                        "z": 367.8910217285156
                    },
                    "rotation": {
                        "roll": 6.686116830678657e-05,
                        "pitch": -0.04690290614962578,
                        "yaw": 98.3075180053711
                    }
                },
                "velocity": {
                    "x": -1.053689956665039,
                    "y": 7.215436935424805,
                    "z": -0.005655565299093723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.120694160461426,
                "transform": {
                    "location": {
                        "x": 3490.6328125,
                        "y": 4505.25732421875,
                        "z": 367.9504089355469
                    },
                    "rotation": {
                        "roll": -0.00015259273641277105,
                        "pitch": 0.17601396143436432,
                        "yaw": -81.69744110107422
                    }
                },
                "velocity": {
                    "x": 0.8849503993988037,
                    "y": -6.056360244750977,
                    "z": 0.016061782836914062
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.051663398742676,
                "transform": {
                    "location": {
                        "x": 3498.697998046875,
                        "y": 4450.00341796875,
                        "z": 368.032958984375
                    },
                    "rotation": {
                        "roll": 0.0003054992121178657,
                        "pitch": -0.005894452799111605,
                        "yaw": -81.68821716308594
                    }
                },
                "velocity": {
                    "x": 1.0194549560546875,
                    "y": -6.977582931518555,
                    "z": 0.001945667201653123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080321311950684,
                "transform": {
                    "location": {
                        "x": 3501.2900390625,
                        "y": 4432.25830078125,
                        "z": 368.0337829589844
                    },
                    "rotation": {
                        "roll": 0.00014692579861730337,
                        "pitch": -0.04421864077448845,
                        "yaw": -81.69493103027344
                    }
                },
                "velocity": {
                    "x": 1.1671727895736694,
                    "y": -7.99557638168335,
                    "z": -0.007889299653470516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.406566143035889,
                "transform": {
                    "location": {
                        "x": 3493.982421875,
                        "y": 4482.275390625,
                        "z": 368.0206298828125
                    },
                    "rotation": {
                        "roll": -0.020263681188225746,
                        "pitch": 0.12527932226657867,
                        "yaw": -82.63158416748047
                    }
                },
                "velocity": {
                    "x": 0.6951901912689209,
                    "y": -5.3616766929626465,
                    "z": 0.009540996514260769
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.3939860165119171,
        "expert_target_speed": 4.428847515733283,
        "target_point": [
            44.27296153753953,
            -0.23127228584861825
        ],
        "target_point_next": [
            74.2699171979146,
            -0.6783530425041793
        ]
    },
    "320": {
        "acceleration": [
            -0.7688403129577637,
            4.561185836791992,
            -0.10478667914867401
        ],
        "angular_velocity": [
            0.40128064155578613,
            -0.003146545961499214,
            -1.2000471353530884
        ],
        "forward_vector": [
            0.1521022468805313,
            -0.9883437156677246,
            -0.006453230511397123
        ],
        "right_vector": [
            0.9883620738983154,
            0.15211378037929535,
            -0.0013340128352865577
        ],
        "location": [
            3492.407470703125,
            4489.4892578125,
            367.9986572265625
        ],
        "rotation": [
            0.0764349102973938,
            -0.3697454333305359,
            -81.25104522705078
        ],
        "velocity": [
            0.7079848051071167,
            -4.84260892868042,
            0.007342109456658363
        ],
        "speed": 4.894088650647625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.726473808288574,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.15673828125,
                4480.93994140625,
                368.0230407714844
            ],
            "velocity": [
                0.7467613816261292,
                -5.4501237869262695,
                0.009730681777000427
            ],
            "speed_kmh": 19.80379486763532,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056994438171387,
                "transform": {
                    "location": {
                        "x": 3499.0654296875,
                        "y": 4425.904296875,
                        "z": 368.0227355957031
                    },
                    "rotation": {
                        "roll": -0.0025329634081572294,
                        "pitch": 0.10020569711923599,
                        "yaw": 98.8099136352539
                    }
                },
                "velocity": {
                    "x": -1.247738242149353,
                    "y": 7.959736347198486,
                    "z": 0.02999236062169075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064667701721191,
                "transform": {
                    "location": {
                        "x": 3493.095458984375,
                        "y": 4466.2216796875,
                        "z": 368.03814697265625
                    },
                    "rotation": {
                        "roll": 0.0009885999606922269,
                        "pitch": -0.039676565676927567,
                        "yaw": 98.32044982910156
                    }
                },
                "velocity": {
                    "x": -1.1670376062393188,
                    "y": 7.979778289794922,
                    "z": -0.005762471817433834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035177230834961,
                "transform": {
                    "location": {
                        "x": 3486.82177734375,
                        "y": 4509.1982421875,
                        "z": 367.9508056640625
                    },
                    "rotation": {
                        "roll": 0.0004471114953048527,
                        "pitch": -0.11948049068450928,
                        "yaw": 98.29387664794922
                    }
                },
                "velocity": {
                    "x": -1.1615822315216064,
                    "y": 7.950754165649414,
                    "z": -0.017494697123765945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.983612298965454,
                "transform": {
                    "location": {
                        "x": 3488.025634765625,
                        "y": 4523.09765625,
                        "z": 367.9149475097656
                    },
                    "rotation": {
                        "roll": 0.001320016453973949,
                        "pitch": 0.1089346781373024,
                        "yaw": -81.43336486816406
                    }
                },
                "velocity": {
                    "x": 0.5785422921180725,
                    "y": -3.941373109817505,
                    "z": 0.005865116138011217
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.982288837432861,
                "transform": {
                    "location": {
                        "x": 3480.7939453125,
                        "y": 4550.48681640625,
                        "z": 367.89007568359375
                    },
                    "rotation": {
                        "roll": 0.0002555452228989452,
                        "pitch": -0.048036716878414154,
                        "yaw": 98.30770874023438
                    }
                },
                "velocity": {
                    "x": -1.008864164352417,
                    "y": 6.909017086029053,
                    "z": -0.005749483127146959
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.748311996459961,
                "transform": {
                    "location": {
                        "x": 3490.7900390625,
                        "y": 4504.1806640625,
                        "z": 367.95404052734375
                    },
                    "rotation": {
                        "roll": -0.00021362709230743349,
                        "pitch": 0.08752203732728958,
                        "yaw": -81.70995330810547
                    }
                },
                "velocity": {
                    "x": 0.5408374071121216,
                    "y": -3.7090752124786377,
                    "z": 0.009887313470244408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.573539733886719,
                "transform": {
                    "location": {
                        "x": 3498.93896484375,
                        "y": 4448.3525390625,
                        "z": 368.0334167480469
                    },
                    "rotation": {
                        "roll": 0.00019828099175356328,
                        "pitch": -0.005341207608580589,
                        "yaw": -81.63591003417969
                    }
                },
                "velocity": {
                    "x": 0.9508220553398132,
                    "y": -6.504410743713379,
                    "z": 0.001796779572032392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.000629425048828,
                "transform": {
                    "location": {
                        "x": 3501.5810546875,
                        "y": 4430.26513671875,
                        "z": 368.03131103515625
                    },
                    "rotation": {
                        "roll": -0.0008850074373185635,
                        "pitch": -0.08810260891914368,
                        "yaw": -81.6983871459961
                    }
                },
                "velocity": {
                    "x": 1.1551223993301392,
                    "y": -7.916795253753662,
                    "z": -0.010891932994127274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.501054286956787,
                "transform": {
                    "location": {
                        "x": 3494.15673828125,
                        "y": 4480.93994140625,
                        "z": 368.0230407714844
                    },
                    "rotation": {
                        "roll": -0.0211181677877903,
                        "pitch": 0.09528796374797821,
                        "yaw": -82.5410385131836
                    }
                },
                "velocity": {
                    "x": 0.7467613816261292,
                    "y": -5.4501237869262695,
                    "z": 0.009730681777000427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.406668484210968,
        "expert_target_speed": 3.3224985961446887,
        "target_point": [
            42.87534144639306,
            0.08984290862117739
        ],
        "target_point_next": [
            72.87473522405993,
            -0.14168045080681146
        ]
    },
    "325": {
        "acceleration": [
            -0.033435821533203125,
            -0.460968017578125,
            -0.006405059248209
        ],
        "angular_velocity": [
            -1.2216626405715942,
            -0.24606816470623016,
            -1.3267520666122437
        ],
        "forward_vector": [
            0.14653411507606506,
            -0.9892004132270813,
            -0.003195161232724786
        ],
        "right_vector": [
            0.9892046451568604,
            0.14653758704662323,
            -0.0008805228280834854
        ],
        "location": [
            3492.5751953125,
            4488.33056640625,
            368.00048828125
        ],
        "rotation": [
            0.050450507551431656,
            -0.18306955695152283,
            -81.5738296508789
        ],
        "velocity": [
            0.6483321785926819,
            -4.599288463592529,
            0.009904537349939346
        ],
        "speed": 4.644759303250714,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.943341255187988,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.341796875,
                4479.5634765625,
                368.0252380371094
            ],
            "velocity": [
                0.7359532117843628,
                -5.425570487976074,
                0.009761524386703968
            ],
            "speed_kmh": 19.710957523248116,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.995513916015625,
                "transform": {
                    "location": {
                        "x": 3498.75439453125,
                        "y": 4427.88623046875,
                        "z": 368.0280456542969
                    },
                    "rotation": {
                        "roll": -0.0004272442893125117,
                        "pitch": 0.10064966231584549,
                        "yaw": 98.97950744628906
                    }
                },
                "velocity": {
                    "x": -1.251146912574768,
                    "y": 7.896999359130859,
                    "z": 0.016733301803469658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00236988067627,
                "transform": {
                    "location": {
                        "x": 3492.80517578125,
                        "y": 4468.208984375,
                        "z": 368.0367431640625
                    },
                    "rotation": {
                        "roll": 0.00028647109866142273,
                        "pitch": -0.0368352085351944,
                        "yaw": 98.31536102294922
                    }
                },
                "velocity": {
                    "x": -1.1572973728179932,
                    "y": 7.918241024017334,
                    "z": -0.005911750718951225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035476684570312,
                "transform": {
                    "location": {
                        "x": 3486.5322265625,
                        "y": 4511.18603515625,
                        "z": 367.9465637207031
                    },
                    "rotation": {
                        "roll": -0.00036621635081246495,
                        "pitch": -0.12161151319742203,
                        "yaw": 98.33012390136719
                    }
                },
                "velocity": {
                    "x": -1.1615043878555298,
                    "y": 7.95106840133667,
                    "z": -0.01721356436610222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.916693210601807,
                "transform": {
                    "location": {
                        "x": 3488.1884765625,
                        "y": 4521.99560546875,
                        "z": 367.9166259765625
                    },
                    "rotation": {
                        "roll": 0.0011025441344827414,
                        "pitch": 0.1165366843342781,
                        "yaw": -81.55290222167969
                    }
                },
                "velocity": {
                    "x": 0.7120658755302429,
                    "y": -4.8648529052734375,
                    "z": 0.006380319595336914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.772577285766602,
                "transform": {
                    "location": {
                        "x": 3480.5458984375,
                        "y": 4552.18505859375,
                        "z": 367.8890686035156
                    },
                    "rotation": {
                        "roll": -6.1034825193928555e-05,
                        "pitch": -0.04964864253997803,
                        "yaw": 98.31182861328125
                    }
                },
                "velocity": {
                    "x": -0.978981614112854,
                    "y": 6.701446533203125,
                    "z": -0.0036552618257701397
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.846273422241211,
                "transform": {
                    "location": {
                        "x": 3490.946533203125,
                        "y": 4503.1064453125,
                        "z": 367.9563293457031
                    },
                    "rotation": {
                        "roll": 6.958288577152416e-05,
                        "pitch": 0.17791958153247833,
                        "yaw": -81.71018981933594
                    }
                },
                "velocity": {
                    "x": 0.6988496780395508,
                    "y": -4.795599937438965,
                    "z": 0.014098091050982475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.315478801727295,
                "transform": {
                    "location": {
                        "x": 3499.188720703125,
                        "y": 4446.6455078125,
                        "z": 368.0335998535156
                    },
                    "rotation": {
                        "roll": 0.0007991639431566,
                        "pitch": 0.03283271938562393,
                        "yaw": -81.65208435058594
                    }
                },
                "velocity": {
                    "x": 1.0581660270690918,
                    "y": -7.238543510437012,
                    "z": 0.0017316722078248858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.063785076141357,
                "transform": {
                    "location": {
                        "x": 3501.853271484375,
                        "y": 4428.39892578125,
                        "z": 368.0285339355469
                    },
                    "rotation": {
                        "roll": -0.0003662163799162954,
                        "pitch": -0.12429577857255936,
                        "yaw": -81.69892883300781
                    }
                },
                "velocity": {
                    "x": 1.0198525190353394,
                    "y": -6.9897613525390625,
                    "z": -0.013952531851828098
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.475265979766846,
                "transform": {
                    "location": {
                        "x": 3494.341796875,
                        "y": 4479.5634765625,
                        "z": 368.0252380371094
                    },
                    "rotation": {
                        "roll": -0.007019040174782276,
                        "pitch": 0.09794490784406662,
                        "yaw": -82.35045623779297
                    }
                },
                "velocity": {
                    "x": 0.7359532117843628,
                    "y": -5.425570487976074,
                    "z": 0.009761524386703968
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4071674048900604,
        "expert_target_speed": 3.4334376625924046,
        "target_point": [
            41.70339353424306,
            0.3352541692529183
        ],
        "target_point_next": [
            71.70361555996445,
            0.2727361646340043
        ]
    },
    "330": {
        "acceleration": [
            0.21882176399230957,
            -2.4413204193115234,
            0.07322387397289276
        ],
        "angular_velocity": [
            -1.1516441106796265,
            -0.1921391636133194,
            -1.382614016532898
        ],
        "forward_vector": [
            0.14079256355762482,
            -0.9900366067886353,
            0.0022196751087903976
        ],
        "right_vector": [
            0.9900389909744263,
            0.140791118144989,
            -0.0007956096087582409
        ],
        "location": [
            3492.74267578125,
            4487.12744140625,
            368.00225830078125
        ],
        "rotation": [
            0.045585185289382935,
            0.1271781176328659,
            -81.9062728881836
        ],
        "velocity": [
            0.6856562495231628,
            -5.062804222106934,
            0.013204259797930717
        ],
        "speed": 5.109022517458106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.067774772644043,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.523681640625,
                4478.236328125,
                368.02783203125
            ],
            "velocity": [
                0.725274384021759,
                -5.268556594848633,
                0.007210035342723131
            ],
            "speed_kmh": 19.145693382263975,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.633862018585205,
                "transform": {
                    "location": {
                        "x": 3498.44921875,
                        "y": 4429.84619140625,
                        "z": 368.0314636230469
                    },
                    "rotation": {
                        "roll": 0.0016650003381073475,
                        "pitch": 0.08391570299863815,
                        "yaw": 98.83198547363281
                    }
                },
                "velocity": {
                    "x": -1.156744360923767,
                    "y": 7.545707702636719,
                    "z": 0.009417323395609856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060976028442383,
                "transform": {
                    "location": {
                        "x": 3492.51513671875,
                        "y": 4470.19580078125,
                        "z": 368.0354919433594
                    },
                    "rotation": {
                        "roll": 0.0007864341023378074,
                        "pitch": -0.037142567336559296,
                        "yaw": 98.31167602539062
                    }
                },
                "velocity": {
                    "x": -1.1652679443359375,
                    "y": 7.9763054847717285,
                    "z": -0.005760821979492903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036161422729492,
                "transform": {
                    "location": {
                        "x": 3486.24169921875,
                        "y": 4513.173828125,
                        "z": 367.9422912597656
                    },
                    "rotation": {
                        "roll": 0.00022701759007759392,
                        "pitch": -0.12249260395765305,
                        "yaw": 98.2930679321289
                    }
                },
                "velocity": {
                    "x": -1.1617467403411865,
                    "y": 7.951724529266357,
                    "z": -0.017538107931613922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.349372386932373,
                "transform": {
                    "location": {
                        "x": 3488.3779296875,
                        "y": 4520.70556640625,
                        "z": 367.9188537597656
                    },
                    "rotation": {
                        "roll": -0.00030517452978529036,
                        "pitch": 0.1031700000166893,
                        "yaw": -81.66014099121094
                    }
                },
                "velocity": {
                    "x": 0.7733734250068665,
                    "y": -5.2931647300720215,
                    "z": 0.009168109856545925
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.503694534301758,
                "transform": {
                    "location": {
                        "x": 3480.30615234375,
                        "y": 4553.82568359375,
                        "z": 367.8880920410156
                    },
                    "rotation": {
                        "roll": 0.0004200901312287897,
                        "pitch": -0.04680728539824486,
                        "yaw": 98.31201934814453
                    }
                },
                "velocity": {
                    "x": -0.9402155876159668,
                    "y": 6.435373306274414,
                    "z": -0.002432537032291293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.255925178527832,
                "transform": {
                    "location": {
                        "x": 3491.1328125,
                        "y": 4501.82666015625,
                        "z": 367.96026611328125
                    },
                    "rotation": {
                        "roll": -0.000122076875413768,
                        "pitch": 0.1773117035627365,
                        "yaw": -81.67821502685547
                    }
                },
                "velocity": {
                    "x": 0.7588898539543152,
                    "y": -5.200831413269043,
                    "z": 0.013767356984317303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.233078002929688,
                "transform": {
                    "location": {
                        "x": 3499.466064453125,
                        "y": 4444.74853515625,
                        "z": 368.0340576171875
                    },
                    "rotation": {
                        "roll": 0.00012511621753219515,
                        "pitch": 0.04166415333747864,
                        "yaw": -81.67619323730469
                    }
                },
                "velocity": {
                    "x": 1.1919772624969482,
                    "y": -8.146334648132324,
                    "z": 0.0015348148299381137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.935014247894287,
                "transform": {
                    "location": {
                        "x": 3502.08251953125,
                        "y": 4426.83056640625,
                        "z": 368.0256042480469
                    },
                    "rotation": {
                        "roll": 0.00018648327386472374,
                        "pitch": -0.12542958557605743,
                        "yaw": -81.69880676269531
                    }
                },
                "velocity": {
                    "x": 0.856883704662323,
                    "y": -5.872818946838379,
                    "z": -0.012010135687887669
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3182477951049805,
                "transform": {
                    "location": {
                        "x": 3494.523681640625,
                        "y": 4478.236328125,
                        "z": 368.02783203125
                    },
                    "rotation": {
                        "roll": -0.008331297896802425,
                        "pitch": 0.024670641869306564,
                        "yaw": -82.2322998046875
                    }
                },
                "velocity": {
                    "x": 0.725274384021759,
                    "y": -5.268556594848633,
                    "z": 0.007210035342723131
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4336607754230499,
        "expert_target_speed": 3.8564045823674236,
        "target_point": [
            40.486025526411304,
            0.5807980964241892
        ],
        "target_point_next": [
            70.48610530529264,
            0.6923478800854976
        ]
    },
    "335": {
        "acceleration": [
            -0.2194046974182129,
            0.5606937408447266,
            -0.004929546266794205
        ],
        "angular_velocity": [
            0.020093955099582672,
            0.038018904626369476,
            -1.4647629261016846
        ],
        "forward_vector": [
            0.13480818271636963,
            -0.9908663630485535,
            0.003259414341300726
        ],
        "right_vector": [
            0.9908716678619385,
            0.13480636477470398,
            -0.0007721467991359532
        ],
        "location": [
            3492.912841796875,
            4485.85498046875,
            368.0047302246094
        ],
        "rotation": [
            0.04424098879098892,
            0.18675102293491364,
            -82.25243377685547
        ],
        "velocity": [
            0.6706889867782593,
            -5.169560432434082,
            0.00987925473600626
        ],
        "speed": 5.212885840067256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.16443920135498,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.713134765625,
                4476.869140625,
                368.0286560058594
            ],
            "velocity": [
                0.786706805229187,
                -5.564957618713379,
                0.005846547894179821
            ],
            "speed_kmh": 20.23305533540587,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.643322467803955,
                "transform": {
                    "location": {
                        "x": 3498.165771484375,
                        "y": 4431.697265625,
                        "z": 368.03375244140625
                    },
                    "rotation": {
                        "roll": 0.001499903853982687,
                        "pitch": 0.04591253027319908,
                        "yaw": 98.67475128173828
                    }
                },
                "velocity": {
                    "x": -1.1464459896087646,
                    "y": 7.556849956512451,
                    "z": 0.007923745550215244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00390338897705,
                "transform": {
                    "location": {
                        "x": 3492.225341796875,
                        "y": 4472.1826171875,
                        "z": 368.0338134765625
                    },
                    "rotation": {
                        "roll": 0.0009367651655338705,
                        "pitch": -0.05139033868908882,
                        "yaw": 98.3046646118164
                    }
                },
                "velocity": {
                    "x": -1.1560319662094116,
                    "y": 7.9199724197387695,
                    "z": -0.00981251709163189
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034356117248535,
                "transform": {
                    "location": {
                        "x": 3485.951904296875,
                        "y": 4515.1611328125,
                        "z": 367.93804931640625
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.1197810173034668,
                        "yaw": 98.3297119140625
                    }
                },
                "velocity": {
                    "x": -1.1613942384719849,
                    "y": 7.94995641708374,
                    "z": -0.015418910421431065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.178893089294434,
                "transform": {
                    "location": {
                        "x": 3488.585205078125,
                        "y": 4519.2900390625,
                        "z": 367.9209289550781
                    },
                    "rotation": {
                        "roll": 0.0002318566694157198,
                        "pitch": 0.11209706217050552,
                        "yaw": -81.72589874267578
                    }
                },
                "velocity": {
                    "x": 0.8917316198348999,
                    "y": -6.114200115203857,
                    "z": 0.00957067497074604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3480.102783203125,
                        "y": 4555.42626953125,
                        "z": 367.89056396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.1332268714904785,
                "transform": {
                    "location": {
                        "x": 3491.33642578125,
                        "y": 4500.43115234375,
                        "z": 367.9639892578125
                    },
                    "rotation": {
                        "roll": 0.001278452342376113,
                        "pitch": 0.18228407204151154,
                        "yaw": -81.66789245605469
                    }
                },
                "velocity": {
                    "x": 0.8870066404342651,
                    "y": -6.068726539611816,
                    "z": 0.01573198288679123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.307588577270508,
                "transform": {
                    "location": {
                        "x": 3499.77490234375,
                        "y": 4442.63720703125,
                        "z": 368.0347595214844
                    },
                    "rotation": {
                        "roll": 0.0009182794601656497,
                        "pitch": 0.026931434869766235,
                        "yaw": -81.69091033935547
                    }
                },
                "velocity": {
                    "x": 1.2011677026748657,
                    "y": -8.220293045043945,
                    "z": 0.0020103263668715954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.166504859924316,
                "transform": {
                    "location": {
                        "x": 3502.296875,
                        "y": 4425.3603515625,
                        "z": 368.0227355957031
                    },
                    "rotation": {
                        "roll": 1.899649214465171e-05,
                        "pitch": -0.10144196450710297,
                        "yaw": -81.69853210449219
                    }
                },
                "velocity": {
                    "x": 0.890296459197998,
                    "y": -6.101889133453369,
                    "z": -0.010168494656682014
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.620293140411377,
                "transform": {
                    "location": {
                        "x": 3494.713134765625,
                        "y": 4476.869140625,
                        "z": 368.0286560058594
                    },
                    "rotation": {
                        "roll": -0.01174926571547985,
                        "pitch": 0.13718433678150177,
                        "yaw": -82.09683990478516
                    }
                },
                "velocity": {
                    "x": 0.786706805229187,
                    "y": -5.564957618713379,
                    "z": 0.005846547894179821
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4572059214115143,
        "expert_target_speed": 4.072766860779476,
        "target_point": [
            39.19799226671254,
            0.8283183557250942
        ],
        "target_point_next": [
            69.19685055276088,
            1.1211179921121346
        ]
    },
    "340": {
        "acceleration": [
            -0.1540064811706543,
            0.4935264587402344,
            -0.0008426792919635773
        ],
        "angular_velocity": [
            0.1780121773481369,
            -0.0013131038285791874,
            -1.392366647720337
        ],
        "forward_vector": [
            0.12865084409713745,
            -0.9916873574256897,
            0.0022689083125442266
        ],
        "right_vector": [
            0.9916898608207703,
            0.12864947319030762,
            -0.0007366816280409694
        ],
        "location": [
            3493.076171875,
            4484.57763671875,
            368.0074462890625
        ],
        "rotation": [
            0.04220885783433914,
            0.12999898195266724,
            -82.60834503173828
        ],
        "velocity": [
            0.6304962635040283,
            -5.0873847007751465,
            0.009689588099718094
        ],
        "speed": 5.12630555390269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.246274948120117,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3494.903076171875,
                4475.513671875,
                368.0311279296875
            ],
            "velocity": [
                0.7417646646499634,
                -5.295452117919922,
                0.006041497923433781
            ],
            "speed_kmh": 19.24975727846497,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.401800155639648,
                "transform": {
                    "location": {
                        "x": 3497.862060546875,
                        "y": 4433.70849609375,
                        "z": 368.0352783203125
                    },
                    "rotation": {
                        "roll": 0.0015613242285326123,
                        "pitch": 0.05429317057132721,
                        "yaw": 98.55751037597656
                    }
                },
                "velocity": {
                    "x": -1.2414121627807617,
                    "y": 8.309578895568848,
                    "z": 0.005934381391853094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062150001525879,
                "transform": {
                    "location": {
                        "x": 3491.935302734375,
                        "y": 4474.17041015625,
                        "z": 368.0316467285156
                    },
                    "rotation": {
                        "roll": 0.0008847570861689746,
                        "pitch": -0.07955803722143173,
                        "yaw": 98.30428314208984
                    }
                },
                "velocity": {
                    "x": -1.1644240617752075,
                    "y": 7.977611064910889,
                    "z": -0.00981637928634882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03549575805664,
                "transform": {
                    "location": {
                        "x": 3485.6611328125,
                        "y": 4517.14892578125,
                        "z": 367.93450927734375
                    },
                    "rotation": {
                        "roll": -0.0001831046538427472,
                        "pitch": -0.09369652718305588,
                        "yaw": 98.29786682128906
                    }
                },
                "velocity": {
                    "x": -1.1622238159179688,
                    "y": 7.950990200042725,
                    "z": -0.013865050859749317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.393774509429932,
                "transform": {
                    "location": {
                        "x": 3488.83056640625,
                        "y": 4517.60888671875,
                        "z": 367.92340087890625
                    },
                    "rotation": {
                        "roll": 0.0004674221854656935,
                        "pitch": 0.1274171769618988,
                        "yaw": -81.76708221435547
                    }
                },
                "velocity": {
                    "x": 1.0636640787124634,
                    "y": -7.316854476928711,
                    "z": 0.012641381472349167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3479.933349609375,
                        "y": 4557.009765625,
                        "z": 367.89642333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.351264953613281,
                "transform": {
                    "location": {
                        "x": 3491.569580078125,
                        "y": 4498.83544921875,
                        "z": 367.9684753417969
                    },
                    "rotation": {
                        "roll": -3.050920531677548e-05,
                        "pitch": 0.173329696059227,
                        "yaw": -81.6448974609375
                    }
                },
                "velocity": {
                    "x": 0.9183304309844971,
                    "y": -6.2845001220703125,
                    "z": 0.01713830977678299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.337098598480225,
                "transform": {
                    "location": {
                        "x": 3500.05712890625,
                        "y": 4440.7041015625,
                        "z": 368.0356140136719
                    },
                    "rotation": {
                        "roll": 6.948624650249258e-05,
                        "pitch": -0.012424113228917122,
                        "yaw": -81.69386291503906
                    }
                },
                "velocity": {
                    "x": 1.0602476596832275,
                    "y": -7.2600884437561035,
                    "z": 0.0019118022173643112
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.90635347366333,
                "transform": {
                    "location": {
                        "x": 3502.5361328125,
                        "y": 4423.72119140625,
                        "z": 368.0196838378906
                    },
                    "rotation": {
                        "roll": 0.0001308909704675898,
                        "pitch": -0.08394984900951385,
                        "yaw": -81.6981430053711
                    }
                },
                "velocity": {
                    "x": 0.9973046183586121,
                    "y": -6.833959102630615,
                    "z": -0.010230055078864098
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.34715461730957,
                "transform": {
                    "location": {
                        "x": 3494.903076171875,
                        "y": 4475.513671875,
                        "z": 368.0311279296875
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.04635649174451828,
                        "yaw": -82.04671478271484
                    }
                },
                "velocity": {
                    "x": 0.7417646646499634,
                    "y": -5.295452117919922,
                    "z": 0.006041497923433781
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.4914322793483734,
        "expert_target_speed": 4.059809509530496,
        "target_point": [
            37.90434892564412,
            1.0741586001266947
        ],
        "target_point_next": [
            67.90080952223879,
            1.5533055195806753
        ]
    },
    "345": {
        "acceleration": [
            0.020973682403564453,
            0.046939849853515625,
            0.004137419164180756
        ],
        "angular_velocity": [
            0.08591650426387787,
            -0.08605382591485977,
            -0.4243311583995819
        ],
        "forward_vector": [
            0.1243593692779541,
            -0.9922354817390442,
            0.001847742940299213
        ],
        "right_vector": [
            0.9922372102737427,
            0.12435903400182724,
            -0.00029647001065313816
        ],
        "location": [
            3493.233154296875,
            4483.30908203125,
            368.0101013183594
        ],
        "rotation": [
            0.016986509785056114,
            0.10586792975664139,
            -82.8562240600586
        ],
        "velocity": [
            0.6219664216041565,
            -5.040802478790283,
            0.01004396378993988
        ],
        "speed": 5.079028633487051,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.303343772888184,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3495.089599609375,
                4474.19287109375,
                368.03271484375
            ],
            "velocity": [
                0.7719901204109192,
                -5.4172210693359375,
                0.005733156111091375
            ],
            "speed_kmh": 19.699036094432678,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.944273471832275,
                "transform": {
                    "location": {
                        "x": 3497.560302734375,
                        "y": 4435.73095703125,
                        "z": 368.0368347167969
                    },
                    "rotation": {
                        "roll": 0.0006292745820246637,
                        "pitch": 0.03684203699231148,
                        "yaw": 98.45455932617188
                    }
                },
                "velocity": {
                    "x": -1.1651763916015625,
                    "y": 7.8583598136901855,
                    "z": 0.005619077477604151
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002482414245605,
                "transform": {
                    "location": {
                        "x": 3491.645263671875,
                        "y": 4476.15673828125,
                        "z": 368.0289306640625
                    },
                    "rotation": {
                        "roll": -0.0004577631480060518,
                        "pitch": -0.0774201899766922,
                        "yaw": 98.30230712890625
                    }
                },
                "velocity": {
                    "x": -1.153894066810608,
                    "y": 7.918847560882568,
                    "z": -0.010293969884514809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034806251525879,
                "transform": {
                    "location": {
                        "x": 3485.370849609375,
                        "y": 4519.13671875,
                        "z": 367.9313659667969
                    },
                    "rotation": {
                        "roll": -0.0011291569098830223,
                        "pitch": -0.0837654322385788,
                        "yaw": 98.33007049560547
                    }
                },
                "velocity": {
                    "x": -1.161318302154541,
                    "y": 7.9504265785217285,
                    "z": -0.01293307263404131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.37118148803711,
                "transform": {
                    "location": {
                        "x": 3489.109619140625,
                        "y": 4515.6884765625,
                        "z": 367.9269714355469
                    },
                    "rotation": {
                        "roll": -6.1031667428324e-05,
                        "pitch": 0.145086869597435,
                        "yaw": -81.74995422363281
                    }
                },
                "velocity": {
                    "x": 1.2055168151855469,
                    "y": -8.283910751342773,
                    "z": 0.015295877121388912
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3479.713623046875,
                        "y": 4558.5322265625,
                        "z": 367.8959045410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4422961473464966,
                "transform": {
                    "location": {
                        "x": 3491.73046875,
                        "y": 4497.73388671875,
                        "z": 367.97259521484375
                    },
                    "rotation": {
                        "roll": 0.0008718171739019454,
                        "pitch": 0.0284955482929945,
                        "yaw": -81.65543365478516
                    }
                },
                "velocity": {
                    "x": 0.20836371183395386,
                    "y": -1.4271613359451294,
                    "z": 0.0036393546033650637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.925367832183838,
                "transform": {
                    "location": {
                        "x": 3500.301513671875,
                        "y": 4439.03076171875,
                        "z": 368.0361633300781
                    },
                    "rotation": {
                        "roll": -0.0005493166390806437,
                        "pitch": -0.03109784983098507,
                        "yaw": -81.69261169433594
                    }
                },
                "velocity": {
                    "x": 0.8561192750930786,
                    "y": -5.863193988800049,
                    "z": -0.0012345981085672975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.255348205566406,
                "transform": {
                    "location": {
                        "x": 3502.775146484375,
                        "y": 4422.08251953125,
                        "z": 368.0170593261719
                    },
                    "rotation": {
                        "roll": 0.00035529385786503553,
                        "pitch": -0.11101789027452469,
                        "yaw": -81.69750213623047
                    }
                },
                "velocity": {
                    "x": 0.9032963514328003,
                    "y": -6.18977689743042,
                    "z": -0.009726562537252903
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.471954345703125,
                "transform": {
                    "location": {
                        "x": 3495.089599609375,
                        "y": 4474.19287109375,
                        "z": 368.03271484375
                    },
                    "rotation": {
                        "roll": -0.004943852312862873,
                        "pitch": 0.06107554957270622,
                        "yaw": -81.94066619873047
                    }
                },
                "velocity": {
                    "x": 0.7719901204109192,
                    "y": -5.4172210693359375,
                    "z": 0.005733156111091375
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5462037920951843,
        "expert_target_speed": 4.100701744089604,
        "target_point": [
            36.621117734941706,
            1.2401233363624726
        ],
        "target_point_next": [
            66.61522473124931,
            1.8490367846694902
        ]
    },
    "350": {
        "acceleration": [
            -0.1465749740600586,
            1.5671539306640625,
            -0.05140572786331177
        ],
        "angular_velocity": [
            0.014751019887626171,
            -0.0282069593667984,
            0.2930293679237366
        ],
        "forward_vector": [
            0.12430810183286667,
            -0.9922376275062561,
            0.003470771247521043
        ],
        "right_vector": [
            0.9922435283660889,
            0.12430939078330994,
            0.00015712552703917027
        ],
        "location": [
            3493.39306640625,
            4482.02783203125,
            368.0123291015625
        ],
        "rotation": [
            -0.00900268368422985,
            0.19886094331741333,
            -82.8591537475586
        ],
        "velocity": [
            0.669119656085968,
            -5.29090690612793,
            0.009333552792668343
        ],
        "speed": 5.333049503189786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.388772010803223,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3495.2890625,
                4472.83251953125,
                368.0338439941406
            ],
            "velocity": [
                0.7985213994979858,
                -5.364340305328369,
                0.005744295194745064
            ],
            "speed_kmh": 19.52442213448202,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049333572387695,
                "transform": {
                    "location": {
                        "x": 3497.26953125,
                        "y": 4437.69287109375,
                        "z": 368.0375061035156
                    },
                    "rotation": {
                        "roll": 0.0006988620734773576,
                        "pitch": 0.01029309444129467,
                        "yaw": 98.41546630859375
                    }
                },
                "velocity": {
                    "x": -1.178202509880066,
                    "y": 7.962637901306152,
                    "z": 0.0014745329972356558
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06277847290039,
                "transform": {
                    "location": {
                        "x": 3491.35498046875,
                        "y": 4478.14404296875,
                        "z": 368.0262451171875
                    },
                    "rotation": {
                        "roll": 1.536793752165977e-05,
                        "pitch": -0.07723577320575714,
                        "yaw": 98.3011245727539
                    }
                },
                "velocity": {
                    "x": -1.164025068283081,
                    "y": 7.978304862976074,
                    "z": -0.010045747272670269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034907341003418,
                "transform": {
                    "location": {
                        "x": 3485.08056640625,
                        "y": 4521.1240234375,
                        "z": 367.9283447265625
                    },
                    "rotation": {
                        "roll": -0.0010070771677419543,
                        "pitch": -0.08608769625425339,
                        "yaw": 98.28732299804688
                    }
                },
                "velocity": {
                    "x": -1.1607335805892944,
                    "y": 7.9506144523620605,
                    "z": -0.012757577933371067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.392572402954102,
                "transform": {
                    "location": {
                        "x": 3489.420654296875,
                        "y": 4513.5517578125,
                        "z": 367.9314880371094
                    },
                    "rotation": {
                        "roll": -0.0007324197795242071,
                        "pitch": 0.13706140220165253,
                        "yaw": -81.70680236816406
                    }
                },
                "velocity": {
                    "x": 1.2111663818359375,
                    "y": -8.304699897766113,
                    "z": 0.017563695088028908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3479.502685546875,
                        "y": 4560.0009765625,
                        "z": 367.8953857421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7414599657058716,
                "transform": {
                    "location": {
                        "x": 3491.7451171875,
                        "y": 4497.6328125,
                        "z": 367.972412109375
                    },
                    "rotation": {
                        "roll": 0.000776938337367028,
                        "pitch": 0.09541090577840805,
                        "yaw": -81.64952850341797
                    }
                },
                "velocity": {
                    "x": 0.10740649700164795,
                    "y": -0.7336358428001404,
                    "z": 0.0022665595170110464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.068234920501709,
                "transform": {
                    "location": {
                        "x": 3500.4951171875,
                        "y": 4437.70361328125,
                        "z": 368.0357666015625
                    },
                    "rotation": {
                        "roll": -0.00024413767096120864,
                        "pitch": -0.05655396357178688,
                        "yaw": -81.6908187866211
                    }
                },
                "velocity": {
                    "x": 0.7323545813560486,
                    "y": -5.015043258666992,
                    "z": -0.002070636721327901
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.653077602386475,
                "transform": {
                    "location": {
                        "x": 3502.988037109375,
                        "y": 4420.625,
                        "z": 368.0145263671875
                    },
                    "rotation": {
                        "roll": 0.0002375029434915632,
                        "pitch": -0.11489743739366531,
                        "yaw": -81.69469451904297
                    }
                },
                "velocity": {
                    "x": 0.816645622253418,
                    "y": -5.593771934509277,
                    "z": -0.009605846367776394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.423450469970703,
                "transform": {
                    "location": {
                        "x": 3495.2890625,
                        "y": 4472.83251953125,
                        "z": 368.0338439941406
                    },
                    "rotation": {
                        "roll": -0.019805908203125,
                        "pitch": 0.07464713603258133,
                        "yaw": -82.35015106201172
                    }
                },
                "velocity": {
                    "x": 0.7985213994979858,
                    "y": -5.364340305328369,
                    "z": 0.005744295194745064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5644303560256958,
        "expert_target_speed": 4.342801761987004,
        "target_point": [
            35.32986410387069,
            1.242582969585598
        ],
        "target_point_next": [
            65.32394012076209,
            1.853020506455037
        ]
    },
    "355": {
        "acceleration": [
            0.09450197219848633,
            0.5826091766357422,
            -0.014708135277032852
        ],
        "angular_velocity": [
            0.35590407252311707,
            -0.038639336824417114,
            0.7416797280311584
        ],
        "forward_vector": [
            0.12625017762184143,
            -0.9919978380203247,
            0.0011020895326510072
        ],
        "right_vector": [
            0.9919983148574829,
            0.12625063955783844,
            0.00036804864066652954
        ],
        "location": [
            3493.556884765625,
            4480.7451171875,
            368.0149230957031
        ],
        "rotation": [
            -0.021087646484375,
            0.06314509361982346,
            -82.74703979492188
        ],
        "velocity": [
            0.6532266139984131,
            -5.0097503662109375,
            0.009241943247616291
        ],
        "speed": 5.052158325011841,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.452466011047363,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3495.481689453125,
                4471.49072265625,
                368.0353088378906
            ],
            "velocity": [
                0.780951738357544,
                -5.466882228851318,
                0.005756540223956108
            ],
            "speed_kmh": 19.880580775508065,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.13240909576416,
                "transform": {
                    "location": {
                        "x": 3496.972412109375,
                        "y": 4439.70654296875,
                        "z": 368.0377197265625
                    },
                    "rotation": {
                        "roll": 0.0011448787990957499,
                        "pitch": -0.019438717514276505,
                        "yaw": 98.37773132324219
                    }
                },
                "velocity": {
                    "x": -1.1825082302093506,
                    "y": 8.045976638793945,
                    "z": -0.002438945695757866
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003264427185059,
                "transform": {
                    "location": {
                        "x": 3491.06494140625,
                        "y": 4480.130859375,
                        "z": 368.0233154296875
                    },
                    "rotation": {
                        "roll": -0.00021362039842642844,
                        "pitch": -0.08687999844551086,
                        "yaw": 98.30079650878906
                    }
                },
                "velocity": {
                    "x": -1.1554179191589355,
                    "y": 7.919410228729248,
                    "z": -0.014080963097512722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035579681396484,
                "transform": {
                    "location": {
                        "x": 3484.79052734375,
                        "y": 4523.11181640625,
                        "z": 367.9253845214844
                    },
                    "rotation": {
                        "roll": -0.0006103487685322762,
                        "pitch": -0.0866955891251564,
                        "yaw": 98.32412719726562
                    }
                },
                "velocity": {
                    "x": -1.1607348918914795,
                    "y": 7.951292037963867,
                    "z": -0.013509244658052921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.274009704589844,
                "transform": {
                    "location": {
                        "x": 3489.7041015625,
                        "y": 4511.6083984375,
                        "z": 367.9361267089844
                    },
                    "rotation": {
                        "roll": 5.7993311202153563e-05,
                        "pitch": 0.09082785248756409,
                        "yaw": -81.6823959350586
                    }
                },
                "velocity": {
                    "x": 1.0508959293365479,
                    "y": -7.197675704956055,
                    "z": 0.017486972734332085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4519,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3479.2978515625,
                        "y": 4561.41796875,
                        "z": 367.8948669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.004214226268231869,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3587768077850342,
                "transform": {
                    "location": {
                        "x": 3491.782958984375,
                        "y": 4497.375,
                        "z": 367.9724426269531
                    },
                    "rotation": {
                        "roll": 0.000870579679030925,
                        "pitch": 0.17496894299983978,
                        "yaw": -81.67234802246094
                    }
                },
                "velocity": {
                    "x": 0.1957993507385254,
                    "y": -1.3445936441421509,
                    "z": 0.0022462557535618544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.392045974731445,
                "transform": {
                    "location": {
                        "x": 3500.684326171875,
                        "y": 4436.40966796875,
                        "z": 368.0350646972656
                    },
                    "rotation": {
                        "roll": 0.00019795547996181995,
                        "pitch": -0.04300286993384361,
                        "yaw": -81.68955993652344
                    }
                },
                "velocity": {
                    "x": 0.779260516166687,
                    "y": -5.335439205169678,
                    "z": -0.0020608901977539062
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.773268222808838,
                "transform": {
                    "location": {
                        "x": 3503.1923828125,
                        "y": 4419.22509765625,
                        "z": 368.0118713378906
                    },
                    "rotation": {
                        "roll": 0.0007878041360527277,
                        "pitch": -0.10153758525848389,
                        "yaw": -81.69086456298828
                    }
                },
                "velocity": {
                    "x": 0.8346560597419739,
                    "y": -5.712606906890869,
                    "z": -0.009677896276116371
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.522383689880371,
                "transform": {
                    "location": {
                        "x": 3495.481689453125,
                        "y": 4471.49072265625,
                        "z": 368.0353088378906
                    },
                    "rotation": {
                        "roll": 0.010779811069369316,
                        "pitch": 0.04629502072930336,
                        "yaw": -82.14982604980469
                    }
                },
                "velocity": {
                    "x": 0.780951738357544,
                    "y": -5.466882228851318,
                    "z": 0.005756540223956108
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5780779719352722,
        "expert_target_speed": 4.222647118576172,
        "target_point": [
            34.039094252743304,
            1.17289651789533
        ],
        "target_point_next": [
            64.03430712128534,
            1.724652862968986
        ]
    },
    "360": {
        "acceleration": [
            -0.1609325408935547,
            1.7026615142822266,
            0.00793876126408577
        ],
        "angular_velocity": [
            0.5716460347175598,
            0.10598765313625336,
            0.9795961380004883
        ],
        "forward_vector": [
            0.13052277266979218,
            -0.9914449453353882,
            0.0008702276390977204
        ],
        "right_vector": [
            0.9914450645446777,
            0.13052329421043396,
            0.0005933518405072391
        ],
        "location": [
            3493.7255859375,
            4479.4765625,
            368.0170593261719
        ],
        "rotation": [
            -0.0339965745806694,
            0.04986037686467171,
            -82.50019836425781
        ],
        "velocity": [
            0.6745866537094116,
            -4.965259075164795,
            0.009660901501774788
        ],
        "speed": 5.010874657868546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.551432609558105,
        "front_vehicle_info": {
            "id": 4506,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3495.67626953125,
                4470.12646484375,
                368.0365295410156
            ],
            "velocity": [
                0.7667537331581116,
                -5.3601813316345215,
                0.0044566914439201355
            ],
            "speed_kmh": 19.493085870227993,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.013787269592285,
                "transform": {
                    "location": {
                        "x": 3496.679931640625,
                        "y": 4441.69873046875,
                        "z": 368.0369873046875
                    },
                    "rotation": {
                        "roll": 0.0009016267140395939,
                        "pitch": -0.020080754533410072,
                        "yaw": 98.35276794433594
                    }
                },
                "velocity": {
                    "x": -1.1642369031906128,
                    "y": 7.928766250610352,
                    "z": -0.0019958019256591797
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062284469604492,
                "transform": {
                    "location": {
                        "x": 3490.77490234375,
                        "y": 4482.1181640625,
                        "z": 368.0197448730469
                    },
                    "rotation": {
                        "roll": 0.0003703784313984215,
                        "pitch": -0.11755438148975372,
                        "yaw": 98.30091094970703
                    }
                },
                "velocity": {
                    "x": -1.1639972925186157,
                    "y": 7.9778032302856445,
                    "z": -0.014012174680829048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034147262573242,
                "transform": {
                    "location": {
                        "x": 3484.50048828125,
                        "y": 4525.09912109375,
                        "z": 367.9224548339844
                    },
                    "rotation": {
                        "roll": -3.0519098800141364e-05,
                        "pitch": -0.07931898534297943,
                        "yaw": 98.28633117675781
                    }
                },
                "velocity": {
                    "x": -1.158765435218811,
                    "y": 7.950139045715332,
                    "z": -0.0089335348457098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219030380249023,
                "transform": {
                    "location": {
                        "x": 3489.928466796875,
                        "y": 4510.0712890625,
                        "z": 367.93988037109375
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 0.03949898108839989,
                        "yaw": -81.67435455322266
                    }
                },
                "velocity": {
                    "x": 0.6100110411643982,
                    "y": -4.174694061279297,
                    "z": 0.005752353463321924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8509039878845215,
                "transform": {
                    "location": {
                        "x": 3491.8408203125,
                        "y": 4496.9775390625,
                        "z": 367.973388671875
                    },
                    "rotation": {
                        "roll": 0.0012960812309756875,
                        "pitch": 0.17821328341960907,
                        "yaw": -81.65925598144531
                    }
                },
                "velocity": {
                    "x": 0.267316609621048,
                    "y": -1.8314933776855469,
                    "z": 0.004382877144962549
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.449671745300293,
                "transform": {
                    "location": {
                        "x": 3500.89794921875,
                        "y": 4434.9462890625,
                        "z": 368.0337829589844
                    },
                    "rotation": {
                        "roll": 4.622884080163203e-05,
                        "pitch": -0.01434339676052332,
                        "yaw": -81.6977767944336
                    }
                },
                "velocity": {
                    "x": 0.9317424297332764,
                    "y": -6.382012367248535,
                    "z": -0.005900211166590452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.316619396209717,
                "transform": {
                    "location": {
                        "x": 3503.392333984375,
                        "y": 4417.85546875,
                        "z": 368.009521484375
                    },
                    "rotation": {
                        "roll": 0.0005915994406677783,
                        "pitch": -0.10877075791358948,
                        "yaw": -81.68959045410156
                    }
                },
                "velocity": {
                    "x": 0.7684577107429504,
                    "y": -5.260781288146973,
                    "z": -0.00978411640971899
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4506,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.414746284484863,
                "transform": {
                    "location": {
                        "x": 3495.67626953125,
                        "y": 4470.12646484375,
                        "z": 368.0365295410156
                    },
                    "rotation": {
                        "roll": 0.005811701063066721,
                        "pitch": 0.027061207219958305,
                        "yaw": -81.96623992919922
                    }
                },
                "velocity": {
                    "x": 0.7667537331581116,
                    "y": -5.3601813316345215,
                    "z": 0.0044566914439201355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3493.42333984375,
                        "y": 4506.94287109375,
                        "z": 367.950927734375
                    },
                    "rotation": {
                        "roll": 0.0011646845377981663,
                        "pitch": 0.14882297813892365,
                        "yaw": -81.69319915771484
                    }
                },
                "velocity": {
                    "x": 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": 0.5791610479354858,
        "expert_target_speed": 4.262270150222861,
        "target_point": [
            32.7641096075555,
            1.0245512899445837
        ],
        "target_point_next": [
            62.76142123557484,
            1.4470736976038534
        ]
    },
    "365": {
        "acceleration": [
            0.5815041065216064,
            -3.4084701538085938,
            0.0013051927089691162
        ],
        "angular_velocity": [
            -0.6043753623962402,
            -0.10312216728925705,
            0.5826313495635986
        ],
        "forward_vector": [
            0.1343931406736374,
            -0.9909273982048035,
            0.0011380907380953431
        ],
        "right_vector": [
            0.9909278750419617,
            0.13439379632472992,
            0.0005118591943755746
        ],
        "location": [
            3493.8984375,
            4478.21533203125,
            368.01885986328125
        ],
        "rotation": [
            -0.02932739071547985,
            0.06520780920982361,
            -82.2764663696289
        ],
        "velocity": [
            0.7117987871170044,
            -5.1025190353393555,
            0.006572913844138384
        ],
        "speed": 5.151927602300105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.56486129760742,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.1484375,
                4433.23095703125,
                368.03240966796875
            ],
            "velocity": [
                1.0198984146118164,
                -6.987985134124756,
                -0.00568638788536191
            ],
            "speed_kmh": 25.423280886672547,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076108932495117,
                "transform": {
                    "location": {
                        "x": 3496.387939453125,
                        "y": 4443.68701171875,
                        "z": 368.0363464355469
                    },
                    "rotation": {
                        "roll": 0.00019585684640333056,
                        "pitch": -0.014589283615350723,
                        "yaw": 98.3418197631836
                    }
                },
                "velocity": {
                    "x": -1.1703096628189087,
                    "y": 7.9908647537231445,
                    "z": -0.001689052558504045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003605842590332,
                "transform": {
                    "location": {
                        "x": 3490.48486328125,
                        "y": 4484.10498046875,
                        "z": 368.0157470703125
                    },
                    "rotation": {
                        "roll": -9.15540658752434e-05,
                        "pitch": -0.11779343336820602,
                        "yaw": 98.3042221069336
                    }
                },
                "velocity": {
                    "x": -1.1559308767318726,
                    "y": 7.919673442840576,
                    "z": -0.017184877768158913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03466510772705,
                "transform": {
                    "location": {
                        "x": 3484.21044921875,
                        "y": 4527.0869140625,
                        "z": 367.9203186035156
                    },
                    "rotation": {
                        "roll": -3.0515748221660033e-05,
                        "pitch": -0.052735887467861176,
                        "yaw": 98.32324981689453
                    }
                },
                "velocity": {
                    "x": -1.162031888961792,
                    "y": 7.9501848220825195,
                    "z": -0.009505605325102806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6405301094055176,
                "transform": {
                    "location": {
                        "x": 3490.028076171875,
                        "y": 4509.392578125,
                        "z": 367.941162109375
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": 0.04625403881072998,
                        "yaw": -81.7121353149414
                    }
                },
                "velocity": {
                    "x": 0.3814854025840759,
                    "y": -2.612821578979492,
                    "z": 0.005606279242783785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3792264461517334,
                "transform": {
                    "location": {
                        "x": 3491.91748046875,
                        "y": 4496.45361328125,
                        "z": 367.9750061035156
                    },
                    "rotation": {
                        "roll": 0.00029251890373416245,
                        "pitch": 0.17543339729309082,
                        "yaw": -81.67085266113281
                    }
                },
                "velocity": {
                    "x": 0.3440532982349396,
                    "y": -2.3542113304138184,
                    "z": 0.005864458158612251
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0620222091674805,
                "transform": {
                    "location": {
                        "x": 3501.1484375,
                        "y": 4433.23095703125,
                        "z": 368.03240966796875
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.01577773690223694,
                        "yaw": -81.70169830322266
                    }
                },
                "velocity": {
                    "x": 1.0198984146118164,
                    "y": -6.987985134124756,
                    "z": -0.00568638788536191
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.9185590744018555,
                "transform": {
                    "location": {
                        "x": 3503.584716796875,
                        "y": 4416.5390625,
                        "z": 368.00714111328125
                    },
                    "rotation": {
                        "roll": 0.0007517356425523758,
                        "pitch": -0.10696075856685638,
                        "yaw": -81.69294738769531
                    }
                },
                "velocity": {
                    "x": 0.7101566791534424,
                    "y": -4.867012977600098,
                    "z": -0.009342174045741558
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5758459568023682,
        "expert_target_speed": 6.204628604901585,
        "target_point": [
            31.494842305786904,
            0.8948025000762394
        ],
        "target_point_next": [
            61.49357530557241,
            1.2001686754445675
        ]
    },
    "370": {
        "acceleration": [
            -0.18418073654174805,
            1.4983844757080078,
            0.007096100598573685
        ],
        "angular_velocity": [
            0.39491382241249084,
            0.05123361945152283,
            0.5448533892631531
        ],
        "forward_vector": [
            0.13762404024600983,
            -0.9904839396476746,
            0.0011036393698304892
        ],
        "right_vector": [
            0.9904844164848328,
            0.13762451708316803,
            0.0003643201198428869
        ],
        "location": [
            3494.07373046875,
            4476.9599609375,
            368.02044677734375
        ],
        "rotation": [
            -0.020874017849564552,
            0.0632338896393776,
            -82.08961486816406
        ],
        "velocity": [
            0.6997247338294983,
            -4.955708980560303,
            0.00596197135746479
        ],
        "speed": 5.004864254216971,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.96228790283203,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.388671875,
                4431.58349609375,
                368.03125
            ],
            "velocity": [
                0.8942188024520874,
                -6.127391815185547,
                -0.009862002916634083
            ],
            "speed_kmh": 22.29230200257522,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087882995605469,
                "transform": {
                    "location": {
                        "x": 3496.094970703125,
                        "y": 4445.68994140625,
                        "z": 368.0357971191406
                    },
                    "rotation": {
                        "roll": 0.00027228292310610414,
                        "pitch": -0.01571626402437687,
                        "yaw": 98.32593536376953
                    }
                },
                "velocity": {
                    "x": -1.1702582836151123,
                    "y": 8.002771377563477,
                    "z": -0.0017785739619284868
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062525749206543,
                "transform": {
                    "location": {
                        "x": 3490.19482421875,
                        "y": 4486.09228515625,
                        "z": 368.0115661621094
                    },
                    "rotation": {
                        "roll": 4.502331194089493e-06,
                        "pitch": -0.11685086786746979,
                        "yaw": 98.30422973632812
                    }
                },
                "velocity": {
                    "x": -1.1644631624221802,
                    "y": 7.977972030639648,
                    "z": -0.017662018537521362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034993171691895,
                "transform": {
                    "location": {
                        "x": 3483.920166015625,
                        "y": 4529.07373046875,
                        "z": 367.91839599609375
                    },
                    "rotation": {
                        "roll": 0.0005748182884417474,
                        "pitch": -0.048125509172677994,
                        "yaw": 98.28861999511719
                    }
                },
                "velocity": {
                    "x": -1.160840392112732,
                    "y": 7.950693607330322,
                    "z": -0.00598842604085803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2258684635162354,
                "transform": {
                    "location": {
                        "x": 3490.135009765625,
                        "y": 4508.66259765625,
                        "z": 367.9420471191406
                    },
                    "rotation": {
                        "roll": -0.00018310158338863403,
                        "pitch": 0.1325056552886963,
                        "yaw": -81.76554870605469
                    }
                },
                "velocity": {
                    "x": 0.4654206335544586,
                    "y": -3.1921117305755615,
                    "z": 0.005860290490090847
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9196059703826904,
                "transform": {
                    "location": {
                        "x": 3492.013671875,
                        "y": 4495.79638671875,
                        "z": 367.9767761230469
                    },
                    "rotation": {
                        "roll": -0.0004272423102520406,
                        "pitch": 0.17552219331264496,
                        "yaw": -81.67540740966797
                    }
                },
                "velocity": {
                    "x": 0.42269790172576904,
                    "y": -2.8888370990753174,
                    "z": 0.006789741571992636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.192305564880371,
                "transform": {
                    "location": {
                        "x": 3501.388671875,
                        "y": 4431.58349609375,
                        "z": 368.03125
                    },
                    "rotation": {
                        "roll": -0.0003356967936269939,
                        "pitch": -0.0806918516755104,
                        "yaw": -81.69978332519531
                    }
                },
                "velocity": {
                    "x": 0.8942188024520874,
                    "y": -6.127391815185547,
                    "z": -0.009862002916634083
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000700366566888988,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.958984375,
                        "z": 368.0065612792969
                    },
                    "rotation": {
                        "roll": 0.0009006366017274559,
                        "pitch": -0.20038408041000366,
                        "yaw": -81.68482208251953
                    }
                },
                "velocity": {
                    "x": 0.00012109957606298849,
                    "y": -0.0001449537230655551,
                    "z": 0.0006744157872162759
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5991790294647217,
        "expert_target_speed": 6.069194878739001,
        "target_point": [
            30.2300422158762,
            0.7912524869254378
        ],
        "target_point_next": [
            60.22961140598228,
            0.9988060981126079
        ]
    },
    "375": {
        "acceleration": [
            -0.02122640609741211,
            -0.21035194396972656,
            0.005053328350186348
        ],
        "angular_velocity": [
            0.15521447360515594,
            0.09761165827512741,
            -0.005797523073852062
        ],
        "forward_vector": [
            0.13892360031604767,
            -0.9903008937835693,
            0.0020663724280893803
        ],
        "right_vector": [
            0.9903030395507812,
            0.13892406225204468,
            8.362304652109742e-05
        ],
        "location": [
            3494.2568359375,
            4475.66259765625,
            368.02197265625
        ],
        "rotation": [
            -0.004791257902979851,
            0.11839449405670166,
            -82.01441955566406
        ],
        "velocity": [
            0.730182945728302,
            -5.2022271156311035,
            0.005919093731790781
        ],
        "speed": 5.2532213066688875,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.628108978271484,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.525634765625,
                4430.6171875,
                368.03045654296875
            ],
            "velocity": [
                0.4086160659790039,
                -2.79732346534729,
                -0.005168466363102198
            ],
            "speed_kmh": 10.17725308439141,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.030343055725098,
                "transform": {
                    "location": {
                        "x": 3495.8037109375,
                        "y": 4447.6806640625,
                        "z": 368.03521728515625
                    },
                    "rotation": {
                        "roll": -6.103565101511776e-05,
                        "pitch": -0.016658831387758255,
                        "yaw": 98.32129669189453
                    }
                },
                "velocity": {
                    "x": -1.1622521877288818,
                    "y": 7.9457902908325195,
                    "z": -0.0016340160509571433
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004222869873047,
                "transform": {
                    "location": {
                        "x": 3489.905029296875,
                        "y": 4488.0791015625,
                        "z": 368.00726318359375
                    },
                    "rotation": {
                        "roll": 0.0004500664654187858,
                        "pitch": -0.12222623080015182,
                        "yaw": 98.30439758300781
                    }
                },
                "velocity": {
                    "x": -1.1560771465301514,
                    "y": 7.920271396636963,
                    "z": -0.019273409619927406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034811019897461,
                "transform": {
                    "location": {
                        "x": 3483.630126953125,
                        "y": 4531.06103515625,
                        "z": 367.9167175292969
                    },
                    "rotation": {
                        "roll": 0.00024337557260878384,
                        "pitch": -0.050236038863658905,
                        "yaw": 98.33145141601562
                    }
                },
                "velocity": {
                    "x": -1.1616131067276,
                    "y": 7.950396537780762,
                    "z": -0.005864448379725218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.911454677581787,
                "transform": {
                    "location": {
                        "x": 3490.262939453125,
                        "y": 4507.7822265625,
                        "z": 367.9439392089844
                    },
                    "rotation": {
                        "roll": -0.00036620351602323353,
                        "pitch": 0.15417101979255676,
                        "yaw": -81.74833679199219
                    }
                },
                "velocity": {
                    "x": 0.5641574263572693,
                    "y": -3.870543956756592,
                    "z": 0.009709739126265049
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5736820697784424,
                "transform": {
                    "location": {
                        "x": 3492.131103515625,
                        "y": 4494.9931640625,
                        "z": 367.97894287109375
                    },
                    "rotation": {
                        "roll": 0.001089000143110752,
                        "pitch": 0.17795373499393463,
                        "yaw": -81.68186950683594
                    }
                },
                "velocity": {
                    "x": 0.5161054730415344,
                    "y": -3.536203622817993,
                    "z": 0.010102061554789543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.827014684677124,
                "transform": {
                    "location": {
                        "x": 3501.525634765625,
                        "y": 4430.6171875,
                        "z": 368.03045654296875
                    },
                    "rotation": {
                        "roll": -0.0025939983315765858,
                        "pitch": -0.18789848685264587,
                        "yaw": -81.32083892822266
                    }
                },
                "velocity": {
                    "x": 0.4086160659790039,
                    "y": -2.79732346534729,
                    "z": -0.005168466363102198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015182982897385955,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.95849609375,
                        "z": 368.00604248046875
                    },
                    "rotation": {
                        "roll": 0.0005196759011596441,
                        "pitch": -0.127075657248497,
                        "yaw": -81.68486022949219
                    }
                },
                "velocity": {
                    "x": -2.505617158021778e-05,
                    "y": 3.735339123522863e-05,
                    "z": 0.0015176318120211363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.571815013885498,
        "expert_target_speed": 6.290022028343548,
        "target_point": [
            28.920834206931097,
            0.7504768380411955
        ],
        "target_point_next": [
            58.92064998567862,
            0.9186533366671608
        ]
    },
    "380": {
        "acceleration": [
            -0.08654594421386719,
            0.0699615478515625,
            0.0038431212306022644
        ],
        "angular_velocity": [
            0.01901019550859928,
            0.059560321271419525,
            -0.5160131454467773
        ],
        "forward_vector": [
            0.13764552772045135,
            -0.9904799461364746,
            0.0017510643228888512
        ],
        "right_vector": [
            0.9904815554618835,
            0.13764531910419464,
            -0.0002367576671531424
        ],
        "location": [
            3494.437744140625,
            4474.35791015625,
            368.02374267578125
        ],
        "rotation": [
            0.013565235771238804,
            0.10032864660024643,
            -82.08836364746094
        ],
        "velocity": [
            0.7168088555335999,
            -5.2350382804870605,
            0.00600152974948287
        ],
        "speed": 5.283885003814552,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.11029052734375,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.642333984375,
                4429.82666015625,
                368.0285949707031
            ],
            "velocity": [
                0.5143742561340332,
                -3.5034725666046143,
                -0.005745439324527979
            ],
            "speed_kmh": 12.747728561541967,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097639083862305,
                "transform": {
                    "location": {
                        "x": 3495.511474609375,
                        "y": 4449.67626953125,
                        "z": 368.0346374511719
                    },
                    "rotation": {
                        "roll": 0.00023588833573739976,
                        "pitch": -0.01535426452755928,
                        "yaw": 98.318359375
                    }
                },
                "velocity": {
                    "x": -1.1713175773620605,
                    "y": 8.012475967407227,
                    "z": -0.0020229911897331476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063100814819336,
                "transform": {
                    "location": {
                        "x": 3489.614990234375,
                        "y": 4490.06689453125,
                        "z": 368.00238037109375
                    },
                    "rotation": {
                        "roll": 0.0005767061375081539,
                        "pitch": -0.15390464663505554,
                        "yaw": 98.30447387695312
                    }
                },
                "velocity": {
                    "x": -1.1645790338516235,
                    "y": 7.978527069091797,
                    "z": -0.021390628069639206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034760475158691,
                "transform": {
                    "location": {
                        "x": 3483.339599609375,
                        "y": 4533.048828125,
                        "z": 367.91497802734375
                    },
                    "rotation": {
                        "roll": 0.0002551850338932127,
                        "pitch": -0.0507824532687664,
                        "yaw": 98.29174041748047
                    }
                },
                "velocity": {
                    "x": -1.1614341735839844,
                    "y": 7.950371742248535,
                    "z": -0.006125039886683226
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.781986713409424,
                "transform": {
                    "location": {
                        "x": 3490.4208984375,
                        "y": 4506.69970703125,
                        "z": 367.94659423828125
                    },
                    "rotation": {
                        "roll": 0.00036905199522152543,
                        "pitch": 0.17412883043289185,
                        "yaw": -81.72472381591797
                    }
                },
                "velocity": {
                    "x": 0.6906141042709351,
                    "y": -4.731841087341309,
                    "z": 0.011396961286664009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.421429634094238,
                "transform": {
                    "location": {
                        "x": 3492.27587890625,
                        "y": 4494.00439453125,
                        "z": 367.9816589355469
                    },
                    "rotation": {
                        "roll": 0.0005889867898076773,
                        "pitch": 0.18412140011787415,
                        "yaw": -81.6876449584961
                    }
                },
                "velocity": {
                    "x": 0.6390707492828369,
                    "y": -4.37498664855957,
                    "z": 0.010855836793780327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5410356521606445,
                "transform": {
                    "location": {
                        "x": 3501.642333984375,
                        "y": 4429.82666015625,
                        "z": 368.0285949707031
                    },
                    "rotation": {
                        "roll": -0.0013732935767620802,
                        "pitch": -0.09802687168121338,
                        "yaw": -81.40784454345703
                    }
                },
                "velocity": {
                    "x": 0.5143742561340332,
                    "y": -3.5034725666046143,
                    "z": -0.005745439324527979
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.95849609375,
                        "z": 368.00592041015625
                    },
                    "rotation": {
                        "roll": 2.5149682187475264e-05,
                        "pitch": -0.11150966584682465,
                        "yaw": -81.68482208251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5988115072250366,
        "expert_target_speed": 6.318380962557326,
        "target_point": [
            27.602671186365267,
            0.7882086120959224
        ],
        "target_point_next": [
            57.602244863263316,
            0.9951126909456862
        ]
    },
    "385": {
        "acceleration": [
            0.02094864845275879,
            -1.2253189086914062,
            -0.012674899771809578
        ],
        "angular_velocity": [
            0.319397896528244,
            0.14863091707229614,
            -1.1192336082458496
        ],
        "forward_vector": [
            0.13362079858779907,
            -0.9910187125205994,
            0.00523827038705349
        ],
        "right_vector": [
            0.9910325407981873,
            0.13361936807632446,
            -0.0006215667235665023
        ],
        "location": [
            3494.636474609375,
            4472.8759765625,
            368.02459716796875
        ],
        "rotation": [
            0.035613641142845154,
            0.300132155418396,
            -82.3210220336914
        ],
        "velocity": [
            0.8069412708282471,
            -6.150940418243408,
            0.005389051511883736
        ],
        "speed": 6.203645883135683,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.608219146728516,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.787841796875,
                4428.8447265625,
                368.0265808105469
            ],
            "velocity": [
                0.6377694606781006,
                -4.351418495178223,
                -0.0061530969105660915
            ],
            "speed_kmh": 15.83248348895953,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042693138122559,
                "transform": {
                    "location": {
                        "x": 3495.2197265625,
                        "y": 4451.6728515625,
                        "z": 368.0340881347656
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.016085093840956688,
                        "yaw": 98.31459045410156
                    }
                },
                "velocity": {
                    "x": -1.16282320022583,
                    "y": 7.958187580108643,
                    "z": -0.002456827089190483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00394058227539,
                "transform": {
                    "location": {
                        "x": 3489.324951171875,
                        "y": 4492.0537109375,
                        "z": 367.9969177246094
                    },
                    "rotation": {
                        "roll": 0.0003167045069858432,
                        "pitch": -0.1585969775915146,
                        "yaw": 98.30899047851562
                    }
                },
                "velocity": {
                    "x": -1.156712293624878,
                    "y": 7.919885635375977,
                    "z": -0.022135833278298378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03489875793457,
                "transform": {
                    "location": {
                        "x": 3483.0498046875,
                        "y": 4535.03564453125,
                        "z": 367.9134826660156
                    },
                    "rotation": {
                        "roll": 0.00040797717520035803,
                        "pitch": -0.044860679656267166,
                        "yaw": 98.328125
                    }
                },
                "velocity": {
                    "x": -1.163280725479126,
                    "y": 7.950241565704346,
                    "z": -0.0054569910280406475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8099358081817627,
                "transform": {
                    "location": {
                        "x": 3490.579833984375,
                        "y": 4505.607421875,
                        "z": 367.9496765136719
                    },
                    "rotation": {
                        "roll": -0.0003051716194022447,
                        "pitch": 0.14008717238903046,
                        "yaw": -81.71131896972656
                    }
                },
                "velocity": {
                    "x": 0.5494924187660217,
                    "y": -3.7700908184051514,
                    "z": 0.009149875491857529
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.256541728973389,
                "transform": {
                    "location": {
                        "x": 3492.453125,
                        "y": 4492.7890625,
                        "z": 367.9851989746094
                    },
                    "rotation": {
                        "roll": 0.0003468273498583585,
                        "pitch": 0.18691495060920715,
                        "yaw": -81.6911849975586
                    }
                },
                "velocity": {
                    "x": 0.7591601610183716,
                    "y": -5.201407432556152,
                    "z": 0.01638149283826351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.39791202545166,
                "transform": {
                    "location": {
                        "x": 3501.787841796875,
                        "y": 4428.8447265625,
                        "z": 368.0265808105469
                    },
                    "rotation": {
                        "roll": 0.0002427920699119568,
                        "pitch": -0.07489302009344101,
                        "yaw": -81.52217102050781
                    }
                },
                "velocity": {
                    "x": 0.6377694606781006,
                    "y": -4.351418495178223,
                    "z": -0.0061530969105660915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.95849609375,
                        "z": 368.00592041015625
                    },
                    "rotation": {
                        "roll": 2.5149682187475264e-05,
                        "pitch": -0.11150966584682465,
                        "yaw": -81.68482208251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6261937618255615,
        "expert_target_speed": 7.129824358792152,
        "target_point": [
            26.10404416344724,
            0.9013541766512203
        ],
        "target_point_next": [
            56.102530385553784,
            1.2300705826351992
        ]
    },
    "390": {
        "acceleration": [
            -0.12201905250549316,
            0.1534748077392578,
            0.002285195514559746
        ],
        "angular_velocity": [
            0.5532122850418091,
            0.08573152869939804,
            -1.109605073928833
        ],
        "forward_vector": [
            0.128818541765213,
            -0.9916642904281616,
            0.0027866328600794077
        ],
        "right_vector": [
            0.9916681051254272,
            0.12881705164909363,
            -0.0007080755312927067
        ],
        "location": [
            3494.8369140625,
            4471.328125,
            368.02655029296875
        ],
        "rotation": [
            0.04056990146636963,
            0.15966250002384186,
            -82.59864807128906
        ],
        "velocity": [
            0.7867528200149536,
            -6.22027587890625,
            0.005898122675716877
        ],
        "speed": 6.269833491369958,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.2429313659668,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3501.96142578125,
                4427.66259765625,
                368.02471923828125
            ],
            "velocity": [
                0.6909723281860352,
                -4.726191520690918,
                -0.008098993450403214
            ],
            "speed_kmh": 17.195189867045595,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081502914428711,
                "transform": {
                    "location": {
                        "x": 3494.927978515625,
                        "y": 4453.6669921875,
                        "z": 368.0335388183594
                    },
                    "rotation": {
                        "roll": 0.0008156823460012674,
                        "pitch": -0.016296830028295517,
                        "yaw": 98.3129653930664
                    }
                },
                "velocity": {
                    "x": -1.1684929132461548,
                    "y": 7.996581077575684,
                    "z": -0.0018892573425546288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06375789642334,
                "transform": {
                    "location": {
                        "x": 3489.03466796875,
                        "y": 4494.04150390625,
                        "z": 367.99139404296875
                    },
                    "rotation": {
                        "roll": -0.00030517185223288834,
                        "pitch": -0.1571967899799347,
                        "yaw": 98.30646514892578
                    }
                },
                "velocity": {
                    "x": -1.1648129224777222,
                    "y": 7.979155540466309,
                    "z": -0.02168058417737484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0341215133667,
                "transform": {
                    "location": {
                        "x": 3482.75927734375,
                        "y": 4537.0234375,
                        "z": 367.91204833984375
                    },
                    "rotation": {
                        "roll": -0.0009765620343387127,
                        "pitch": -0.03122762404382229,
                        "yaw": 98.28998565673828
                    }
                },
                "velocity": {
                    "x": -1.1593083143234253,
                    "y": 7.950036525726318,
                    "z": -0.00544629106298089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.477354049682617,
                "transform": {
                    "location": {
                        "x": 3490.69189453125,
                        "y": 4504.84033203125,
                        "z": 367.9520263671875
                    },
                    "rotation": {
                        "roll": 0.00022236180666368455,
                        "pitch": 0.11669377237558365,
                        "yaw": -81.70097351074219
                    }
                },
                "velocity": {
                    "x": 0.35752958059310913,
                    "y": -2.451406240463257,
                    "z": 0.007916011847555637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.610815525054932,
                "transform": {
                    "location": {
                        "x": 3492.646728515625,
                        "y": 4491.46533203125,
                        "z": 367.9889831542969
                    },
                    "rotation": {
                        "roll": 0.0008438056102022529,
                        "pitch": 0.17248958349227905,
                        "yaw": -81.73773193359375
                    }
                },
                "velocity": {
                    "x": 0.8090569972991943,
                    "y": -5.552158832550049,
                    "z": 0.01444244384765625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.77644157409668,
                "transform": {
                    "location": {
                        "x": 3501.96142578125,
                        "y": 4427.66259765625,
                        "z": 368.02471923828125
                    },
                    "rotation": {
                        "roll": 0.0003867564955726266,
                        "pitch": -0.08136121183633804,
                        "yaw": -81.60961151123047
                    }
                },
                "velocity": {
                    "x": 0.6909723281860352,
                    "y": -4.726191520690918,
                    "z": -0.008098993450403214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.95849609375,
                        "z": 368.00592041015625
                    },
                    "rotation": {
                        "roll": 2.5149682187475264e-05,
                        "pitch": -0.11150966584682465,
                        "yaw": -81.68482208251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6757895350456238,
        "expert_target_speed": 7.187335836907171,
        "target_point": [
            24.538594958797518,
            1.0284479421213963
        ],
        "target_point_next": [
            54.535136319035374,
            1.5025117743405385
        ]
    },
    "395": {
        "acceleration": [
            -0.06273269653320312,
            -0.6967830657958984,
            -0.009714700281620026
        ],
        "angular_velocity": [
            0.03832020238041878,
            0.0554644837975502,
            -1.1514174938201904
        ],
        "forward_vector": [
            0.12393193691968918,
            -0.9922893643379211,
            0.0016124240355566144
        ],
        "right_vector": [
            0.9922905564308167,
            0.12393083423376083,
            -0.0007697572000324726
        ],
        "location": [
            3495.03125,
            4469.76513671875,
            368.02783203125
        ],
        "rotation": [
            0.044103898108005524,
            0.09238513559103012,
            -82.88091278076172
        ],
        "velocity": [
            0.7644898295402527,
            -6.301106929779053,
            0.00499770138412714
        ],
        "speed": 6.34731386020733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.68707275390625,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.109375,
                4426.6552734375,
                368.0233154296875
            ],
            "velocity": [
                0.49018505215644836,
                -3.3572747707366943,
                -0.005462732166051865
            ],
            "speed_kmh": 12.214352306397993,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0521879196167,
                "transform": {
                    "location": {
                        "x": 3494.63671875,
                        "y": 4455.66259765625,
                        "z": 368.032958984375
                    },
                    "rotation": {
                        "roll": 0.0009900389704853296,
                        "pitch": -0.01583920791745186,
                        "yaw": 98.3101577758789
                    }
                },
                "velocity": {
                    "x": -1.163840889930725,
                    "y": 7.9676337242126465,
                    "z": -0.002250833436846733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003453254699707,
                "transform": {
                    "location": {
                        "x": 3488.74462890625,
                        "y": 4496.02880859375,
                        "z": 367.9859313964844
                    },
                    "rotation": {
                        "roll": 0.000127773018903099,
                        "pitch": -0.1563771665096283,
                        "yaw": 98.30144500732422
                    }
                },
                "velocity": {
                    "x": -1.1555477380752563,
                    "y": 7.919565200805664,
                    "z": -0.02143915183842182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034875869750977,
                "transform": {
                    "location": {
                        "x": 3482.4697265625,
                        "y": 4539.0107421875,
                        "z": 367.9109802246094
                    },
                    "rotation": {
                        "roll": -0.00042724539525806904,
                        "pitch": -0.03149399906396866,
                        "yaw": 98.32152557373047
                    }
                },
                "velocity": {
                    "x": -1.16010582447052,
                    "y": 7.950682163238525,
                    "z": -0.0055328370071947575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.20459820330142975,
                "transform": {
                    "location": {
                        "x": 3490.7314453125,
                        "y": 4504.57568359375,
                        "z": 367.95318603515625
                    },
                    "rotation": {
                        "roll": -0.0010375926503911614,
                        "pitch": 0.07846520841121674,
                        "yaw": -81.83580017089844
                    }
                },
                "velocity": {
                    "x": 0.029249301180243492,
                    "y": -0.20249558985233307,
                    "z": 0.0006642722873948514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.752065181732178,
                "transform": {
                    "location": {
                        "x": 3492.8701171875,
                        "y": 4489.92822265625,
                        "z": 367.9927978515625
                    },
                    "rotation": {
                        "roll": 0.00024132567341439426,
                        "pitch": 0.18299442529678345,
                        "yaw": -81.6938705444336
                    }
                },
                "velocity": {
                    "x": 0.9741746187210083,
                    "y": -6.681400775909424,
                    "z": 0.01592487283051014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3928754329681396,
                "transform": {
                    "location": {
                        "x": 3502.109375,
                        "y": 4426.6552734375,
                        "z": 368.0233154296875
                    },
                    "rotation": {
                        "roll": -0.00021361742983572185,
                        "pitch": -0.136897474527359,
                        "yaw": -81.64828491210938
                    }
                },
                "velocity": {
                    "x": 0.49018505215644836,
                    "y": -3.3572747707366943,
                    "z": -0.005462732166051865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.002635633572936058,
                "transform": {
                    "location": {
                        "x": 3503.669189453125,
                        "y": 4415.95849609375,
                        "z": 368.0057067871094
                    },
                    "rotation": {
                        "roll": 0.0008962637512013316,
                        "pitch": -0.1070905327796936,
                        "yaw": -81.68482208251953
                    }
                },
                "velocity": {
                    "x": 9.834283991949633e-05,
                    "y": 1.7940810721484013e-05,
                    "z": -0.0026337371673434973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7046875357627869,
        "expert_target_speed": 7.2475295040640475,
        "target_point": [
            22.958207529254945,
            1.150186826836375
        ],
        "target_point_next": [
            52.952049505755845,
            1.7720176576670674
        ]
    },
    "400": {
        "acceleration": [
            -0.06939053535461426,
            -0.33638954162597656,
            0.004697609692811966
        ],
        "angular_velocity": [
            -0.01599765010178089,
            -0.011611070483922958,
            -1.1423534154891968
        ],
        "forward_vector": [
            0.11898743361234665,
            -0.9928944706916809,
            0.0015823832945898175
        ],
        "right_vector": [
            0.9928956031799316,
            0.11898628622293472,
            -0.0007992095779627562
        ],
        "location": [
            3495.220947265625,
            4468.1767578125,
            368.02880859375
        ],
        "rotation": [
            0.045791395008563995,
            0.09066392481327057,
            -83.16632080078125
        ],
        "velocity": [
            0.7470734119415283,
            -6.4147467613220215,
            0.005424842704087496
        ],
        "speed": 6.458103026022527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.76884460449219,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.20751953125,
                4425.982421875,
                368.0223083496094
            ],
            "velocity": [
                0.3064771890640259,
                -2.1011343002319336,
                -0.0055793472565710545
            ],
            "speed_kmh": 7.6441528428008425,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3500.38330078125,
                        "y": 4417.00732421875,
                        "z": 368.3602294921875
                    },
                    "rotation": {
                        "roll": 1.3340232918324091e-08,
                        "pitch": 0.10112777352333069,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079543113708496,
                "transform": {
                    "location": {
                        "x": 3494.34521484375,
                        "y": 4457.658203125,
                        "z": 368.03240966796875
                    },
                    "rotation": {
                        "roll": 0.0011697333538904786,
                        "pitch": -0.01553184911608696,
                        "yaw": 98.31011962890625
                    }
                },
                "velocity": {
                    "x": -1.1677509546279907,
                    "y": 7.994709491729736,
                    "z": -0.0019045447697862983
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064066886901855,
                "transform": {
                    "location": {
                        "x": 3488.45458984375,
                        "y": 4498.01611328125,
                        "z": 367.9803466796875
                    },
                    "rotation": {
                        "roll": -3.0509183488902636e-05,
                        "pitch": -0.1583852469921112,
                        "yaw": 98.30131530761719
                    }
                },
                "velocity": {
                    "x": -1.164268970489502,
                    "y": 7.979547500610352,
                    "z": -0.021838555112481117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3482.2568359375,
                        "y": 4541.08349609375,
                        "z": 367.9067077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8850746154785156,
                "transform": {
                    "location": {
                        "x": 3490.752685546875,
                        "y": 4504.4306640625,
                        "z": 367.9528503417969
                    },
                    "rotation": {
                        "roll": -0.0007934657041914761,
                        "pitch": 0.1619984209537506,
                        "yaw": -81.82188415527344
                    }
                },
                "velocity": {
                    "x": 0.1279449760913849,
                    "y": -0.8757758736610413,
                    "z": 0.0019203661940991879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.60570764541626,
                "transform": {
                    "location": {
                        "x": 3493.135009765625,
                        "y": 4488.1162109375,
                        "z": 367.99713134765625
                    },
                    "rotation": {
                        "roll": 0.0010596236679702997,
                        "pitch": 0.15587857365608215,
                        "yaw": -81.6824722290039
                    }
                },
                "velocity": {
                    "x": 1.0992295742034912,
                    "y": -7.525833606719971,
                    "z": 0.017546433955430984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.12337589263916,
                "transform": {
                    "location": {
                        "x": 3502.20751953125,
                        "y": 4425.982421875,
                        "z": 368.0223083496094
                    },
                    "rotation": {
                        "roll": 4.19551042796229e-06,
                        "pitch": -0.14464974403381348,
                        "yaw": -81.6699447631836
                    }
                },
                "velocity": {
                    "x": 0.3064771890640259,
                    "y": -2.1011343002319336,
                    "z": -0.0055793472565710545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3239143490791321,
                "transform": {
                    "location": {
                        "x": 3503.673583984375,
                        "y": 4415.92919921875,
                        "z": 368.005615234375
                    },
                    "rotation": {
                        "roll": 0.0007302776211872697,
                        "pitch": -0.09612807631492615,
                        "yaw": -81.70323181152344
                    }
                },
                "velocity": {
                    "x": 0.04556483030319214,
                    "y": -0.3206920027732849,
                    "z": 0.00099547381978482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7580264806747437,
        "expert_target_speed": 7.334220580369102,
        "target_point": [
            21.352526820308107,
            1.2651846599819687
        ],
        "target_point_next": [
            51.34289903862694,
            2.0364202272172767
        ]
    },
    "405": {
        "acceleration": [
            0.6162500381469727,
            -1.410675048828125,
            0.005988888442516327
        ],
        "angular_velocity": [
            -0.17467303574085236,
            -0.4506537616252899,
            1.7207484245300293
        ],
        "forward_vector": [
            0.11943412572145462,
            -0.9928398132324219,
            0.002131102839484811
        ],
        "right_vector": [
            0.9928418397903442,
            0.11943550407886505,
            0.0005299676558934152
        ],
        "location": [
            3495.416259765625,
            4466.54345703125,
            368.02972412109375
        ],
        "rotation": [
            -0.030364980921149254,
            0.12210328876972198,
            -83.14054107666016
        ],
        "velocity": [
            0.834009051322937,
            -6.6597442626953125,
            0.005761423148214817
        ],
        "speed": 6.711763161956157,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.22345733642578,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.222412109375,
                4425.8857421875,
                368.0222473144531
            ],
            "velocity": [
                -9.265267726732418e-05,
                0.00010597193613648415,
                -0.0014402704546228051
            ],
            "speed_kmh": 0.0052096783430431275,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9809212684631348,
                "transform": {
                    "location": {
                        "x": 3500.38330078125,
                        "y": 4417.00732421875,
                        "z": 367.96392822265625
                    },
                    "rotation": {
                        "roll": 6.67645363137126e-05,
                        "pitch": 0.10217279195785522,
                        "yaw": 98.30680847167969
                    }
                },
                "velocity": {
                    "x": -0.00024151703109964728,
                    "y": 0.001706676441244781,
                    "z": -0.9809197187423706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050000190734863,
                "transform": {
                    "location": {
                        "x": 3494.0537109375,
                        "y": 4459.65283203125,
                        "z": 368.0318298339844
                    },
                    "rotation": {
                        "roll": -0.00018310443556401879,
                        "pitch": -0.01598947122693062,
                        "yaw": 98.31006622314453
                    }
                },
                "velocity": {
                    "x": -1.1634573936462402,
                    "y": 7.965479373931885,
                    "z": -0.0020173548255115747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003655433654785,
                "transform": {
                    "location": {
                        "x": 3488.16455078125,
                        "y": 4500.0029296875,
                        "z": 367.97479248046875
                    },
                    "rotation": {
                        "roll": -0.00021362431289162487,
                        "pitch": -0.15850135684013367,
                        "yaw": 98.30328369140625
                    }
                },
                "velocity": {
                    "x": -1.155613899230957,
                    "y": 7.919759750366211,
                    "z": -0.021597327664494514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4521,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3481.959228515625,
                        "y": 4543.14404296875,
                        "z": 367.90533447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.031958453357219696,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.380481243133545,
                "transform": {
                    "location": {
                        "x": 3490.7919921875,
                        "y": 4504.15380859375,
                        "z": 367.9534606933594
                    },
                    "rotation": {
                        "roll": -0.0002746562531683594,
                        "pitch": 0.17722973227500916,
                        "yaw": -81.71484375
                    }
                },
                "velocity": {
                    "x": 0.1995103657245636,
                    "y": -1.3659850358963013,
                    "z": 0.003000240307301283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.014603614807129,
                "transform": {
                    "location": {
                        "x": 3493.436279296875,
                        "y": 4486.05322265625,
                        "z": 368.0015563964844
                    },
                    "rotation": {
                        "roll": -0.0011291599366813898,
                        "pitch": 0.15813936293125153,
                        "yaw": -81.69122314453125
                    }
                },
                "velocity": {
                    "x": 1.3020806312561035,
                    "y": -8.920053482055664,
                    "z": 0.017719965428113937
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014471327885985374,
                "transform": {
                    "location": {
                        "x": 3502.222412109375,
                        "y": 4425.8857421875,
                        "z": 368.0222473144531
                    },
                    "rotation": {
                        "roll": -0.0008544907905161381,
                        "pitch": -0.16470317542552948,
                        "yaw": -81.77230072021484
                    }
                },
                "velocity": {
                    "x": -9.265267726732418e-05,
                    "y": 0.00010597193613648415,
                    "z": -0.0014402704546228051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9593331217765808,
                "transform": {
                    "location": {
                        "x": 3503.697021484375,
                        "y": 4415.77001953125,
                        "z": 368.0054626464844
                    },
                    "rotation": {
                        "roll": 0.0007327520870603621,
                        "pitch": -0.08752203732728958,
                        "yaw": -81.70436096191406
                    }
                },
                "velocity": {
                    "x": 0.1383943110704422,
                    "y": -0.9492965340614319,
                    "z": -0.001776847755536437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7702779173851013,
        "expert_target_speed": 7.530995121162682,
        "target_point": [
            19.708156555091357,
            1.2567431125141764
        ],
        "target_point_next": [
            49.698872409100304,
            2.01449812409468
        ]
    },
    "410": {
        "acceleration": [
            0.5957889556884766,
            -1.0773849487304688,
            -0.01415099948644638
        ],
        "angular_velocity": [
            -0.04503518342971802,
            -0.12731106579303741,
            3.912107229232788
        ],
        "forward_vector": [
            0.13345375657081604,
            -0.9910510778427124,
            0.002794977044686675
        ],
        "right_vector": [
            0.991051435470581,
            0.13346031308174133,
            0.0023057537619024515
        ],
        "location": [
            3495.6455078125,
            4464.83935546875,
            368.0306701660156
        ],
        "rotation": [
            -0.132110595703125,
            0.16014060378074646,
            -82.33074951171875
        ],
        "velocity": [
            1.009115219116211,
            -6.965484619140625,
            0.003285427112132311
        ],
        "speed": 7.038202150047736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.504974365234375,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.22265625,
                4425.8857421875,
                368.0216979980469
            ],
            "velocity": [
                8.449874258076306e-06,
                3.102621849393472e-05,
                -0.0015443405136466026
            ],
            "speed_kmh": 0.005560830924164342,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3725837171077728,
                "transform": {
                    "location": {
                        "x": 3500.38330078125,
                        "y": 4417.00732421875,
                        "z": 367.93890380859375
                    },
                    "rotation": {
                        "roll": 0.0005369511200115085,
                        "pitch": 0.1023845300078392,
                        "yaw": 98.30680847167969
                    }
                },
                "velocity": {
                    "x": 0.00013735750690102577,
                    "y": -0.0006390190101228654,
                    "z": 0.3725831210613251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082036972045898,
                "transform": {
                    "location": {
                        "x": 3493.76220703125,
                        "y": 4461.6484375,
                        "z": 368.03125
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.01571626402437687,
                        "yaw": 98.30398559570312
                    }
                },
                "velocity": {
                    "x": -1.167222499847412,
                    "y": 7.9973063468933105,
                    "z": -0.0020713615231215954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063421249389648,
                "transform": {
                    "location": {
                        "x": 3487.874267578125,
                        "y": 4501.99072265625,
                        "z": 367.96929931640625
                    },
                    "rotation": {
                        "roll": -0.00033568774233572185,
                        "pitch": -0.15926633775234222,
                        "yaw": 98.30648040771484
                    }
                },
                "velocity": {
                    "x": -1.1649668216705322,
                    "y": 7.978793621063232,
                    "z": -0.021589551120996475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.888279676437378,
                "transform": {
                    "location": {
                        "x": 3490.851806640625,
                        "y": 4503.74755859375,
                        "z": 367.9544982910156
                    },
                    "rotation": {
                        "roll": 0.00011180485307704657,
                        "pitch": 0.17677894234657288,
                        "yaw": -81.74047088623047
                    }
                },
                "velocity": {
                    "x": 0.27252495288848877,
                    "y": -1.868499994277954,
                    "z": 0.0061512659303843975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.453898429870605,
                "transform": {
                    "location": {
                        "x": 3493.7548828125,
                        "y": 4483.869140625,
                        "z": 368.0063171386719
                    },
                    "rotation": {
                        "roll": 6.683792162220925e-05,
                        "pitch": 0.11039634048938751,
                        "yaw": -81.69511413574219
                    }
                },
                "velocity": {
                    "x": 1.2207366228103638,
                    "y": -8.365279197692871,
                    "z": 0.017340650781989098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001544675207696855,
                "transform": {
                    "location": {
                        "x": 3502.22265625,
                        "y": 4425.8857421875,
                        "z": 368.0216979980469
                    },
                    "rotation": {
                        "roll": 0.0006714040646329522,
                        "pitch": -0.10806724429130554,
                        "yaw": -81.77225494384766
                    }
                },
                "velocity": {
                    "x": 8.449874258076306e-06,
                    "y": 3.102621849393472e-05,
                    "z": -0.0015443405136466026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8037562370300293,
                "transform": {
                    "location": {
                        "x": 3503.747314453125,
                        "y": 4415.4267578125,
                        "z": 368.0047302246094
                    },
                    "rotation": {
                        "roll": 0.0005300439079292119,
                        "pitch": -0.08312340080738068,
                        "yaw": -81.75798034667969
                    }
                },
                "velocity": {
                    "x": 0.2600277066230774,
                    "y": -1.784913420677185,
                    "z": -0.0024810219183564186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6892445683479309,
        "expert_target_speed": 7.790739346199296,
        "target_point": [
            18.004498232103682,
            0.9782854768134275
        ],
        "target_point_next": [
            48.002928415038085,
            1.3120768084701977
        ]
    },
    "415": {
        "acceleration": [
            0.7837677001953125,
            -1.1478900909423828,
            -0.005237767472863197
        ],
        "angular_velocity": [
            0.12143516540527344,
            -0.16867853701114655,
            4.262969493865967
        ],
        "forward_vector": [
            0.1512637734413147,
            -0.9884896278381348,
            0.002745624864473939
        ],
        "right_vector": [
            0.9884876608848572,
            0.1512717753648758,
            0.0029848553240299225
        ],
        "location": [
            3495.91796875,
            4463.0556640625,
            368.0314025878906
        ],
        "rotation": [
            -0.1710205078125,
            0.15731291472911835,
            -81.29979705810547
        ],
        "velocity": [
            1.1879355907440186,
            -7.263519763946533,
            0.0020291805267333984
        ],
        "speed": 7.360021082102839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.70283508300781,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.22314453125,
                4425.8837890625,
                368.02166748046875
            ],
            "velocity": [
                -0.00185826001688838,
                0.012355882674455643,
                -0.0002796172921080142
            ],
            "speed_kmh": 0.04499267740530465,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5600476264953613,
                "transform": {
                    "location": {
                        "x": 3500.3759765625,
                        "y": 4417.05126953125,
                        "z": 368.0217590332031
                    },
                    "rotation": {
                        "roll": -0.004425051622092724,
                        "pitch": 0.18426483869552612,
                        "yaw": 98.28123474121094
                    }
                },
                "velocity": {
                    "x": -0.0846872627735138,
                    "y": 0.5197740197181702,
                    "z": 0.19056852161884308
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048788070678711,
                "transform": {
                    "location": {
                        "x": 3493.470947265625,
                        "y": 4463.6435546875,
                        "z": 368.0305480957031
                    },
                    "rotation": {
                        "roll": 0.0005896891234442592,
                        "pitch": -0.022403018549084663,
                        "yaw": 98.30105590820312
                    }
                },
                "velocity": {
                    "x": -1.1618363857269287,
                    "y": 7.9644904136657715,
                    "z": -0.0029784105718135834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003374099731445,
                "transform": {
                    "location": {
                        "x": 3487.584228515625,
                        "y": 4503.97802734375,
                        "z": 367.9637145996094
                    },
                    "rotation": {
                        "roll": 0.000112411733425688,
                        "pitch": -0.15848086774349213,
                        "yaw": 98.30839538574219
                    }
                },
                "velocity": {
                    "x": -1.1580750942230225,
                    "y": 7.9191155433654785,
                    "z": -0.021644052118062973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.431528091430664,
                "transform": {
                    "location": {
                        "x": 3490.929931640625,
                        "y": 4503.2109375,
                        "z": 367.9560852050781
                    },
                    "rotation": {
                        "roll": 4.090795846423134e-05,
                        "pitch": 0.17716826498508453,
                        "yaw": -81.73002624511719
                    }
                },
                "velocity": {
                    "x": 0.35113707184791565,
                    "y": -2.406033992767334,
                    "z": 0.00567499129101634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.155542373657227,
                "transform": {
                    "location": {
                        "x": 3494.05078125,
                        "y": 4481.83935546875,
                        "z": 368.0105285644531
                    },
                    "rotation": {
                        "roll": 0.0005065820296294987,
                        "pitch": 0.10002811253070831,
                        "yaw": -81.69600677490234
                    }
                },
                "velocity": {
                    "x": 1.1778393983840942,
                    "y": -8.070029258728027,
                    "z": 0.013930224813520908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.012497966177761555,
                "transform": {
                    "location": {
                        "x": 3502.22314453125,
                        "y": 4425.8837890625,
                        "z": 368.02166748046875
                    },
                    "rotation": {
                        "roll": -0.00021362716506700963,
                        "pitch": -0.10256894677877426,
                        "yaw": -81.77237701416016
                    }
                },
                "velocity": {
                    "x": -0.00185826001688838,
                    "y": 0.012355882674455643,
                    "z": -0.0002796172921080142
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5499022006988525,
                "transform": {
                    "location": {
                        "x": 3503.826171875,
                        "y": 4414.884765625,
                        "z": 368.0037841796875
                    },
                    "rotation": {
                        "roll": 0.0007911187130957842,
                        "pitch": -0.08215351402759552,
                        "yaw": -81.74304962158203
                    }
                },
                "velocity": {
                    "x": 0.368183970451355,
                    "y": -2.5231785774230957,
                    "z": -0.003407964715734124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6233094334602356,
        "expert_target_speed": 8.0380774328453,
        "target_point": [
            16.214804878547874,
            0.6546619887990053
        ],
        "target_point_next": [
            46.21438468273379,
            0.44864823741440674
        ]
    },
    "420": {
        "acceleration": [
            -0.1208806037902832,
            0.2682018280029297,
            -0.0053192139603197575
        ],
        "angular_velocity": [
            0.27565503120422363,
            0.47691184282302856,
            1.9260244369506836
        ],
        "forward_vector": [
            0.16636161506175995,
            -0.9860629439353943,
            0.001898525864817202
        ],
        "right_vector": [
            0.9860613942146301,
            0.1663658171892166,
            0.0023270638193935156
        ],
        "location": [
            3496.226806640625,
            4461.22216796875,
            368.0320739746094
        ],
        "rotation": [
            -0.133331298828125,
            0.10877759009599686,
            -80.42363739013672
        ],
        "velocity": [
            1.271834135055542,
            -7.359958171844482,
            0.0018378162058070302
        ],
        "speed": 7.46903918575829,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.8868522644043,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.22900390625,
                4425.8408203125,
                368.0215148925781
            ],
            "velocity": [
                0.05449739843606949,
                -0.3768821954727173,
                -0.0017140102572739124
            ],
            "speed_kmh": 1.3709010511966544,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0438092947006226,
                "transform": {
                    "location": {
                        "x": 3500.346435546875,
                        "y": 4417.2373046875,
                        "z": 368.0309753417969
                    },
                    "rotation": {
                        "roll": -0.00515748793259263,
                        "pitch": 0.23101747035980225,
                        "yaw": 98.3804702758789
                    }
                },
                "velocity": {
                    "x": -0.16685457527637482,
                    "y": 1.0291709899902344,
                    "z": -0.05004357546567917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083242416381836,
                "transform": {
                    "location": {
                        "x": 3493.179931640625,
                        "y": 4465.638671875,
                        "z": 368.02972412109375
                    },
                    "rotation": {
                        "roll": 0.000412097608204931,
                        "pitch": -0.037688981741666794,
                        "yaw": 98.29656982421875
                    }
                },
                "velocity": {
                    "x": -1.166332721710205,
                    "y": 7.998653411865234,
                    "z": -0.00571827869862318
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063249588012695,
                "transform": {
                    "location": {
                        "x": 3487.294189453125,
                        "y": 4505.96533203125,
                        "z": 367.9583435058594
                    },
                    "rotation": {
                        "roll": 0.0008162838057614863,
                        "pitch": -0.1522175818681717,
                        "yaw": 98.30980682373047
                    }
                },
                "velocity": {
                    "x": -1.1654340028762817,
                    "y": 7.978557586669922,
                    "z": -0.01934175007045269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.998781204223633,
                "transform": {
                    "location": {
                        "x": 3491.028076171875,
                        "y": 4502.53662109375,
                        "z": 367.95794677734375
                    },
                    "rotation": {
                        "roll": -0.00039672647835686803,
                        "pitch": 0.1773526817560196,
                        "yaw": -81.71910095214844
                    }
                },
                "velocity": {
                    "x": 0.43330156803131104,
                    "y": -2.9673030376434326,
                    "z": 0.007185993250459433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.390490531921387,
                "transform": {
                    "location": {
                        "x": 3494.35107421875,
                        "y": 4479.783203125,
                        "z": 368.0138244628906
                    },
                    "rotation": {
                        "roll": -0.00018310797167941928,
                        "pitch": 0.08640871942043304,
                        "yaw": -81.69640350341797
                    }
                },
                "velocity": {
                    "x": 1.2117719650268555,
                    "y": -8.302515983581543,
                    "z": 0.013001441955566406
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3808058500289917,
                "transform": {
                    "location": {
                        "x": 3502.22900390625,
                        "y": 4425.8408203125,
                        "z": 368.0215148925781
                    },
                    "rotation": {
                        "roll": 0.0007295304676517844,
                        "pitch": -0.09134011715650558,
                        "yaw": -81.76421356201172
                    }
                },
                "velocity": {
                    "x": 0.05449739843606949,
                    "y": -0.3768821954727173,
                    "z": -0.0017140102572739124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.314385175704956,
                "transform": {
                    "location": {
                        "x": 3503.93310546875,
                        "y": 4414.15185546875,
                        "z": 368.00250244140625
                    },
                    "rotation": {
                        "roll": 0.0005241275066509843,
                        "pitch": -0.08346490561962128,
                        "yaw": -81.7275619506836
                    }
                },
                "velocity": {
                    "x": 0.47854381799697876,
                    "y": -3.2796506881713867,
                    "z": -0.006007718853652477
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.551769495010376,
        "expert_target_speed": 8.115781062399561,
        "target_point": [
            14.363594619709865,
            0.4071417539024291
        ],
        "target_point_next": [
            44.356517224624895,
            -0.25755645510365355
        ]
    },
    "425": {
        "acceleration": [
            -0.1325702667236328,
            -0.019435882568359375,
            0.001194956712424755
        ],
        "angular_velocity": [
            0.11509611457586288,
            0.3138028383255005,
            -0.7024247646331787
        ],
        "forward_vector": [
            0.16721299290657043,
            -0.9859206080436707,
            0.0006052254466339946
        ],
        "right_vector": [
            0.9859206676483154,
            0.16721326112747192,
            0.00041598561801947653
        ],
        "location": [
            3496.5380859375,
            4459.38720703125,
            368.0328369140625
        ],
        "rotation": [
            -0.0238342247903347,
            0.034676868468523026,
            -80.37418365478516
        ],
        "velocity": [
            1.2290469408035278,
            -7.316020965576172,
            0.0020647335331887007
        ],
        "speed": 7.418538882519159,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.18199920654297,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.251220703125,
                4425.68603515625,
                368.0210876464844
            ],
            "velocity": [
                0.13006168603897095,
                -0.8928672075271606,
                -0.0020935439970344305
            ],
            "speed_kmh": 3.2482540370040884,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.101278305053711,
                "transform": {
                    "location": {
                        "x": 3500.282958984375,
                        "y": 4417.6357421875,
                        "z": 368.0173034667969
                    },
                    "rotation": {
                        "roll": -0.008392357267439365,
                        "pitch": 0.32618248462677,
                        "yaw": 98.52655792236328
                    }
                },
                "velocity": {
                    "x": -0.33769169449806213,
                    "y": 2.0737271308898926,
                    "z": -0.03147906810045242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04843807220459,
                "transform": {
                    "location": {
                        "x": 3492.889404296875,
                        "y": 4467.6337890625,
                        "z": 368.0283508300781
                    },
                    "rotation": {
                        "roll": 0.0005735325976274908,
                        "pitch": -0.037204038351774216,
                        "yaw": 98.29389953613281
                    }
                },
                "velocity": {
                    "x": -1.1617695093154907,
                    "y": 7.964146137237549,
                    "z": -0.00571784982457757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003894805908203,
                "transform": {
                    "location": {
                        "x": 3487.00439453125,
                        "y": 4507.95263671875,
                        "z": 367.95355224609375
                    },
                    "rotation": {
                        "roll": 0.00023086626606527716,
                        "pitch": -0.12448018789291382,
                        "yaw": 98.30992126464844
                    }
                },
                "velocity": {
                    "x": -1.1567734479904175,
                    "y": 7.919841766357422,
                    "z": -0.01744578406214714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.661578416824341,
                "transform": {
                    "location": {
                        "x": 3491.14794921875,
                        "y": 4501.7138671875,
                        "z": 367.9601745605469
                    },
                    "rotation": {
                        "roll": -0.00021363122505135834,
                        "pitch": 0.18003012239933014,
                        "yaw": -81.71353912353516
                    }
                },
                "velocity": {
                    "x": 0.5288905501365662,
                    "y": -3.6231656074523926,
                    "z": 0.01014102902263403
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.159221172332764,
                "transform": {
                    "location": {
                        "x": 3494.63720703125,
                        "y": 4477.8232421875,
                        "z": 368.0168762207031
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": 0.04622671753168106,
                        "yaw": -81.6951675415039
                    }
                },
                "velocity": {
                    "x": 1.033939003944397,
                    "y": -7.084160804748535,
                    "z": 0.009082297794520855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.902292788028717,
                "transform": {
                    "location": {
                        "x": 3502.251220703125,
                        "y": 4425.68603515625,
                        "z": 368.0210876464844
                    },
                    "rotation": {
                        "roll": 0.0008229485829360783,
                        "pitch": -0.08364932239055634,
                        "yaw": -81.7348861694336
                    }
                },
                "velocity": {
                    "x": 0.13006168603897095,
                    "y": -0.8928672075271606,
                    "z": -0.0020935439970344305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.051297187805176,
                "transform": {
                    "location": {
                        "x": 3504.06640625,
                        "y": 4413.2373046875,
                        "z": 368.0008239746094
                    },
                    "rotation": {
                        "roll": 0.000779449415858835,
                        "pitch": -0.08346490561962128,
                        "yaw": -81.71654510498047
                    }
                },
                "velocity": {
                    "x": 0.5848022103309631,
                    "y": -4.008862495422363,
                    "z": -0.0062013245187699795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5473081469535828,
        "expert_target_speed": 8.07015227748291,
        "target_point": [
            12.50276470327928,
            0.39467204081223617
        ],
        "target_point_next": [
            42.49510222644888,
            -0.2959218990339423
        ]
    },
    "430": {
        "acceleration": [
            -0.312197208404541,
            0.7032680511474609,
            -0.0017059314996004105
        ],
        "angular_velocity": [
            0.13497298955917358,
            0.14075025916099548,
            -1.0078033208847046
        ],
        "forward_vector": [
            0.1636827290058136,
            -0.9865130186080933,
            -9.322165715275332e-05
        ],
        "right_vector": [
            0.9865129590034485,
            0.1636827439069748,
            -0.0003397274704184383
        ],
        "location": [
            3496.839599609375,
            4457.57275390625,
            368.0334777832031
        ],
        "rotation": [
            0.019464951008558273,
            -0.005341207608580589,
            -80.57927703857422
        ],
        "velocity": [
            1.1791256666183472,
            -7.2085442543029785,
            0.0021588897798210382
        ],
        "speed": 7.3043444335493,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.639305114746094,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.294921875,
                4425.392578125,
                368.0205383300781
            ],
            "velocity": [
                0.20758366584777832,
                -1.4289703369140625,
                -0.0021401976700872183
            ],
            "speed_kmh": 5.198295018743062,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7079403400421143,
                "transform": {
                    "location": {
                        "x": 3500.17236328125,
                        "y": 4418.35009765625,
                        "z": 368.01519775390625
                    },
                    "rotation": {
                        "roll": 0.005932786036282778,
                        "pitch": 0.44631868600845337,
                        "yaw": 98.63587951660156
                    }
                },
                "velocity": {
                    "x": -0.5675919651985168,
                    "y": 3.664217710494995,
                    "z": 0.012978754006326199
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082698822021484,
                "transform": {
                    "location": {
                        "x": 3492.59814453125,
                        "y": 4469.62939453125,
                        "z": 368.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0012895602267235518,
                        "pitch": -0.03628196194767952,
                        "yaw": 98.29750061035156
                    }
                },
                "velocity": {
                    "x": -1.166569709777832,
                    "y": 7.998068809509277,
                    "z": -0.005505866836756468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062614440917969,
                "transform": {
                    "location": {
                        "x": 3486.71435546875,
                        "y": 4509.93994140625,
                        "z": 367.9492492675781
                    },
                    "rotation": {
                        "roll": 0.00020561982819344848,
                        "pitch": -0.12143392860889435,
                        "yaw": 98.31006622314453
                    }
                },
                "velocity": {
                    "x": -1.165284276008606,
                    "y": 7.977940082550049,
                    "z": -0.018141083419322968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.538407802581787,
                "transform": {
                    "location": {
                        "x": 3491.296142578125,
                        "y": 4500.6982421875,
                        "z": 367.9630126953125
                    },
                    "rotation": {
                        "roll": 0.0006858372944407165,
                        "pitch": 0.18686030805110931,
                        "yaw": -81.70732879638672
                    }
                },
                "velocity": {
                    "x": 0.6555379629135132,
                    "y": -4.490798473358154,
                    "z": 0.01208585686981678
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.32365083694458,
                "transform": {
                    "location": {
                        "x": 3494.873779296875,
                        "y": 4476.20263671875,
                        "z": 368.0190124511719
                    },
                    "rotation": {
                        "roll": -0.00036621224717237055,
                        "pitch": 0.0416778102517128,
                        "yaw": -81.69384765625
                    }
                },
                "velocity": {
                    "x": 0.9132266044616699,
                    "y": -6.257354736328125,
                    "z": 0.009412012062966824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.443970799446106,
                "transform": {
                    "location": {
                        "x": 3502.294921875,
                        "y": 4425.392578125,
                        "z": 368.0205383300781
                    },
                    "rotation": {
                        "roll": 0.0012044223258271813,
                        "pitch": -0.08206471800804138,
                        "yaw": -81.84284973144531
                    }
                },
                "velocity": {
                    "x": 0.20758366584777832,
                    "y": -1.4289703369140625,
                    "z": -0.0021401976700872183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.810089111328125,
                "transform": {
                    "location": {
                        "x": 3504.226806640625,
                        "y": 4412.13818359375,
                        "z": 367.9989013671875
                    },
                    "rotation": {
                        "roll": 0.00030110892839729786,
                        "pitch": -0.08349905908107758,
                        "yaw": -81.70868682861328
                    }
                },
                "velocity": {
                    "x": 0.6950591206550598,
                    "y": -4.7596001625061035,
                    "z": -0.007652196567505598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5346997976303101,
        "expert_target_speed": 7.975067606495209,
        "target_point": [
            10.661937775883091,
            0.4389669471669173
        ],
        "target_point_next": [
            40.65655495640087,
            -0.14427424450848925
        ]
    },
    "435": {
        "acceleration": [
            -0.07854700088500977,
            -0.005397796630859375,
            0.007056426256895065
        ],
        "angular_velocity": [
            -0.029235422611236572,
            -0.0910012423992157,
            -0.9301274418830872
        ],
        "forward_vector": [
            0.15818846225738525,
            -0.9874088764190674,
            -0.00030457970569841564
        ],
        "right_vector": [
            0.9874086380004883,
            0.15818864107131958,
            -0.0007120320224203169
        ],
        "location": [
            3497.127197265625,
            4455.77978515625,
            368.0340270996094
        ],
        "rotation": [
            0.0407964363694191,
            -0.017451131716370583,
            -80.89823913574219
        ],
        "velocity": [
            1.1289069652557373,
            -7.1399688720703125,
            0.0025579833891242743
        ],
        "speed": 7.2286642217173105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.25312614440918,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.356689453125,
                4424.96728515625,
                368.01983642578125
            ],
            "velocity": [
                0.28264862298965454,
                -1.9430205821990967,
                -0.0020442770328372717
            ],
            "speed_kmh": 7.068500218696059,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4136881828308105,
                "transform": {
                    "location": {
                        "x": 3499.99169921875,
                        "y": 4419.52001953125,
                        "z": 368.0188903808594
                    },
                    "rotation": {
                        "roll": -0.0020446653943508863,
                        "pitch": 0.5405070185661316,
                        "yaw": 98.72700500488281
                    }
                },
                "velocity": {
                    "x": -0.8294509649276733,
                    "y": 5.349740505218506,
                    "z": 0.01744627021253109
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049238204956055,
                "transform": {
                    "location": {
                        "x": 3492.30712890625,
                        "y": 4471.62451171875,
                        "z": 368.0255432128906
                    },
                    "rotation": {
                        "roll": 0.00015051932132337242,
                        "pitch": -0.045250002294778824,
                        "yaw": 98.2985610961914
                    }
                },
                "velocity": {
                    "x": -1.1617213487625122,
                    "y": 7.964959144592285,
                    "z": -0.00835247989743948
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003605842590332,
                "transform": {
                    "location": {
                        "x": 3486.42431640625,
                        "y": 4511.9267578125,
                        "z": 367.9449768066406
                    },
                    "rotation": {
                        "roll": -0.00024413978098891675,
                        "pitch": -0.12152271717786789,
                        "yaw": 98.3101806640625
                    }
                },
                "velocity": {
                    "x": -1.1567808389663696,
                    "y": 7.919549465179443,
                    "z": -0.01747002638876438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.191947937011719,
                "transform": {
                    "location": {
                        "x": 3491.4765625,
                        "y": 4499.46142578125,
                        "z": 367.96673583984375
                    },
                    "rotation": {
                        "roll": -0.0001525928091723472,
                        "pitch": 0.18502981960773468,
                        "yaw": -81.70305633544922
                    }
                },
                "velocity": {
                    "x": 0.74948650598526,
                    "y": -5.137545108795166,
                    "z": 0.01498207077383995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.789095401763916,
                "transform": {
                    "location": {
                        "x": 3495.107666015625,
                        "y": 4474.59765625,
                        "z": 368.0207824707031
                    },
                    "rotation": {
                        "roll": -0.0007934600580483675,
                        "pitch": 0.08534321188926697,
                        "yaw": -81.69380950927734
                    }
                },
                "velocity": {
                    "x": 0.9806883931159973,
                    "y": -6.717884540557861,
                    "z": 0.009565400891005993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9634722471237183,
                "transform": {
                    "location": {
                        "x": 3502.356689453125,
                        "y": 4424.96728515625,
                        "z": 368.01983642578125
                    },
                    "rotation": {
                        "roll": 0.0017601961735635996,
                        "pitch": -0.08382690697908401,
                        "yaw": -81.86273193359375
                    }
                },
                "velocity": {
                    "x": 0.28264862298965454,
                    "y": -1.9430205821990967,
                    "z": -0.0020442770328372717
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.29585599899292,
                "transform": {
                    "location": {
                        "x": 3504.412109375,
                        "y": 4410.8671875,
                        "z": 367.9969787597656
                    },
                    "rotation": {
                        "roll": 0.000791832571849227,
                        "pitch": -0.08840996026992798,
                        "yaw": -81.7080307006836
                    }
                },
                "velocity": {
                    "x": 0.7642048597335815,
                    "y": -5.24041748046875,
                    "z": -0.01032539363950491
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5261856913566589,
        "expert_target_speed": 7.90997088619228,
        "target_point": [
            8.84344088283742,
            0.4979645299715785
        ],
        "target_point_next": [
            38.840840131276416,
            0.08170929188911913
        ]
    },
    "440": {
        "acceleration": [
            -0.3014564514160156,
            0.5222988128662109,
            0.008805845864117146
        ],
        "angular_velocity": [
            0.03534093126654625,
            0.04072695970535278,
            -1.9143742322921753
        ],
        "forward_vector": [
            0.15108968317508698,
            -0.9885200262069702,
            -0.00028228759765625
        ],
        "right_vector": [
            0.9885191321372986,
            0.15108993649482727,
            -0.001326687983237207
        ],
        "location": [
            3497.3994140625,
            4454.00537109375,
            368.0345153808594
        ],
        "rotation": [
            0.07601364701986313,
            -0.016173887997865677,
            -81.30992126464844
        ],
        "velocity": [
            1.0463385581970215,
            -7.065098285675049,
            0.002043180400505662
        ],
        "speed": 7.142159208854024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.0195369720459,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.4375,
                4424.41162109375,
                368.01885986328125
            ],
            "velocity": [
                0.361535906791687,
                -2.485982894897461,
                -0.003524084109812975
            ],
            "speed_kmh": 9.043692682687462,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.444344520568848,
                "transform": {
                    "location": {
                        "x": 3499.77001953125,
                        "y": 4420.95263671875,
                        "z": 368.0235595703125
                    },
                    "rotation": {
                        "roll": -0.0017394637688994408,
                        "pitch": 0.3557981848716736,
                        "yaw": 98.77794647216797
                    }
                },
                "velocity": {
                    "x": -0.9893300533294678,
                    "y": 6.3679423332214355,
                    "z": 0.010523023083806038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082319259643555,
                "transform": {
                    "location": {
                        "x": 3492.01611328125,
                        "y": 4473.6201171875,
                        "z": 368.0235900878906
                    },
                    "rotation": {
                        "roll": -0.0003662158560473472,
                        "pitch": -0.07668936252593994,
                        "yaw": 98.29872131347656
                    }
                },
                "velocity": {
                    "x": -1.166524887084961,
                    "y": 7.997688293457031,
                    "z": -0.009703922085464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063536643981934,
                "transform": {
                    "location": {
                        "x": 3486.134033203125,
                        "y": 4513.9140625,
                        "z": 367.9406433105469
                    },
                    "rotation": {
                        "roll": 5.675606371369213e-05,
                        "pitch": -0.12319611757993698,
                        "yaw": 98.30987548828125
                    }
                },
                "velocity": {
                    "x": -1.1653937101364136,
                    "y": 7.97885799407959,
                    "z": -0.017593640834093094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.774998664855957,
                "transform": {
                    "location": {
                        "x": 3491.672119140625,
                        "y": 4498.12353515625,
                        "z": 367.9705505371094
                    },
                    "rotation": {
                        "roll": 0.0006598233594559133,
                        "pitch": 0.17602762579917908,
                        "yaw": -81.68901062011719
                    }
                },
                "velocity": {
                    "x": 0.8347991704940796,
                    "y": -5.714325904846191,
                    "z": 0.014195919036865234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.586682319641113,
                "transform": {
                    "location": {
                        "x": 3495.37158203125,
                        "y": 4472.79248046875,
                        "z": 368.0226745605469
                    },
                    "rotation": {
                        "roll": 0.0002918808604590595,
                        "pitch": 0.08608769625425339,
                        "yaw": -81.69578552246094
                    }
                },
                "velocity": {
                    "x": 1.0958396196365356,
                    "y": -7.507120132446289,
                    "z": 0.005860957782715559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.512136936187744,
                "transform": {
                    "location": {
                        "x": 3502.4375,
                        "y": 4424.41162109375,
                        "z": 368.01885986328125
                    },
                    "rotation": {
                        "roll": 0.00014135970559436828,
                        "pitch": -0.08261113613843918,
                        "yaw": -81.82688903808594
                    }
                },
                "velocity": {
                    "x": 0.361535906791687,
                    "y": -2.485982894897461,
                    "z": -0.003524084109812975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.302565574645996,
                "transform": {
                    "location": {
                        "x": 3504.62109375,
                        "y": 4409.43359375,
                        "z": 367.99420166015625
                    },
                    "rotation": {
                        "roll": 0.0001612199703231454,
                        "pitch": -0.08050743490457535,
                        "yaw": -81.6845474243164
                    }
                },
                "velocity": {
                    "x": 0.9123574495315552,
                    "y": -6.236171245574951,
                    "z": -0.010347452014684677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5530175566673279,
        "expert_target_speed": 7.837004225073156,
        "target_point": [
            37.044077162624816,
            0.3598102350284291
        ],
        "target_point_next": [
            37.044077162624816,
            0.3598102350284291
        ]
    },
    "445": {
        "acceleration": [
            -0.24436354637145996,
            -0.2575206756591797,
            -0.004180334508419037
        ],
        "angular_velocity": [
            -0.10535119473934174,
            0.00980053748935461,
            -2.008133888244629
        ],
        "forward_vector": [
            0.14258494973182678,
            -0.9897825717926025,
            -8.95261691766791e-05
        ],
        "right_vector": [
            0.9897814393043518,
            0.1425849199295044,
            -0.0014987216563895345
        ],
        "location": [
            3497.653564453125,
            4452.2412109375,
            368.0349426269531
        ],
        "rotation": [
            0.08587045967578888,
            -0.0051294718869030476,
            -81.80254364013672
        ],
        "velocity": [
            0.9803895354270935,
            -7.053656578063965,
            0.0016627502627670765
        ],
        "speed": 7.1214629650402586,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.940134048461914,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.538330078125,
                4423.71630859375,
                368.0176086425781
            ],
            "velocity": [
                0.44513094425201416,
                -3.0590853691101074,
                -0.0060063740238547325
            ],
            "speed_kmh": 11.128706342029972,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.388296604156494,
                "transform": {
                    "location": {
                        "x": 3499.49658203125,
                        "y": 4422.71728515625,
                        "z": 368.02642822265625
                    },
                    "rotation": {
                        "roll": -0.0022277883253991604,
                        "pitch": 0.3412908613681793,
                        "yaw": 98.89046478271484
                    }
                },
                "velocity": {
                    "x": -1.1377331018447876,
                    "y": 7.300163269042969,
                    "z": 0.010230750776827335
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050158500671387,
                "transform": {
                    "location": {
                        "x": 3491.724853515625,
                        "y": 4475.61474609375,
                        "z": 368.02081298828125
                    },
                    "rotation": {
                        "roll": 0.0008666811045259237,
                        "pitch": -0.07812369614839554,
                        "yaw": 98.3056411743164
                    }
                },
                "velocity": {
                    "x": -1.1631932258605957,
                    "y": 7.965672492980957,
                    "z": -0.00994137767702341
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001909255981445,
                "transform": {
                    "location": {
                        "x": 3485.843994140625,
                        "y": 4515.90087890625,
                        "z": 367.9366760253906
                    },
                    "rotation": {
                        "roll": -0.00027465878520160913,
                        "pitch": -0.10974064469337463,
                        "yaw": 98.31014251708984
                    }
                },
                "velocity": {
                    "x": -1.1564829349517822,
                    "y": 7.917885780334473,
                    "z": -0.013271970674395561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.856433868408203,
                "transform": {
                    "location": {
                        "x": 3491.90185546875,
                        "y": 4496.5498046875,
                        "z": 367.97467041015625
                    },
                    "rotation": {
                        "roll": 0.001112820114940405,
                        "pitch": 0.1920444220304489,
                        "yaw": -81.66714477539062
                    }
                },
                "velocity": {
                    "x": 0.9924715757369995,
                    "y": -6.784199237823486,
                    "z": 0.018019352108240128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.824403762817383,
                "transform": {
                    "location": {
                        "x": 3495.6708984375,
                        "y": 4470.74169921875,
                        "z": 368.0244445800781
                    },
                    "rotation": {
                        "roll": 0.0009926960337907076,
                        "pitch": 0.0739436224102974,
                        "yaw": -81.69176483154297
                    }
                },
                "velocity": {
                    "x": 1.274192452430725,
                    "y": -8.731925010681152,
                    "z": 0.005129708908498287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0913074016571045,
                "transform": {
                    "location": {
                        "x": 3502.538330078125,
                        "y": 4423.71630859375,
                        "z": 368.0176086425781
                    },
                    "rotation": {
                        "roll": 0.00038958463119342923,
                        "pitch": -0.0820920392870903,
                        "yaw": -81.79192352294922
                    }
                },
                "velocity": {
                    "x": 0.44513094425201416,
                    "y": -3.0590853691101074,
                    "z": -0.0060063740238547325
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.090459823608398,
                "transform": {
                    "location": {
                        "x": 3504.85107421875,
                        "y": 4407.8623046875,
                        "z": 367.99151611328125
                    },
                    "rotation": {
                        "roll": 0.001164022134616971,
                        "pitch": -0.10259626805782318,
                        "yaw": -81.67906188964844
                    }
                },
                "velocity": {
                    "x": 0.8814077377319336,
                    "y": -6.026334762573242,
                    "z": -0.010584058240056038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5633683204650879,
        "expert_target_speed": 7.817331030216468,
        "target_point": [
            35.257241711537894,
            0.6782654619326998
        ],
        "target_point_next": [
            35.257241711537894,
            0.6782654619326998
        ]
    },
    "450": {
        "acceleration": [
            -0.03661513328552246,
            0.6795692443847656,
            -0.005307197570800781
        ],
        "angular_velocity": [
            0.13718977570533752,
            -0.1783800721168518,
            -0.2631796598434448
        ],
        "forward_vector": [
            0.1375933140516281,
            -0.9904888272285461,
            -3.8385387597372755e-05
        ],
        "right_vector": [
            0.990488588809967,
            0.1375933140516281,
            -0.0007141629466786981
        ],
        "location": [
            3497.8974609375,
            4450.48388671875,
            368.03546142578125
        ],
        "rotation": [
            0.04091852530837059,
            -0.0021993208210915327,
            -82.09139251708984
        ],
        "velocity": [
            0.9674714207649231,
            -6.993157386779785,
            0.0015810680342838168
        ],
        "speed": 7.0597628279050255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.026111602783203,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.661865234375,
                4422.86572265625,
                368.0160217285156
            ],
            "velocity": [
                0.5465123653411865,
                -3.751494884490967,
                -0.005911846179515123
            ],
            "speed_kmh": 13.647953055513607,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.563407897949219,
                "transform": {
                    "location": {
                        "x": 3499.177734375,
                        "y": 4424.796875,
                        "z": 368.02984619140625
                    },
                    "rotation": {
                        "roll": 0.019755970686674118,
                        "pitch": 0.3569798171520233,
                        "yaw": 98.71167755126953
                    }
                },
                "velocity": {
                    "x": -1.2843453884124756,
                    "y": 8.466535568237305,
                    "z": 0.013888177461922169
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082566261291504,
                "transform": {
                    "location": {
                        "x": 3491.433349609375,
                        "y": 4477.6103515625,
                        "z": 368.01812744140625
                    },
                    "rotation": {
                        "roll": 0.00034623887040652335,
                        "pitch": -0.07645030319690704,
                        "yaw": 98.30779266357422
                    }
                },
                "velocity": {
                    "x": -1.1678279638290405,
                    "y": 7.99774694442749,
                    "z": -0.009940986521542072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062793731689453,
                "transform": {
                    "location": {
                        "x": 3485.553955078125,
                        "y": 4517.88818359375,
                        "z": 367.9332275390625
                    },
                    "rotation": {
                        "roll": -0.00085449154721573,
                        "pitch": -0.08502902090549469,
                        "yaw": 98.31006622314453
                    }
                },
                "velocity": {
                    "x": -1.1653133630752563,
                    "y": 7.978126525878906,
                    "z": -0.01346978172659874
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.717482089996338,
                "transform": {
                    "location": {
                        "x": 3492.170654296875,
                        "y": 4494.71435546875,
                        "z": 367.97979736328125
                    },
                    "rotation": {
                        "roll": 0.0010168497683480382,
                        "pitch": 0.18733841180801392,
                        "yaw": -81.67293548583984
                    }
                },
                "velocity": {
                    "x": 1.1168885231018066,
                    "y": -7.636204242706299,
                    "z": 0.021738508716225624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.061005592346191,
                "transform": {
                    "location": {
                        "x": 3495.97607421875,
                        "y": 4468.64404296875,
                        "z": 368.0261535644531
                    },
                    "rotation": {
                        "roll": 0.000205230840947479,
                        "pitch": 0.02053837850689888,
                        "yaw": -81.58140563964844
                    }
                },
                "velocity": {
                    "x": 1.1678011417388916,
                    "y": -7.97596549987793,
                    "z": 0.005731792189180851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.791098117828369,
                "transform": {
                    "location": {
                        "x": 3502.661865234375,
                        "y": 4422.86572265625,
                        "z": 368.0160217285156
                    },
                    "rotation": {
                        "roll": -0.00021362370171118528,
                        "pitch": -0.0783081129193306,
                        "yaw": -81.76126861572266
                    }
                },
                "velocity": {
                    "x": 0.5465123653411865,
                    "y": -3.751494884490967,
                    "z": -0.005911846179515123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.855920314788818,
                "transform": {
                    "location": {
                        "x": 3505.06640625,
                        "y": 4406.39013671875,
                        "z": 367.98876953125
                    },
                    "rotation": {
                        "roll": -0.0005187952774576843,
                        "pitch": -0.11828520894050598,
                        "yaw": -81.68006134033203
                    }
                },
                "velocity": {
                    "x": 0.8473778367042542,
                    "y": -5.794277667999268,
                    "z": -0.01002094242721796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5772525668144226,
        "expert_target_speed": 7.767828569048613,
        "target_point": [
            33.47920609238084,
            0.8562088535551045
        ],
        "target_point_next": [
            33.47920609238084,
            0.8562088535551045
        ]
    },
    "455": {
        "acceleration": [
            0.0046539306640625,
            -0.019636154174804688,
            -0.0065135955810546875
        ],
        "angular_velocity": [
            -0.03059755079448223,
            -0.041463516652584076,
            0.0005070381448604167
        ],
        "forward_vector": [
            0.13733907043933868,
            -0.9905240535736084,
            -0.00025725364685058594
        ],
        "right_vector": [
            0.9905240535736084,
            0.13733913004398346,
            -0.00024927486083470285
        ],
        "location": [
            3498.138671875,
            4448.74560546875,
            368.0359802246094
        ],
        "rotation": [
            0.014282399788498878,
            -0.014739547856152058,
            -82.1061019897461
        ],
        "velocity": [
            0.95893394947052,
            -6.920332431793213,
            0.001814994728192687
        ],
        "speed": 6.986455130176969,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.334095001220703,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.814697265625,
                4421.814453125,
                368.01409912109375
            ],
            "velocity": [
                0.6786006689071655,
                -4.652337074279785,
                -0.006728315260261297
            ],
            "speed_kmh": 16.925661160042836,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.132150650024414,
                "transform": {
                    "location": {
                        "x": 3498.865966796875,
                        "y": 4426.85302734375,
                        "z": 368.0363464355469
                    },
                    "rotation": {
                        "roll": 0.008257312700152397,
                        "pitch": 0.0035653584636747837,
                        "yaw": 98.571533203125
                    }
                },
                "velocity": {
                    "x": -1.2104181051254272,
                    "y": 8.041553497314453,
                    "z": 0.013912343420088291
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049753189086914,
                "transform": {
                    "location": {
                        "x": 3491.141845703125,
                        "y": 4479.60595703125,
                        "z": 368.015380859375
                    },
                    "rotation": {
                        "roll": -0.0007324250764213502,
                        "pitch": -0.0818529799580574,
                        "yaw": 98.30799865722656
                    }
                },
                "velocity": {
                    "x": -1.1631050109863281,
                    "y": 7.965268611907959,
                    "z": -0.014350461773574352
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3485.30029296875,
                        "y": 4519.92529296875,
                        "z": 367.9283447265625
                    },
                    "rotation": {
                        "roll": -3.3350566752687882e-09,
                        "pitch": -0.08349905908107758,
                        "yaw": 98.30677032470703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.193166732788086,
                "transform": {
                    "location": {
                        "x": 3492.478271484375,
                        "y": 4492.6083984375,
                        "z": 367.98541259765625
                    },
                    "rotation": {
                        "roll": 0.0010551906889304519,
                        "pitch": 0.2022145688533783,
                        "yaw": -81.67977142333984
                    }
                },
                "velocity": {
                    "x": 1.3297208547592163,
                    "y": -9.096456527709961,
                    "z": 0.02519247867166996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.337401390075684,
                "transform": {
                    "location": {
                        "x": 3496.24951171875,
                        "y": 4466.7724609375,
                        "z": 368.0274658203125
                    },
                    "rotation": {
                        "roll": 0.00016712868819013238,
                        "pitch": 0.012185056693851948,
                        "yaw": -81.42814636230469
                    }
                },
                "velocity": {
                    "x": 1.065001130104065,
                    "y": -7.2596964836120605,
                    "z": 0.005817117635160685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.701572418212891,
                "transform": {
                    "location": {
                        "x": 3502.814697265625,
                        "y": 4421.814453125,
                        "z": 368.01409912109375
                    },
                    "rotation": {
                        "roll": 0.0003197851765435189,
                        "pitch": -0.0721677765250206,
                        "yaw": -81.73480224609375
                    }
                },
                "velocity": {
                    "x": 0.6786006689071655,
                    "y": -4.652337074279785,
                    "z": -0.006728315260261297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.720808029174805,
                "transform": {
                    "location": {
                        "x": 3505.27294921875,
                        "y": 4404.97802734375,
                        "z": 367.9859619140625
                    },
                    "rotation": {
                        "roll": 0.0004042026412207633,
                        "pitch": -0.12060747295618057,
                        "yaw": -81.67964935302734
                    }
                },
                "velocity": {
                    "x": 0.8278500437736511,
                    "y": -5.660583972930908,
                    "z": -0.009984455071389675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5758538842201233,
        "expert_target_speed": 7.7135787739853425,
        "target_point": [
            31.724047692449048,
            0.864625410224849
        ],
        "target_point_next": [
            31.724047692449048,
            0.864625410224849
        ]
    },
    "460": {
        "acceleration": [
            0.004557371139526367,
            0.45813560485839844,
            0.0038635265082120895
        ],
        "angular_velocity": [
            0.015102841891348362,
            -0.08621188253164291,
            0.17348796129226685
        ],
        "forward_vector": [
            0.13748255372047424,
            -0.9905042052268982,
            -0.0001784562919056043
        ],
        "right_vector": [
            0.9905042052268982,
            0.13748255372047424,
            -2.9753598937531933e-05
        ],
        "location": [
            3498.37744140625,
            4447.025390625,
            368.0364685058594
        ],
        "rotation": [
            0.0017047557048499584,
            -0.010224792174994946,
            -82.0978012084961
        ],
        "velocity": [
            0.9544705748558044,
            -6.853860855102539,
            0.00247611990198493
        ],
        "speed": 6.920001640127874,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.87594223022461,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3502.9990234375,
                4420.5498046875,
                368.0122985839844
            ],
            "velocity": [
                0.7551290988922119,
                -5.176359176635742,
                -0.009458951652050018
            ],
            "speed_kmh": 18.832165266978283,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.89240837097168,
                "transform": {
                    "location": {
                        "x": 3498.570556640625,
                        "y": 4428.82177734375,
                        "z": 368.0399475097656
                    },
                    "rotation": {
                        "roll": 0.009705807082355022,
                        "pitch": -0.001557283103466034,
                        "yaw": 98.48916625976562
                    }
                },
                "velocity": {
                    "x": -1.1603572368621826,
                    "y": 7.806631088256836,
                    "z": 0.013849562965333462
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083087921142578,
                "transform": {
                    "location": {
                        "x": 3490.850341796875,
                        "y": 4481.60107421875,
                        "z": 368.0119323730469
                    },
                    "rotation": {
                        "roll": -0.0004272444930393249,
                        "pitch": -0.11334015429019928,
                        "yaw": 98.307861328125
                    }
                },
                "velocity": {
                    "x": -1.1679308414459229,
                    "y": 7.99825382232666,
                    "z": -0.01356174424290657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3485.042724609375,
                        "y": 4521.9921875,
                        "z": 367.9234313964844
                    },
                    "rotation": {
                        "roll": -3.3350555650457636e-09,
                        "pitch": -0.06479117274284363,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.919692993164062,
                "transform": {
                    "location": {
                        "x": 3492.824951171875,
                        "y": 4490.23681640625,
                        "z": 367.9920959472656
                    },
                    "rotation": {
                        "roll": 0.0005024150013923645,
                        "pitch": 0.18475660681724548,
                        "yaw": -81.68702697753906
                    }
                },
                "velocity": {
                    "x": 1.4344145059585571,
                    "y": -9.81540584564209,
                    "z": 0.023714283481240273
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.217977046966553,
                "transform": {
                    "location": {
                        "x": 3496.4892578125,
                        "y": 4465.1416015625,
                        "z": 368.0285339355469
                    },
                    "rotation": {
                        "roll": -0.00015258790517691523,
                        "pitch": -0.0017416981281712651,
                        "yaw": -81.50917053222656
                    }
                },
                "velocity": {
                    "x": 0.9009681344032288,
                    "y": -6.1523566246032715,
                    "z": 0.0011642741737887263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.231156826019287,
                "transform": {
                    "location": {
                        "x": 3502.9990234375,
                        "y": 4420.5498046875,
                        "z": 368.0122985839844
                    },
                    "rotation": {
                        "roll": 7.274758536368608e-05,
                        "pitch": -0.07916188985109329,
                        "yaw": -81.71549224853516
                    }
                },
                "velocity": {
                    "x": 0.7551290988922119,
                    "y": -5.176359176635742,
                    "z": -0.009458951652050018
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.256185531616211,
                "transform": {
                    "location": {
                        "x": 3505.493408203125,
                        "y": 4403.47216796875,
                        "z": 367.98284912109375
                    },
                    "rotation": {
                        "roll": 0.00016629937454126775,
                        "pitch": -0.1070563793182373,
                        "yaw": -81.67970275878906
                    }
                },
                "velocity": {
                    "x": 0.9052962064743042,
                    "y": -6.190323352813721,
                    "z": -0.013992290012538433
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5988702178001404,
        "expert_target_speed": 7.662141742755579,
        "target_point": [
            29.987465977113494,
            0.8600261936141065
        ],
        "target_point_next": [
            29.987465977113494,
            0.8600261936141065
        ]
    },
    "465": {
        "acceleration": [
            0.756072998046875,
            -0.4002952575683594,
            -0.011818695813417435
        ],
        "angular_velocity": [
            -0.08839619904756546,
            -0.5233780741691589,
            4.044653415679932
        ],
        "forward_vector": [
            0.14720262587070465,
            -0.9891063570976257,
            0.00022840499877929688
        ],
        "right_vector": [
            0.9891042113304138,
            0.1472027748823166,
            0.0020282617770135403
        ],
        "location": [
            3498.631591796875,
            4445.31005859375,
            368.036865234375
        ],
        "rotation": [
            -0.11621091514825821,
            0.013086642138659954,
            -81.53514862060547
        ],
        "velocity": [
            1.097252607345581,
            -6.872716426849365,
            0.0017238903092220426
        ],
        "speed": 6.959755338243707,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.52651023864746,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3503.19873046875,
                4419.1796875,
                368.0096740722656
            ],
            "velocity": [
                0.8603581190109253,
                -5.894968032836914,
                -0.010040521621704102
            ],
            "speed_kmh": 21.44674582707043,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.13619327545166,
                "transform": {
                    "location": {
                        "x": 3498.2763671875,
                        "y": 4430.8046875,
                        "z": 368.04150390625
                    },
                    "rotation": {
                        "roll": 0.005552055314183235,
                        "pitch": 0.11990396678447723,
                        "yaw": 98.41790771484375
                    }
                },
                "velocity": {
                    "x": -1.1890274286270142,
                    "y": 8.048836708068848,
                    "z": 0.009144801646471024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050006866455078,
                "transform": {
                    "location": {
                        "x": 3490.55908203125,
                        "y": 4483.5966796875,
                        "z": 368.00799560546875
                    },
                    "rotation": {
                        "roll": 3.0208975658752024e-05,
                        "pitch": -0.11859256774187088,
                        "yaw": 98.30453491210938
                    }
                },
                "velocity": {
                    "x": -1.1617162227630615,
                    "y": 7.965721130371094,
                    "z": -0.017534617334604263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4522,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3484.7470703125,
                        "y": 4524.05517578125,
                        "z": 367.9205017089844
                    },
                    "rotation": {
                        "roll": -3.3350555650457636e-09,
                        "pitch": -0.06479117274284363,
                        "yaw": 98.30674743652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.598073959350586,
                "transform": {
                    "location": {
                        "x": 3493.1962890625,
                        "y": 4487.69482421875,
                        "z": 367.9983825683594
                    },
                    "rotation": {
                        "roll": 0.001179845305159688,
                        "pitch": 0.1397661566734314,
                        "yaw": -81.69889831542969
                    }
                },
                "velocity": {
                    "x": 1.5305415391921997,
                    "y": -10.486950874328613,
                    "z": 0.021795282140374184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.593962669372559,
                "transform": {
                    "location": {
                        "x": 3496.71923828125,
                        "y": 4463.57666015625,
                        "z": 368.02886962890625
                    },
                    "rotation": {
                        "roll": 0.00028631265740841627,
                        "pitch": 0.02346169762313366,
                        "yaw": -81.63207244873047
                    }
                },
                "velocity": {
                    "x": 0.9537623524665833,
                    "y": -6.52462100982666,
                    "z": 0.002034196862950921
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.9574294090271,
                "transform": {
                    "location": {
                        "x": 3503.19873046875,
                        "y": 4419.1796875,
                        "z": 368.0096740722656
                    },
                    "rotation": {
                        "roll": 0.0006937050493434072,
                        "pitch": -0.08102653175592422,
                        "yaw": -81.70716857910156
                    }
                },
                "velocity": {
                    "x": 0.8603581190109253,
                    "y": -5.894968032836914,
                    "z": -0.010040521621704102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.094309329986572,
                "transform": {
                    "location": {
                        "x": 3505.740966796875,
                        "y": 4401.779296875,
                        "z": 367.9792175292969
                    },
                    "rotation": {
                        "roll": 0.0006794647197239101,
                        "pitch": -0.09866207838058472,
                        "yaw": -81.68373107910156
                    }
                },
                "velocity": {
                    "x": 1.0260034799575806,
                    "y": -7.019711017608643,
                    "z": -0.014026250690221786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5713729858398438,
        "expert_target_speed": 7.699811940327938,
        "target_point": [
            28.260407903984895,
            0.5666368321776005
        ],
        "target_point_next": [
            28.260407903984895,
            0.5666368321776005
        ]
    },
    "470": {
        "acceleration": [
            0.026705265045166016,
            0.05419731140136719,
            0.000324819702655077
        ],
        "angular_velocity": [
            -0.0652162954211235,
            0.3186694085597992,
            2.5071067810058594
        ],
        "forward_vector": [
            0.16303668916225433,
            -0.9866198301315308,
            0.0005747078685089946
        ],
        "right_vector": [
            0.9866175651550293,
            0.16303756833076477,
            0.0021528969518840313
        ],
        "location": [
            3498.91650390625,
            4443.587890625,
            368.0372619628906
        ],
        "rotation": [
            -0.1233520358800888,
            0.03292834013700485,
            -80.6167984008789
        ],
        "velocity": [
            1.1839755773544312,
            -6.904910087585449,
            0.0018002032302320004
        ],
        "speed": 7.005682085665254,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.42554473876953,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3503.436279296875,
                4417.5517578125,
                368.0066223144531
            ],
            "velocity": [
                1.0262582302093506,
                -7.016150951385498,
                -0.011764917522668839
            ],
            "speed_kmh": 25.52694952968642,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109359741210938,
                "transform": {
                    "location": {
                        "x": 3497.97900390625,
                        "y": 4432.81884765625,
                        "z": 368.0439758300781
                    },
                    "rotation": {
                        "roll": 0.00041507763671688735,
                        "pitch": 0.06578154861927032,
                        "yaw": 98.39031982421875
                    }
                },
                "velocity": {
                    "x": -1.1838032007217407,
                    "y": 8.02248477935791,
                    "z": 0.00798442866653204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083148002624512,
                "transform": {
                    "location": {
                        "x": 3490.267333984375,
                        "y": 4485.59228515625,
                        "z": 368.0037841796875
                    },
                    "rotation": {
                        "roll": -3.052247120649554e-05,
                        "pitch": -0.11629762500524521,
                        "yaw": 98.3012924194336
                    }
                },
                "velocity": {
                    "x": -1.1670607328414917,
                    "y": 7.998434066772461,
                    "z": -0.017554720863699913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.442353248596191,
                "transform": {
                    "location": {
                        "x": 3493.58251953125,
                        "y": 4485.0498046875,
                        "z": 368.00390625
                    },
                    "rotation": {
                        "roll": 0.0005723562790080905,
                        "pitch": 0.11491792649030685,
                        "yaw": -81.70462036132812
                    }
                },
                "velocity": {
                    "x": 1.5072729587554932,
                    "y": -10.332977294921875,
                    "z": 0.021294813603162766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.617527961730957,
                "transform": {
                    "location": {
                        "x": 3496.976806640625,
                        "y": 4461.8193359375,
                        "z": 368.0292053222656
                    },
                    "rotation": {
                        "roll": 0.000648828106932342,
                        "pitch": 0.04550271853804588,
                        "yaw": -81.72300720214844
                    }
                },
                "velocity": {
                    "x": 1.0995919704437256,
                    "y": -7.537746429443359,
                    "z": 0.002145385602489114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.090819358825684,
                "transform": {
                    "location": {
                        "x": 3503.436279296875,
                        "y": 4417.5517578125,
                        "z": 368.0066223144531
                    },
                    "rotation": {
                        "roll": 9.430202044313774e-05,
                        "pitch": -0.06466823071241379,
                        "yaw": -81.65413665771484
                    }
                },
                "velocity": {
                    "x": 1.0262582302093506,
                    "y": -7.016150951385498,
                    "z": -0.011764917522668839
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.665430545806885,
                "transform": {
                    "location": {
                        "x": 3505.98876953125,
                        "y": 4400.08154296875,
                        "z": 367.9759826660156
                    },
                    "rotation": {
                        "roll": 0.00014166670734994113,
                        "pitch": -0.12238332629203796,
                        "yaw": -81.69072723388672
                    }
                },
                "velocity": {
                    "x": 0.9624369740486145,
                    "y": -6.59556770324707,
                    "z": -0.012918938882648945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4826120436191559,
        "expert_target_speed": 7.749427398499722,
        "target_point": [
            26.52028321854578,
            0.11328360484370048
        ],
        "target_point_next": [
            26.52028321854578,
            0.11328360484370048
        ]
    },
    "475": {
        "acceleration": [
            -0.07921218872070312,
            -0.7598686218261719,
            -0.0011066440492868423
        ],
        "angular_velocity": [
            -0.17782169580459595,
            0.26218876242637634,
            -1.144837737083435
        ],
        "forward_vector": [
            0.16368596255779266,
            -0.9865121245384216,
            0.0008468626183457673
        ],
        "right_vector": [
            0.9865124821662903,
            0.16368605196475983,
            3.4621127269929275e-05
        ],
        "location": [
            3499.205810546875,
            4441.84716796875,
            368.0376892089844
        ],
        "rotation": [
            -0.00198364513926208,
            0.04852166026830673,
            -80.57908630371094
        ],
        "velocity": [
            1.1442947387695312,
            -7.018862247467041,
            0.0019111346919089556
        ],
        "speed": 7.111528506453006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.553802490234375,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3503.710205078125,
                4415.67822265625,
                368.0033874511719
            ],
            "velocity": [
                1.1301400661468506,
                -7.727106094360352,
                -0.013841371051967144
            ],
            "speed_kmh": 28.113574561593623,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04853343963623,
                "transform": {
                    "location": {
                        "x": 3497.685546875,
                        "y": 4434.814453125,
                        "z": 368.0457763671875
                    },
                    "rotation": {
                        "roll": 0.003327700076624751,
                        "pitch": 0.011290302500128746,
                        "yaw": 98.36248779296875
                    }
                },
                "velocity": {
                    "x": -1.169090986251831,
                    "y": 7.963170528411865,
                    "z": 0.0058493707329034805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05073070526123,
                "transform": {
                    "location": {
                        "x": 3489.97607421875,
                        "y": 4487.58740234375,
                        "z": 367.99957275390625
                    },
                    "rotation": {
                        "roll": -9.155407315120101e-05,
                        "pitch": -0.11871550977230072,
                        "yaw": 98.301025390625
                    }
                },
                "velocity": {
                    "x": -1.1623057126998901,
                    "y": 7.966363906860352,
                    "z": -0.01867688074707985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.415412902832031,
                "transform": {
                    "location": {
                        "x": 3493.939208984375,
                        "y": 4482.6015625,
                        "z": 368.0091857910156
                    },
                    "rotation": {
                        "roll": 0.0004063200030941516,
                        "pitch": 0.08534321188926697,
                        "yaw": -81.70226287841797
                    }
                },
                "velocity": {
                    "x": 1.3590190410614014,
                    "y": -9.316792488098145,
                    "z": 0.021083058789372444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.746016502380371,
                "transform": {
                    "location": {
                        "x": 3497.265869140625,
                        "y": 4459.8388671875,
                        "z": 368.0296325683594
                    },
                    "rotation": {
                        "roll": 0.00012561817129608244,
                        "pitch": 0.058083925396203995,
                        "yaw": -81.7779769897461
                    }
                },
                "velocity": {
                    "x": 1.259684681892395,
                    "y": -8.654824256896973,
                    "z": 0.00206304551102221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.809326171875,
                "transform": {
                    "location": {
                        "x": 3503.710205078125,
                        "y": 4415.67822265625,
                        "z": 368.0033874511719
                    },
                    "rotation": {
                        "roll": 0.001108002383261919,
                        "pitch": -0.07645030319690704,
                        "yaw": -81.66014099121094
                    }
                },
                "velocity": {
                    "x": 1.1301400661468506,
                    "y": -7.727106094360352,
                    "z": -0.013841371051967144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.996339797973633,
                "transform": {
                    "location": {
                        "x": 3506.216796875,
                        "y": 4398.51806640625,
                        "z": 367.9728088378906
                    },
                    "rotation": {
                        "roll": 0.0005840359954163432,
                        "pitch": -0.1299443393945694,
                        "yaw": -81.69835662841797
                    }
                },
                "velocity": {
                    "x": 0.8654605746269226,
                    "y": -5.933539390563965,
                    "z": -0.013407583348453045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48698022961616516,
        "expert_target_speed": 7.843618052171356,
        "target_point": [
            24.75575191373912,
            0.09536419166434973
        ],
        "target_point_next": [
            24.75575191373912,
            0.09536419166434973
        ]
    },
    "480": {
        "acceleration": [
            -0.1392674446105957,
            -0.03546714782714844,
            -0.005192947573959827
        ],
        "angular_velocity": [
            0.01298108696937561,
            0.16250795125961304,
            -1.2724275588989258
        ],
        "forward_vector": [
            0.1582903265953064,
            -0.9873921275138855,
            0.0009608266409486532
        ],
        "right_vector": [
            0.9873924851417542,
            0.15828973054885864,
            -0.0006603371584787965
        ],
        "location": [
            3499.4892578125,
            4440.08203125,
            368.0382080078125
        ],
        "rotation": [
            0.03783455118536949,
            0.055051323026418686,
            -80.89231872558594
        ],
        "velocity": [
            1.1159430742263794,
            -7.096262454986572,
            0.001922511961311102
        ],
        "speed": 7.183471986091814,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.854883193969727,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3504.012451171875,
                4413.61083984375,
                367.9997863769531
            ],
            "velocity": [
                1.191662311553955,
                -8.152864456176758,
                -0.013943938538432121
            ],
            "speed_kmh": 29.66222011774095,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052603721618652,
                "transform": {
                    "location": {
                        "x": 3497.3935546875,
                        "y": 4436.80419921875,
                        "z": 368.0467834472656
                    },
                    "rotation": {
                        "roll": 0.00205869204364717,
                        "pitch": 0.032368265092372894,
                        "yaw": 98.3391342163086
                    }
                },
                "velocity": {
                    "x": -1.1672000885009766,
                    "y": 7.967562675476074,
                    "z": 0.0020154190715402365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082610130310059,
                "transform": {
                    "location": {
                        "x": 3489.684814453125,
                        "y": 4489.58251953125,
                        "z": 367.9947814941406
                    },
                    "rotation": {
                        "roll": 0.00025162394740618765,
                        "pitch": -0.14990215003490448,
                        "yaw": 98.3012466430664
                    }
                },
                "velocity": {
                    "x": -1.1669305562973022,
                    "y": 7.997899055480957,
                    "z": -0.021618131548166275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.763551235198975,
                "transform": {
                    "location": {
                        "x": 3494.24560546875,
                        "y": 4480.50439453125,
                        "z": 368.0131530761719
                    },
                    "rotation": {
                        "roll": -0.0007019037730060518,
                        "pitch": 0.03908234089612961,
                        "yaw": -81.71161651611328
                    }
                },
                "velocity": {
                    "x": 1.120866298675537,
                    "y": -7.68220329284668,
                    "z": 0.01184252742677927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.228702545166016,
                "transform": {
                    "location": {
                        "x": 3497.575439453125,
                        "y": 4457.7109375,
                        "z": 368.0306091308594
                    },
                    "rotation": {
                        "roll": 0.0006291681784205139,
                        "pitch": 0.013072981499135494,
                        "yaw": -81.79147338867188
                    }
                },
                "velocity": {
                    "x": 1.1841341257095337,
                    "y": -8.14305591583252,
                    "z": 0.0021643638610839844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.239505767822266,
                "transform": {
                    "location": {
                        "x": 3504.012451171875,
                        "y": 4413.61083984375,
                        "z": 367.9997863769531
                    },
                    "rotation": {
                        "roll": 0.0005164769827388227,
                        "pitch": -0.08859437704086304,
                        "yaw": -81.67321014404297
                    }
                },
                "velocity": {
                    "x": 1.191662311553955,
                    "y": -8.152864456176758,
                    "z": -0.013943938538432121
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.758858680725098,
                "transform": {
                    "location": {
                        "x": 3506.424560546875,
                        "y": 4397.09423828125,
                        "z": 367.9694519042969
                    },
                    "rotation": {
                        "roll": -0.00015259247447829694,
                        "pitch": -0.1398344486951828,
                        "yaw": -81.69890594482422
                    }
                },
                "velocity": {
                    "x": 0.8322106599807739,
                    "y": -5.698392391204834,
                    "z": -0.014282073825597763
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4533448815345764,
        "expert_target_speed": 7.9079389453183495,
        "target_point": [
            22.967110693319583,
            0.23023148052518305
        ],
        "target_point_next": [
            22.967110693319583,
            0.23023148052518305
        ]
    },
    "485": {
        "acceleration": [
            0.07940053939819336,
            -0.5768489837646484,
            -0.009658620692789555
        ],
        "angular_velocity": [
            0.13549458980560303,
            -0.04809875041246414,
            -0.9022386074066162
        ],
        "forward_vector": [
            0.1529800295829773,
            -0.9882290363311768,
            0.0007025002269074321
        ],
        "right_vector": [
            0.9882290363311768,
            0.15297947824001312,
            -0.000767651479691267
        ],
        "location": [
            3499.76611328125,
            4438.29443359375,
            368.0383605957031
        ],
        "rotation": [
            0.043983202427625656,
            0.040250301361083984,
            -81.20033264160156
        ],
        "velocity": [
            1.099211573600769,
            -7.195780277252197,
            -0.002133026020601392
        ],
        "speed": 7.279252700794882,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.976594924926758,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3504.291748046875,
                4411.7001953125,
                367.996826171875
            ],
            "velocity": [
                1.043044090270996,
                -7.13298225402832,
                -0.01356801949441433
            ],
            "speed_kmh": 25.951870631725953,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.108380317687988,
                "transform": {
                    "location": {
                        "x": 3497.1005859375,
                        "y": 4438.80419921875,
                        "z": 368.0470275878906
                    },
                    "rotation": {
                        "roll": 0.0008538601105101407,
                        "pitch": 0.004350830335170031,
                        "yaw": 98.33020782470703
                    }
                },
                "velocity": {
                    "x": -1.1739400625228882,
                    "y": 8.022948265075684,
                    "z": -0.00029879569774493575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05040454864502,
                "transform": {
                    "location": {
                        "x": 3489.3935546875,
                        "y": 4491.578125,
                        "z": 367.98944091796875
                    },
                    "rotation": {
                        "roll": 0.00034668680746108294,
                        "pitch": -0.15975812077522278,
                        "yaw": 98.29773712158203
                    }
                },
                "velocity": {
                    "x": -1.1617662906646729,
                    "y": 7.966105937957764,
                    "z": -0.021832512691617012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990530014038086,
                "transform": {
                    "location": {
                        "x": 3494.5263671875,
                        "y": 4478.57861328125,
                        "z": 368.01568603515625
                    },
                    "rotation": {
                        "roll": 0.0003824408049695194,
                        "pitch": 0.06727735698223114,
                        "yaw": -81.71055603027344
                    }
                },
                "velocity": {
                    "x": 1.1537014245986938,
                    "y": -7.906797885894775,
                    "z": 0.009448852390050888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.388524055480957,
                "transform": {
                    "location": {
                        "x": 3497.85546875,
                        "y": 4455.78076171875,
                        "z": 368.0313720703125
                    },
                    "rotation": {
                        "roll": 0.0007364014163613319,
                        "pitch": -0.011201509274542332,
                        "yaw": -81.72309875488281
                    }
                },
                "velocity": {
                    "x": 1.0650120973587036,
                    "y": -7.311363220214844,
                    "z": 0.001762981410138309
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.208852767944336,
                "transform": {
                    "location": {
                        "x": 3504.291748046875,
                        "y": 4411.7001953125,
                        "z": 367.996826171875
                    },
                    "rotation": {
                        "roll": 0.0010237639071419835,
                        "pitch": -0.12866710126399994,
                        "yaw": -81.68122863769531
                    }
                },
                "velocity": {
                    "x": 1.043044090270996,
                    "y": -7.13298225402832,
                    "z": -0.01356801949441433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6761474609375,
                "transform": {
                    "location": {
                        "x": 3506.646728515625,
                        "y": 4395.5712890625,
                        "z": 367.9656982421875
                    },
                    "rotation": {
                        "roll": 6.216554902493954e-05,
                        "pitch": -0.13046343624591827,
                        "yaw": -81.70049285888672
                    }
                },
                "velocity": {
                    "x": 0.9644250273704529,
                    "y": -6.606103420257568,
                    "z": -0.0151740163564682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.462938517332077,
        "expert_target_speed": 7.973496328618337,
        "target_point": [
            21.15663144124615,
            0.3535643297904407
        ],
        "target_point_next": [
            21.15663144124615,
            0.3535643297904407
        ]
    },
    "490": {
        "acceleration": [
            0.05784034729003906,
            -0.00522613525390625,
            0.0005920417606830597
        ],
        "angular_velocity": [
            0.2219405174255371,
            -0.07715637236833572,
            0.40984615683555603
        ],
        "forward_vector": [
            0.153067946434021,
            -0.9882156848907471,
            -0.00019228456949349493
        ],
        "right_vector": [
            0.9882156848907471,
            0.153067946434021,
            1.59789760800777e-05
        ],
        "location": [
            3500.044921875,
            4436.4931640625,
            368.0378723144531
        ],
        "rotation": [
            -0.0009155279258266091,
            -0.011017094366252422,
            -81.19524383544922
        ],
        "velocity": [
            1.1265712976455688,
            -7.227118968963623,
            -0.002051124582067132
        ],
        "speed": 7.31439754731944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.865018844604492,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3504.53955078125,
                4410.0068359375,
                367.9937744140625
            ],
            "velocity": [
                0.9146183729171753,
                -6.255140781402588,
                -0.012856511399149895
            ],
            "speed_kmh": 22.75800250814094,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053812026977539,
                "transform": {
                    "location": {
                        "x": 3496.80810546875,
                        "y": 4440.80322265625,
                        "z": 368.0467224121094
                    },
                    "rotation": {
                        "roll": 0.0013353796675801277,
                        "pitch": -0.029444944113492966,
                        "yaw": 98.32525634765625
                    }
                },
                "velocity": {
                    "x": -1.1650803089141846,
                    "y": 7.969094753265381,
                    "z": -0.002079553669318557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083149909973145,
                "transform": {
                    "location": {
                        "x": 3489.1025390625,
                        "y": 4493.57373046875,
                        "z": 367.9838562011719
                    },
                    "rotation": {
                        "roll": 0.00016310471983160824,
                        "pitch": -0.1570192128419876,
                        "yaw": 98.30261993408203
                    }
                },
                "velocity": {
                    "x": -1.1673786640167236,
                    "y": 7.998378753662109,
                    "z": -0.02167527563869953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.573657035827637,
                "transform": {
                    "location": {
                        "x": 3494.829345703125,
                        "y": 4476.50390625,
                        "z": 368.0181579589844
                    },
                    "rotation": {
                        "roll": -0.00024413956271018833,
                        "pitch": 0.09472788870334625,
                        "yaw": -81.73237609863281
                    }
                },
                "velocity": {
                    "x": 1.2367219924926758,
                    "y": -8.48398494720459,
                    "z": 0.010886573232710361
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.977933883666992,
                "transform": {
                    "location": {
                        "x": 3498.0986328125,
                        "y": 4454.1162109375,
                        "z": 368.0320129394531
                    },
                    "rotation": {
                        "roll": 0.0009278786019422114,
                        "pitch": -0.030401170253753662,
                        "yaw": -81.74595642089844
                    }
                },
                "velocity": {
                    "x": 0.8615823984146118,
                    "y": -5.9155192375183105,
                    "z": 0.001855497364886105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.321667194366455,
                "transform": {
                    "location": {
                        "x": 3504.53955078125,
                        "y": 4410.0068359375,
                        "z": 367.9937744140625
                    },
                    "rotation": {
                        "roll": 0.0012206791434437037,
                        "pitch": -0.12685710191726685,
                        "yaw": -81.68143463134766
                    }
                },
                "velocity": {
                    "x": 0.9146183729171753,
                    "y": -6.255140781402588,
                    "z": -0.012856511399149895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.586062908172607,
                "transform": {
                    "location": {
                        "x": 3506.90576171875,
                        "y": 4393.796875,
                        "z": 367.96112060546875
                    },
                    "rotation": {
                        "roll": 0.00017435035260859877,
                        "pitch": -0.12869441509246826,
                        "yaw": -81.68983459472656
                    }
                },
                "velocity": {
                    "x": 1.0963836908340454,
                    "y": -7.5063934326171875,
                    "z": -0.01863325946033001
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42519932985305786,
        "expert_target_speed": 7.989684202156628,
        "target_point": [
            19.333943464915333,
            0.3518705938610327
        ],
        "target_point_next": [
            19.333943464915333,
            0.3518705938610327
        ]
    },
    "495": {
        "acceleration": [
            0.3322315216064453,
            -1.4151954650878906,
            -0.008896831423044205
        ],
        "angular_velocity": [
            -0.28331539034843445,
            -0.10394567996263504,
            0.7048912048339844
        ],
        "forward_vector": [
            0.15558703243732452,
            -0.9878221154212952,
            0.00034570691059343517
        ],
        "right_vector": [
            0.9878221154212952,
            0.15558716654777527,
            0.0003888215287588537
        ],
        "location": [
            3500.3330078125,
            4434.6611328125,
            368.0365295410156
        ],
        "rotation": [
            -0.02227783389389515,
            0.019807547330856323,
            -81.04915618896484
        ],
        "velocity": [
            1.1854947805404663,
            -7.449378967285156,
            -0.006473856046795845
        ],
        "speed": 7.543119041412455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.462018966674805,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3504.74951171875,
                4408.5703125,
                367.99114990234375
            ],
            "velocity": [
                0.8096750378608704,
                -5.547995090484619,
                -0.010150632821023464
            ],
            "speed_kmh": 20.184390104562176,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082575798034668,
                "transform": {
                    "location": {
                        "x": 3496.5166015625,
                        "y": 4442.79833984375,
                        "z": 368.04595947265625
                    },
                    "rotation": {
                        "roll": 0.0013250467600300908,
                        "pitch": -0.019896339625120163,
                        "yaw": 98.31880950927734
                    }
                },
                "velocity": {
                    "x": -1.16946542263031,
                    "y": 7.997522354125977,
                    "z": -0.0019975851755589247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049930572509766,
                "transform": {
                    "location": {
                        "x": 3488.810791015625,
                        "y": 4495.5693359375,
                        "z": 367.9783630371094
                    },
                    "rotation": {
                        "roll": -0.00021361763356253505,
                        "pitch": -0.15673917531967163,
                        "yaw": 98.30400848388672
                    }
                },
                "velocity": {
                    "x": -1.1625728607177734,
                    "y": 7.965508937835693,
                    "z": -0.021728992462158203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.133851051330566,
                "transform": {
                    "location": {
                        "x": 3495.169921875,
                        "y": 4474.16845703125,
                        "z": 368.02093505859375
                    },
                    "rotation": {
                        "roll": -0.0013732912484556437,
                        "pitch": 0.12270434200763702,
                        "yaw": -81.73988342285156
                    }
                },
                "velocity": {
                    "x": 1.4622654914855957,
                    "y": -10.027788162231445,
                    "z": 0.013508567586541176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.825006008148193,
                "transform": {
                    "location": {
                        "x": 3498.307373046875,
                        "y": 4452.6806640625,
                        "z": 368.0321350097656
                    },
                    "rotation": {
                        "roll": 0.0002705451915971935,
                        "pitch": 0.001372867962345481,
                        "yaw": -81.70933532714844
                    }
                },
                "velocity": {
                    "x": 0.8408408761024475,
                    "y": -5.763998508453369,
                    "z": 0.0017198085552081466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.606774806976318,
                "transform": {
                    "location": {
                        "x": 3504.74951171875,
                        "y": 4408.5703125,
                        "z": 367.99114990234375
                    },
                    "rotation": {
                        "roll": 0.00012668565614148974,
                        "pitch": -0.12914520502090454,
                        "yaw": -81.68400573730469
                    }
                },
                "velocity": {
                    "x": 0.8096750378608704,
                    "y": -5.547995090484619,
                    "z": -0.010150632821023464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.304051876068115,
                "transform": {
                    "location": {
                        "x": 3507.181396484375,
                        "y": 4391.9091796875,
                        "z": 367.9563903808594
                    },
                    "rotation": {
                        "roll": 0.00025331144570373,
                        "pitch": -0.1465143859386444,
                        "yaw": -81.69169616699219
                    }
                },
                "velocity": {
                    "x": 1.0555132627487183,
                    "y": -7.227360248565674,
                    "z": -0.01801457814872265
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39529743790626526,
        "expert_target_speed": 8.154052562619063,
        "target_point": [
            17.480234150647934,
            0.3030408398026725
        ],
        "target_point_next": [
            17.480234150647934,
            0.3030408398026725
        ]
    },
    "500": {
        "acceleration": [
            0.31908273696899414,
            -1.3962173461914062,
            -0.018912693485617638
        ],
        "angular_velocity": [
            -0.2109833061695099,
            -0.06533344835042953,
            0.7372422814369202
        ],
        "forward_vector": [
            0.15871267020702362,
            -0.9873237013816833,
            0.0014702074695378542
        ],
        "right_vector": [
            0.9873244762420654,
            0.15871362388134003,
            0.0005597957060672343
        ],
        "location": [
            3500.638916015625,
            4432.75537109375,
            368.03472900390625
        ],
        "rotation": [
            -0.0320739671587944,
            0.08423671871423721,
            -80.86780548095703
        ],
        "velocity": [
            1.26628839969635,
            -7.800949573516846,
            -0.00661854725331068
        ],
        "speed": 7.903056406211347,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.971519470214844,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3504.957763671875,
                4407.1455078125,
                367.9881286621094
            ],
            "velocity": [
                0.875511884689331,
                -5.995906829833984,
                -0.010419740341603756
            ],
            "speed_kmh": 21.81419646305567,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063496589660645,
                "transform": {
                    "location": {
                        "x": 3496.224609375,
                        "y": 4444.79541015625,
                        "z": 368.04534912109375
                    },
                    "rotation": {
                        "roll": 0.0013287910260260105,
                        "pitch": -0.011262981221079826,
                        "yaw": 98.31465911865234
                    }
                },
                "velocity": {
                    "x": -1.165230393409729,
                    "y": 7.978859901428223,
                    "z": -0.002128810854628682
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084336280822754,
                "transform": {
                    "location": {
                        "x": 3488.519287109375,
                        "y": 4497.5654296875,
                        "z": 367.9728088378906
                    },
                    "rotation": {
                        "roll": 1.961018597285147e-06,
                        "pitch": -0.1574700027704239,
                        "yaw": 98.303955078125
                    }
                },
                "velocity": {
                    "x": -1.1675796508789062,
                    "y": 7.999549865722656,
                    "z": -0.021202167496085167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.777783393859863,
                "transform": {
                    "location": {
                        "x": 3495.534912109375,
                        "y": 4471.66552734375,
                        "z": 368.0240173339844
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": 0.04448502138257027,
                        "yaw": -81.7229232788086
                    }
                },
                "velocity": {
                    "x": 1.4116566181182861,
                    "y": -9.675338745117188,
                    "z": 0.00900923740118742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.641477584838867,
                "transform": {
                    "location": {
                        "x": 3498.53076171875,
                        "y": 4451.14794921875,
                        "z": 368.0322570800781
                    },
                    "rotation": {
                        "roll": 0.0001582950062584132,
                        "pitch": 0.03765483200550079,
                        "yaw": -81.71940612792969
                    }
                },
                "velocity": {
                    "x": 0.958332359790802,
                    "y": -6.571972370147705,
                    "z": 0.002200641669332981
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.0594987869262695,
                "transform": {
                    "location": {
                        "x": 3504.957763671875,
                        "y": 4407.1455078125,
                        "z": 367.9881286621094
                    },
                    "rotation": {
                        "roll": 0.00037704833084717393,
                        "pitch": -0.09890113025903702,
                        "yaw": -81.6930160522461
                    }
                },
                "velocity": {
                    "x": 0.875511884689331,
                    "y": -5.995906829833984,
                    "z": -0.010419740341603756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.124923229217529,
                "transform": {
                    "location": {
                        "x": 3507.438720703125,
                        "y": 4390.14892578125,
                        "z": 367.9519348144531
                    },
                    "rotation": {
                        "roll": 0.00012390431948006153,
                        "pitch": -0.1514321118593216,
                        "yaw": -81.69596099853516
                    }
                },
                "velocity": {
                    "x": 1.0288496017456055,
                    "y": -7.050225734710693,
                    "z": -0.017795495688915253
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3530026078224182,
        "expert_target_speed": 8.427514022598617,
        "target_point": [
            15.550948414241297,
            0.248149535303527
        ],
        "target_point_next": [
            15.550948414241297,
            0.248149535303527
        ]
    },
    "505": {
        "acceleration": [
            0.5153870582580566,
            -2.3800086975097656,
            -0.010939985513687134
        ],
        "angular_velocity": [
            -0.07682035863399506,
            -0.06408613175153732,
            0.7872216105461121
        ],
        "forward_vector": [
            0.162006214261055,
            -0.9867876172065735,
            0.002041576663032174
        ],
        "right_vector": [
            0.9867892265319824,
            0.1620078682899475,
            0.0006727128638885915
        ],
        "location": [
            3500.96875,
            4430.7421875,
            368.0322265625
        ],
        "rotation": [
            -0.038543689996004105,
            0.11697380989789963,
            -80.67662048339844
        ],
        "velocity": [
            1.3759936094284058,
            -8.302139282226562,
            -0.010535554960370064
        ],
        "speed": 8.415395122908798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.596485137939453,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3505.197998046875,
                4405.49755859375,
                367.98480224609375
            ],
            "velocity": [
                1.0431722402572632,
                -7.150230407714844,
                -0.014409808441996574
            ],
            "speed_kmh": 26.013384489544443,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09007453918457,
                "transform": {
                    "location": {
                        "x": 3495.93310546875,
                        "y": 4446.7939453125,
                        "z": 368.0447998046875
                    },
                    "rotation": {
                        "roll": 0.0009451912483200431,
                        "pitch": -0.014070188626646996,
                        "yaw": 98.30738067626953
                    }
                },
                "velocity": {
                    "x": -1.1687252521514893,
                    "y": 8.005208969116211,
                    "z": -0.002041463740170002
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049242973327637,
                "transform": {
                    "location": {
                        "x": 3488.22802734375,
                        "y": 4499.560546875,
                        "z": 367.9672546386719
                    },
                    "rotation": {
                        "roll": -0.00024414017389062792,
                        "pitch": -0.15915022790431976,
                        "yaw": 98.30081939697266
                    }
                },
                "velocity": {
                    "x": -1.1620184183120728,
                    "y": 7.9648966789245605,
                    "z": -0.021113939583301544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.827836036682129,
                "transform": {
                    "location": {
                        "x": 3495.8681640625,
                        "y": 4469.38037109375,
                        "z": 368.0259704589844
                    },
                    "rotation": {
                        "roll": 0.0006097849691286683,
                        "pitch": 0.0025408302899450064,
                        "yaw": -81.67363739013672
                    }
                },
                "velocity": {
                    "x": 1.276449203491211,
                    "y": -8.735063552856445,
                    "z": 0.005511760711669922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.57138729095459,
                "transform": {
                    "location": {
                        "x": 3498.790771484375,
                        "y": 4449.36572265625,
                        "z": 368.03265380859375
                    },
                    "rotation": {
                        "roll": 0.0005815767799504101,
                        "pitch": 0.04954618960618973,
                        "yaw": -81.68400573730469
                    }
                },
                "velocity": {
                    "x": 1.0932464599609375,
                    "y": -7.492043495178223,
                    "z": 0.0018349933670833707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.225939750671387,
                "transform": {
                    "location": {
                        "x": 3505.197998046875,
                        "y": 4405.49755859375,
                        "z": 367.98480224609375
                    },
                    "rotation": {
                        "roll": 0.0005881972028873861,
                        "pitch": -0.08221498131752014,
                        "yaw": -81.67829132080078
                    }
                },
                "velocity": {
                    "x": 1.0431722402572632,
                    "y": -7.150230407714844,
                    "z": -0.014409808441996574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.3956756591796875,
                "transform": {
                    "location": {
                        "x": 3507.69970703125,
                        "y": 4388.35888671875,
                        "z": 367.9471740722656
                    },
                    "rotation": {
                        "roll": 0.0005091374623589218,
                        "pitch": -0.14221136271953583,
                        "yaw": -81.70003509521484
                    }
                },
                "velocity": {
                    "x": 1.0675852298736572,
                    "y": -7.31818962097168,
                    "z": -0.01941712386906147
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.283553808927536,
        "expert_target_speed": 8.814430014671641,
        "target_point": [
            13.511665778367849,
            0.19693057291742155
        ],
        "target_point_next": [
            13.511665778367849,
            0.19693057291742155
        ]
    },
    "510": {
        "acceleration": [
            0.4591989517211914,
            -2.025165557861328,
            -0.02922685816884041
        ],
        "angular_velocity": [
            -0.0906822457909584,
            -0.01120034884661436,
            0.8301064372062683
        ],
        "forward_vector": [
            0.16548557579517365,
            -0.9862096905708313,
            0.002226231386885047
        ],
        "right_vector": [
            0.9862115383148193,
            0.16548767685890198,
            0.0007850978290662169
        ],
        "location": [
            3501.32763671875,
            4428.595703125,
            368.0290222167969
        ],
        "rotation": [
            -0.04498291015625,
            0.1275537759065628,
            -80.47453308105469
        ],
        "velocity": [
            1.497913122177124,
            -8.852767944335938,
            -0.015445422381162643
        ],
        "speed": 8.97859922247632,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.325042724609375,
        "front_vehicle_info": {
            "id": 4514,
            "type": "vehicle.chevrolet.impala",
            "location": [
                3505.47314453125,
                4403.6123046875,
                367.98095703125
            ],
            "velocity": [
                1.1698832511901855,
                -8.006141662597656,
                -0.015086631290614605
            ],
            "speed_kmh": 29.128240204185957,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 4524,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056893348693848,
                "transform": {
                    "location": {
                        "x": 3495.6416015625,
                        "y": 4448.791015625,
                        "z": 368.0442810058594
                    },
                    "rotation": {
                        "roll": 0.0002477969683241099,
                        "pitch": -0.017150603234767914,
                        "yaw": 98.30519104003906
                    }
                },
                "velocity": {
                    "x": -1.1638274192810059,
                    "y": 7.972391605377197,
                    "z": -0.002042694017291069
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4523,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3488.022216796875,
                        "y": 4501.61962890625,
                        "z": 367.9658203125
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": -0.15829645097255707,
                        "yaw": 98.30675506591797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4520,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.34545373916626,
                "transform": {
                    "location": {
                        "x": 3496.150146484375,
                        "y": 4467.46484375,
                        "z": 368.0271911621094
                    },
                    "rotation": {
                        "roll": 0.00102609908208251,
                        "pitch": -0.007233169861137867,
                        "yaw": -81.96920776367188
                    }
                },
                "velocity": {
                    "x": 1.0593454837799072,
                    "y": -7.268662452697754,
                    "z": 0.005237703211605549
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4515,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.960311889648438,
                "transform": {
                    "location": {
                        "x": 3499.0869140625,
                        "y": 4447.337890625,
                        "z": 368.0331115722656
                    },
                    "rotation": {
                        "roll": 0.0005285362130962312,
                        "pitch": 0.06209324672818184,
                        "yaw": -81.6389389038086
                    }
                },
                "velocity": {
                    "x": 1.296929121017456,
                    "y": -8.865955352783203,
                    "z": 0.0022789572831243277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4514,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.091177940368652,
                "transform": {
                    "location": {
                        "x": 3505.47314453125,
                        "y": 4403.6123046875,
                        "z": 367.98095703125
                    },
                    "rotation": {
                        "roll": 0.00012740252714138478,
                        "pitch": -0.09029509872198105,
                        "yaw": -81.68523406982422
                    }
                },
                "velocity": {
                    "x": 1.1698832511901855,
                    "y": -8.006141662597656,
                    "z": -0.015086631290614605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4513,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.523172855377197,
                "transform": {
                    "location": {
                        "x": 3507.970458984375,
                        "y": 4386.501953125,
                        "z": 367.94195556640625
                    },
                    "rotation": {
                        "roll": 0.00030366453574970365,
                        "pitch": -0.16656097769737244,
                        "yaw": -81.70076751708984
                    }
                },
                "velocity": {
                    "x": 1.0859376192092896,
                    "y": -7.444354057312012,
                    "z": -0.02161313034594059
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23785246908664703,
        "expert_target_speed": 9.21556860074084,
        "target_point": [
            11.335996668345196,
            0.150544723619632
        ],
        "target_point_next": [
            11.335996668345196,
            0.150544723619632
        ]
    }
}