{
    "0": {
        "acceleration": [
            -0.005202868487685919,
            0.012933993712067604,
            -0.6230545043945312
        ],
        "angular_velocity": [
            -0.00526195764541626,
            -0.060873135924339294,
            -0.0011919662356376648
        ],
        "forward_vector": [
            -0.0933532789349556,
            0.9954130053520203,
            0.02093341015279293
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337820112705231,
            0.00021407008171081543
        ],
        "location": [
            973.8739624023438,
            3291.0732421875,
            368.61944580078125
        ],
        "rotation": [
            -0.012268000282347202,
            1.1994836330413818,
            95.35772705078125
        ],
        "velocity": [
            -0.00018715483020059764,
            -0.0029399495106190443,
            0.1422610580921173
        ],
        "speed": 0.002945900550842912,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 104.95640563964844,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3087158203125,
                3394.70361328125,
                370.0978698730469
            ],
            "velocity": [
                0.01739424467086792,
                0.0006445407052524388,
                0.24876396358013153
            ],
            "speed_kmh": 0.8977398523203041,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.31133830547332764,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.5966796875,
                        "z": 370.1761779785156
                    },
                    "rotation": {
                        "roll": 1.4965370893478394,
                        "pitch": 1.2346385717391968,
                        "yaw": 99.15874481201172
                    }
                },
                "velocity": {
                    "x": -0.002054150216281414,
                    "y": -0.004629478789865971,
                    "z": 0.31129711866378784
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.2493721842765808,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.70361328125,
                        "z": 370.0978698730469
                    },
                    "rotation": {
                        "roll": 0.9311417937278748,
                        "pitch": 0.17821328341960907,
                        "yaw": 99.13648223876953
                    }
                },
                "velocity": {
                    "x": 0.01739424467086792,
                    "y": 0.0006445407052524388,
                    "z": 0.24876396358013153
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08723387867212296,
        "expert_target_speed": 1.3414946328950883,
        "target_point": [
            51.607392304757404,
            2.406470025820968
        ],
        "target_point_next": [
            102.49611066517797,
            5.77297233549373
        ]
    },
    "5": {
        "acceleration": [
            9.488023351877928e-05,
            0.004096967168152332,
            -0.2516530454158783
        ],
        "angular_velocity": [
            0.002418479649350047,
            -0.0036217193119227886,
            3.268341606599279e-05
        ],
        "forward_vector": [
            -0.09335346519947052,
            0.9954136610031128,
            0.020899085327982903
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337637573480606,
            0.0001208800749736838
        ],
        "location": [
            973.8739624023438,
            3291.072998046875,
            368.64019775390625
        ],
        "rotation": [
            -0.006927431095391512,
            1.1975165605545044,
            95.35773468017578
        ],
        "velocity": [
            6.67555068503134e-05,
            -0.0009137168526649475,
            0.04254724830389023
        ],
        "speed": 0.000916152162328278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.823762893676758,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9346923828125
            ],
            "velocity": [
                -0.0010160461533814669,
                0.008287428878247738,
                -0.4560264050960541
            ],
            "speed_kmh": 1.6419702055145478,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.9348754882812,
                        "y": 3370.810791015625,
                        "z": 369.9275207519531
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.726318359375,
                        "y": 3370.294189453125,
                        "z": 369.927490234375
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45610281825065613,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9346923828125
                    },
                    "rotation": {
                        "roll": -0.0031738413963466883,
                        "pitch": 1.0420750379562378,
                        "yaw": 97.19969177246094
                    }
                },
                "velocity": {
                    "x": -0.0010160461533814669,
                    "y": 0.008287428878247738,
                    "z": -0.4560264050960541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.434943288564682,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498291015625,
                        "z": 369.20050048828125
                    },
                    "rotation": {
                        "roll": -6.099958045524545e-05,
                        "pitch": 0.9354695081710815,
                        "yaw": 99.04505920410156
                    }
                },
                "velocity": {
                    "x": -0.0011708709644153714,
                    "y": 0.006559568922966719,
                    "z": -0.4348922371864319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3635392189025879,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.520751953125,
                        "z": 367.989013671875
                    },
                    "rotation": {
                        "roll": -0.0006103418418206275,
                        "pitch": 1.3141692876815796,
                        "yaw": 91.66436767578125
                    }
                },
                "velocity": {
                    "x": -0.0003609201521612704,
                    "y": 0.008116889744997025,
                    "z": -0.3634484112262726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.364204466342926,
                "transform": {
                    "location": {
                        "x": 978.266845703125,
                        "y": 3276.45263671875,
                        "z": 368.3294372558594
                    },
                    "rotation": {
                        "roll": 0.0007468164549209177,
                        "pitch": 1.2973670959472656,
                        "yaw": 93.50946807861328
                    }
                },
                "velocity": {
                    "x": -0.0007244576117955148,
                    "y": 0.008030439727008343,
                    "z": -0.3641152083873749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45719748735427856,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.21240234375,
                        "z": 368.9347229003906
                    },
                    "rotation": {
                        "roll": -0.002136223018169403,
                        "pitch": 1.0347189903259277,
                        "yaw": 97.19947814941406
                    }
                },
                "velocity": {
                    "x": -0.0010964279063045979,
                    "y": 0.008224725723266602,
                    "z": -0.45712220668792725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.363313227891922,
                "transform": {
                    "location": {
                        "x": 973.3656005859375,
                        "y": 3321.00927734375,
                        "z": 369.1916809082031
                    },
                    "rotation": {
                        "roll": 0.0002595811092760414,
                        "pitch": 0.9263101816177368,
                        "yaw": 99.04488372802734
                    }
                },
                "velocity": {
                    "x": -0.000620460428763181,
                    "y": 0.005721104796975851,
                    "z": -0.3632676601409912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.060549765825271606,
                "transform": {
                    "location": {
                        "x": 955.87890625,
                        "y": 3403.59326171875,
                        "z": 370.2186584472656
                    },
                    "rotation": {
                        "roll": 0.22038011252880096,
                        "pitch": 0.7942963242530823,
                        "yaw": 99.14007568359375
                    }
                },
                "velocity": {
                    "x": 0.01622895710170269,
                    "y": 0.0011213882826268673,
                    "z": 0.058323558419942856
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.058009736239910126,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1326904296875
                    },
                    "rotation": {
                        "roll": 0.14074677228927612,
                        "pitch": 0.18449023365974426,
                        "yaw": 99.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.005968851502984762,
                    "y": 0.00047641940182074904,
                    "z": 0.05769987404346466
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08577444404363632,
        "expert_target_speed": 1.208571570787334,
        "target_point": [
            51.60763709997992,
            2.406410316887425
        ],
        "target_point_next": [
            102.49635786829757,
            5.772876228111556
        ]
    },
    "10": {
        "acceleration": [
            0.0007147897267714143,
            0.0016482145292684436,
            -0.07303334772586823
        ],
        "angular_velocity": [
            -0.0069539910182356834,
            -0.006368648260831833,
            2.4238175683422014e-05
        ],
        "forward_vector": [
            -0.0933537408709526,
            0.9954140186309814,
            0.020881446078419685
        ],
        "right_vector": [
            -0.9956309199333191,
            -0.09337601065635681,
            9.212642180500552e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6458435058594
        ],
        "rotation": [
            -0.005279606208205223,
            1.1965056657791138,
            95.35774993896484
        ],
        "velocity": [
            3.65026862709783e-05,
            -0.00024331643362529576,
            0.011245416477322578
        ],
        "speed": 0.0002460392915311098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.82352066040039,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9275207519531
            ],
            "velocity": [
                0.0002376805932726711,
                -0.001762145315296948,
                0.0947037786245346
            ],
            "speed_kmh": 0.3409936900411529,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.2658081054688,
                        "y": 3368.753662109375,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0573120117188,
                        "y": 3368.237060546875,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09472046792507172,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9275207519531
                    },
                    "rotation": {
                        "roll": -0.0025635058991611004,
                        "pitch": 1.0422799587249756,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": 0.0002376805932726711,
                    "y": -0.001762145315296948,
                    "z": 0.0947037786245346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02732248790562153,
                "transform": {
                    "location": {
                        "x": 970.1558227539062,
                        "y": 3320.4990234375,
                        "z": 369.17633056640625
                    },
                    "rotation": {
                        "roll": -0.0005187910865060985,
                        "pitch": 0.942893922328949,
                        "yaw": 99.04518127441406
                    }
                },
                "velocity": {
                    "x": -3.099249443039298e-05,
                    "y": -0.0004654131771530956,
                    "z": 0.027318505570292473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044361237436532974,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.521240234375,
                        "z": 367.9813232421875
                    },
                    "rotation": {
                        "roll": -0.00024419036344625056,
                        "pitch": 1.3165735006332397,
                        "yaw": 91.66446685791016
                    }
                },
                "velocity": {
                    "x": -0.0001107626740122214,
                    "y": -0.0010514111490920186,
                    "z": 0.04434863477945328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04428277164697647,
                "transform": {
                    "location": {
                        "x": 978.2667846679688,
                        "y": 3276.453125,
                        "z": 368.3217468261719
                    },
                    "rotation": {
                        "roll": 0.0011635123519226909,
                        "pitch": 1.299306869506836,
                        "yaw": 93.50953674316406
                    }
                },
                "velocity": {
                    "x": -6.062570901121944e-05,
                    "y": -0.001042025862261653,
                    "z": 0.04427046701312065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09497421979904175,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.21240234375,
                        "z": 368.927490234375
                    },
                    "rotation": {
                        "roll": -0.0015258888015523553,
                        "pitch": 1.0344867706298828,
                        "yaw": 97.19947052001953
                    }
                },
                "velocity": {
                    "x": 0.0001274428068427369,
                    "y": -0.001779384445399046,
                    "z": 0.09495746344327927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04412883520126343,
                "transform": {
                    "location": {
                        "x": 973.3655395507812,
                        "y": 3321.00927734375,
                        "z": 369.18402099609375
                    },
                    "rotation": {
                        "roll": -0.0006103146588429809,
                        "pitch": 0.9276557564735413,
                        "yaw": 99.04496002197266
                    }
                },
                "velocity": {
                    "x": -0.00033784352126531303,
                    "y": -0.0007974902982823551,
                    "z": 0.04412033408880234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00385037949308753,
                "transform": {
                    "location": {
                        "x": 955.8789672851562,
                        "y": 3403.592529296875,
                        "z": 370.2220764160156
                    },
                    "rotation": {
                        "roll": -0.014038082212209702,
                        "pitch": 0.7028947472572327,
                        "yaw": 99.1385498046875
                    }
                },
                "velocity": {
                    "x": 0.0005909415776841342,
                    "y": 2.2205262212082744e-05,
                    "z": -0.003804696723818779
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.008272900246083736,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1389465332031
                    },
                    "rotation": {
                        "roll": 0.01863686740398407,
                        "pitch": 0.18544645607471466,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": 0.0007099392241798341,
                    "y": -2.319313534826506e-05,
                    "z": 0.00824234914034605
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08465035259723663,
        "expert_target_speed": 1.1772463090380618,
        "target_point": [
            51.60764107783684,
            2.4065079980479656
        ],
        "target_point_next": [
            102.4963594382574,
            5.773010307720728
        ]
    },
    "15": {
        "acceleration": [
            1.2248751772858668e-05,
            -0.00021136991563253105,
            0.01195339486002922
        ],
        "angular_velocity": [
            -0.0005739576299674809,
            -0.0037567890249192715,
            0.0001895284076454118
        ],
        "forward_vector": [
            -0.09335407614707947,
            0.9954137802124023,
            0.020890623331069946
        ],
        "right_vector": [
            -0.9956309199333191,
            -0.09337600320577621,
            7.455329614458606e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.64703369140625
        ],
        "rotation": [
            -0.00427252147346735,
            1.1970316171646118,
            95.3577651977539
        ],
        "velocity": [
            -2.5022216050274437e-06,
            -8.29483542474918e-05,
            0.0022170450538396835
        ],
        "speed": 8.29860866972775e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.82376766204834,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.94146728515625
            ],
            "velocity": [
                7.558654760941863e-05,
                -0.0004251444188412279,
                0.02109353058040142
            ],
            "speed_kmh": 0.07595261993574666,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.5971069335938,
                        "y": 3366.69677734375,
                        "z": 369.8351745605469
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.3884887695312,
                        "y": 3366.179931640625,
                        "z": 369.83514404296875
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.021097950637340546,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.94146728515625
                    },
                    "rotation": {
                        "roll": -0.002471976215019822,
                        "pitch": 1.0412895679473877,
                        "yaw": 97.19973754882812
                    }
                },
                "velocity": {
                    "x": 7.558654760941863e-05,
                    "y": -0.0004251444188412279,
                    "z": 0.02109353058040142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8337249755859375,
                "transform": {
                    "location": {
                        "x": 970.1444091796875,
                        "y": 3320.561767578125,
                        "z": 369.1826171875
                    },
                    "rotation": {
                        "roll": -0.014099202118813992,
                        "pitch": 1.1444528102874756,
                        "yaw": 99.06072998046875
                    }
                },
                "velocity": {
                    "x": -0.14669819176197052,
                    "y": 0.8197891116142273,
                    "z": 0.039022721350193024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1284579038619995,
                "transform": {
                    "location": {
                        "x": 978.9373779296875,
                        "y": 3261.608154296875,
                        "z": 367.9901123046875
                    },
                    "rotation": {
                        "roll": -0.006134056951850653,
                        "pitch": 1.4588805437088013,
                        "yaw": 91.76386260986328
                    }
                },
                "velocity": {
                    "x": -0.05189502239227295,
                    "y": 1.1266261339187622,
                    "z": 0.03791928291320801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1450859308242798,
                "transform": {
                    "location": {
                        "x": 978.2598876953125,
                        "y": 3276.53857421875,
                        "z": 368.3305358886719
                    },
                    "rotation": {
                        "roll": -0.005279481410980225,
                        "pitch": 1.4395716190338135,
                        "yaw": 93.57929229736328
                    }
                },
                "velocity": {
                    "x": -0.08897469192743301,
                    "y": 1.1410139799118042,
                    "z": 0.03731609135866165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020995788276195526,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.212158203125,
                        "z": 368.94146728515625
                    },
                    "rotation": {
                        "roll": -0.0020446942653506994,
                        "pitch": 1.0344867706298828,
                        "yaw": 97.1995849609375
                    }
                },
                "velocity": {
                    "x": 7.908639963716269e-05,
                    "y": -0.0004151256289333105,
                    "z": 0.020991533994674683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0934300422668457,
                "transform": {
                    "location": {
                        "x": 973.3508911132812,
                        "y": 3321.093017578125,
                        "z": 369.1922912597656
                    },
                    "rotation": {
                        "roll": -0.0046081324107944965,
                        "pitch": 1.0655436515808105,
                        "yaw": 99.12443542480469
                    }
                },
                "velocity": {
                    "x": -0.18759068846702576,
                    "y": 1.07681405544281,
                    "z": 0.029506081715226173
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08385034650564194,
        "expert_target_speed": 1.1687582767588953,
        "target_point": [
            51.60764279909229,
            2.40647108538598
        ],
        "target_point_next": [
            102.49636356740994,
            5.772936996610111
        ]
    },
    "20": {
        "acceleration": [
            -9.971034160116687e-05,
            0.00017623009625822306,
            -0.008222006261348724
        ],
        "angular_velocity": [
            0.003553321585059166,
            0.007774635683745146,
            0.00042123455205000937
        ],
        "forward_vector": [
            -0.09335466474294662,
            0.9954137206077576,
            0.020890502259135246
        ],
        "right_vector": [
            -0.9956308007240295,
            -0.09337665885686874,
            7.774680852890015e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6473693847656
        ],
        "rotation": [
            -0.004455536138266325,
            1.1970247030258179,
            95.35780334472656
        ],
        "velocity": [
            1.942209928529337e-05,
            -8.701294427737594e-05,
            0.001690095872618258
        ],
        "speed": 8.91541945870497e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.054104804992676,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2202758789062,
                3306.032958984375,
                368.94866943359375
            ],
            "velocity": [
                -0.31546592712402344,
                2.148010492324829,
                0.03877560421824455
            ],
            "speed_kmh": 7.817034540310002,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.9281005859375,
                        "y": 3364.639404296875,
                        "z": 369.8101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7194213867188,
                        "y": 3364.122314453125,
                        "z": 369.8101501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.171398639678955,
                "transform": {
                    "location": {
                        "x": 972.2202758789062,
                        "y": 3306.032958984375,
                        "z": 368.94866943359375
                    },
                    "rotation": {
                        "roll": 0.008142910897731781,
                        "pitch": 0.8511576652526855,
                        "yaw": 97.35446166992188
                    }
                },
                "velocity": {
                    "x": -0.31546592712402344,
                    "y": 2.148010492324829,
                    "z": 0.03877560421824455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.904551386833191,
                "transform": {
                    "location": {
                        "x": 970.083984375,
                        "y": 3320.916259765625,
                        "z": 369.1921691894531
                    },
                    "rotation": {
                        "roll": -0.004974286537617445,
                        "pitch": 1.3473366498947144,
                        "yaw": 99.18108367919922
                    }
                },
                "velocity": {
                    "x": -0.3179813027381897,
                    "y": 1.8773751258850098,
                    "z": 0.04081907123327255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.114675998687744,
                "transform": {
                    "location": {
                        "x": 978.9186401367188,
                        "y": 3262.0224609375,
                        "z": 368.00103759765625
                    },
                    "rotation": {
                        "roll": 0.0017252470133826137,
                        "pitch": 1.4741255044937134,
                        "yaw": 91.99658966064453
                    }
                },
                "velocity": {
                    "x": -0.09405998140573502,
                    "y": 2.1119940280914307,
                    "z": 0.04988332465291023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.146883964538574,
                "transform": {
                    "location": {
                        "x": 978.2271728515625,
                        "y": 3276.9619140625,
                        "z": 368.3414001464844
                    },
                    "rotation": {
                        "roll": 0.00040989078115671873,
                        "pitch": 1.4585527181625366,
                        "yaw": 93.8084487915039
                    }
                },
                "velocity": {
                    "x": -0.16438663005828857,
                    "y": 2.13999605178833,
                    "z": 0.050042085349559784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1764469146728516,
                "transform": {
                    "location": {
                        "x": 975.4457397460938,
                        "y": 3306.436767578125,
                        "z": 368.94854736328125
                    },
                    "rotation": {
                        "roll": 0.00783963780850172,
                        "pitch": 0.8429477214813232,
                        "yaw": 97.39549255371094
                    }
                },
                "velocity": {
                    "x": -0.31561753153800964,
                    "y": 2.1530871391296387,
                    "z": 0.03901272639632225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1959831714630127,
                "transform": {
                    "location": {
                        "x": 973.2801513671875,
                        "y": 3321.51025390625,
                        "z": 369.2004089355469
                    },
                    "rotation": {
                        "roll": 0.0008563330629840493,
                        "pitch": 1.1014772653579712,
                        "yaw": 99.3161849975586
                    }
                },
                "velocity": {
                    "x": -0.3657890558242798,
                    "y": 2.164977788925171,
                    "z": 0.03757600858807564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08559785783290863,
        "expert_target_speed": 1.1695900447291934,
        "target_point": [
            51.60764452032133,
            2.406434172722763
        ],
        "target_point_next": [
            102.49636769651002,
            5.7728636854965405
        ]
    },
    "25": {
        "acceleration": [
            -0.0014502638950943947,
            -0.000609341193921864,
            0.005458910018205643
        ],
        "angular_velocity": [
            0.001491484115831554,
            0.009345845319330692,
            0.0004588722949847579
        ],
        "forward_vector": [
            -0.09335525333881378,
            0.9954136610031128,
            0.020891457796096802
        ],
        "right_vector": [
            -0.9956308007240295,
            -0.09337729215621948,
            7.934588211355731e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6474609375
        ],
        "rotation": [
            -0.004547176882624626,
            1.1970794200897217,
            95.35783386230469
        ],
        "velocity": [
            3.574579750420526e-05,
            -7.475986785721034e-05,
            0.0014703854685649276
        ],
        "speed": 8.286615642853963e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.750432014465332,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.1207885742188,
                3306.722412109375,
                368.9606628417969
            ],
            "velocity": [
                -0.4834674000740051,
                3.2604634761810303,
                0.05855710059404373
            ],
            "speed_kmh": 11.86788022169727,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.2592163085938,
                        "y": 3362.58203125,
                        "z": 369.7849426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.0505981445312,
                        "y": 3362.065185546875,
                        "z": 369.784912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.296633243560791,
                "transform": {
                    "location": {
                        "x": 972.1207885742188,
                        "y": 3306.722412109375,
                        "z": 368.9606628417969
                    },
                    "rotation": {
                        "roll": 0.010860011912882328,
                        "pitch": 0.892958402633667,
                        "yaw": 97.6651611328125
                    }
                },
                "velocity": {
                    "x": -0.4834674000740051,
                    "y": 3.2604634761810303,
                    "z": 0.05855710059404373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.931532382965088,
                "transform": {
                    "location": {
                        "x": 969.9821166992188,
                        "y": 3321.520263671875,
                        "z": 369.2033996582031
                    },
                    "rotation": {
                        "roll": -0.003051796928048134,
                        "pitch": 1.383980631828308,
                        "yaw": 99.28543090820312
                    }
                },
                "velocity": {
                    "x": -0.49042564630508423,
                    "y": 2.8897807598114014,
                    "z": 0.05032258853316307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6235101222991943,
                "transform": {
                    "location": {
                        "x": 978.885986328125,
                        "y": 3262.733642578125,
                        "z": 368.0174865722656
                    },
                    "rotation": {
                        "roll": 0.005263211205601692,
                        "pitch": 1.533438801765442,
                        "yaw": 92.28157806396484
                    }
                },
                "velocity": {
                    "x": -0.16765739023685455,
                    "y": 3.6186745166778564,
                    "z": 0.08313413709402084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.604149341583252,
                "transform": {
                    "location": {
                        "x": 978.1715698242188,
                        "y": 3277.6728515625,
                        "z": 368.3576965332031
                    },
                    "rotation": {
                        "roll": 0.0029431686270982027,
                        "pitch": 1.5021018981933594,
                        "yaw": 94.10601043701172
                    }
                },
                "velocity": {
                    "x": -0.2821343243122101,
                    "y": 3.5921831130981445,
                    "z": 0.0807017907500267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3029685020446777,
                "transform": {
                    "location": {
                        "x": 975.3458862304688,
                        "y": 3307.1279296875,
                        "z": 368.9605407714844
                    },
                    "rotation": {
                        "roll": 0.010966216214001179,
                        "pitch": 0.8852881193161011,
                        "yaw": 97.69548797607422
                    }
                },
                "velocity": {
                    "x": -0.4840916693210602,
                    "y": 3.2667737007141113,
                    "z": 0.05869942530989647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6362624168395996,
                "transform": {
                    "location": {
                        "x": 973.1585693359375,
                        "y": 3322.2275390625,
                        "z": 369.2123718261719
                    },
                    "rotation": {
                        "roll": 0.0017948270542547107,
                        "pitch": 1.1396238803863525,
                        "yaw": 99.47381591796875
                    }
                },
                "velocity": {
                    "x": -0.6074721217155457,
                    "y": 3.584689140319824,
                    "z": 0.05817408487200737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08661798387765884,
        "expert_target_speed": 1.1712400313277442,
        "target_point": [
            51.6076456677927,
            2.4064095642799357
        ],
        "target_point_next": [
            102.4963704492143,
            5.772814811419185
        ]
    },
    "30": {
        "acceleration": [
            0.001037802780047059,
            -0.00030832889024168253,
            0.0009123235940933228
        ],
        "angular_velocity": [
            0.0037478518206626177,
            0.013030949980020523,
            0.0005262259510345757
        ],
        "forward_vector": [
            -0.09335621446371078,
            0.9954136610031128,
            0.02088537998497486
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337795525789261,
            6.603263318538666e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6475830078125
        ],
        "rotation": [
            -0.0037842164747416973,
            1.1967310905456543,
            95.3578872680664
        ],
        "velocity": [
            5.188620707485825e-05,
            -8.663132757646963e-05,
            0.001710587297566235
        ],
        "speed": 0.00010098101505865673,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.717700958251953,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.9813232421875,
                3307.679931640625,
                368.97772216796875
            ],
            "velocity": [
                -0.645749032497406,
                4.357543468475342,
                0.07833635061979294
            ],
            "speed_kmh": 15.860977985446432,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.02220344543457,
                "transform": {
                    "location": {
                        "x": 973.5843505859375,
                        "y": 3360.563720703125,
                        "z": 369.75909423828125
                    },
                    "rotation": {
                        "roll": -0.00021367662702687085,
                        "pitch": -0.7798163294792175,
                        "yaw": -80.84754943847656
                    }
                },
                "velocity": {
                    "x": 1.1264852285385132,
                    "y": -6.930206775665283,
                    "z": -0.12085086852312088
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.751163005828857,
                "transform": {
                    "location": {
                        "x": 970.3645629882812,
                        "y": 3360.1240234375,
                        "z": 369.75836181640625
                    },
                    "rotation": {
                        "roll": -0.005401565693318844,
                        "pitch": -0.7905260324478149,
                        "yaw": -80.80756378173828
                    }
                },
                "velocity": {
                    "x": 1.1088284254074097,
                    "y": -6.658267021179199,
                    "z": -0.12721246480941772
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.405827045440674,
                "transform": {
                    "location": {
                        "x": 971.9813232421875,
                        "y": 3307.679931640625,
                        "z": 368.97772216796875
                    },
                    "rotation": {
                        "roll": 0.013218209147453308,
                        "pitch": 0.9081487059593201,
                        "yaw": 97.95088958740234
                    }
                },
                "velocity": {
                    "x": -0.645749032497406,
                    "y": 4.357543468475342,
                    "z": 0.07833635061979294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.271467685699463,
                "transform": {
                    "location": {
                        "x": 969.8306274414062,
                        "y": 3322.41455078125,
                        "z": 369.2180480957031
                    },
                    "rotation": {
                        "roll": -0.0052795144729316235,
                        "pitch": 1.4763795137405396,
                        "yaw": 99.44805908203125
                    }
                },
                "velocity": {
                    "x": -0.7169737219810486,
                    "y": 4.2102885246276855,
                    "z": 0.069668710231781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.037664890289307,
                "transform": {
                    "location": {
                        "x": 978.8338623046875,
                        "y": 3263.826904296875,
                        "z": 368.04254150390625
                    },
                    "rotation": {
                        "roll": 0.0043611591681838036,
                        "pitch": 1.5412662029266357,
                        "yaw": 92.56188201904297
                    }
                },
                "velocity": {
                    "x": -0.2424197942018509,
                    "y": 5.030527591705322,
                    "z": 0.11443149298429489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.009521484375,
                "transform": {
                    "location": {
                        "x": 978.0848999023438,
                        "y": 3278.757080078125,
                        "z": 368.3821105957031
                    },
                    "rotation": {
                        "roll": 0.00441243639215827,
                        "pitch": 1.5046427249908447,
                        "yaw": 94.39480590820312
                    }
                },
                "velocity": {
                    "x": -0.4018112123012543,
                    "y": 4.992128372192383,
                    "z": 0.11184529960155487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.412435531616211,
                "transform": {
                    "location": {
                        "x": 975.2061767578125,
                        "y": 3308.087158203125,
                        "z": 368.9775695800781
                    },
                    "rotation": {
                        "roll": 0.012012130580842495,
                        "pitch": 0.9006013870239258,
                        "yaw": 97.96939849853516
                    }
                },
                "velocity": {
                    "x": -0.646435022354126,
                    "y": 4.36414098739624,
                    "z": 0.07734281569719315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0466814041137695,
                "transform": {
                    "location": {
                        "x": 972.9747314453125,
                        "y": 3323.30859375,
                        "z": 369.23004150390625
                    },
                    "rotation": {
                        "roll": 0.004319040570408106,
                        "pitch": 1.1481820344924927,
                        "yaw": 99.58753967285156
                    }
                },
                "velocity": {
                    "x": -0.8472201824188232,
                    "y": 4.974405288696289,
                    "z": 0.08063685894012451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08576130121946335,
        "expert_target_speed": 1.173931367179018,
        "target_point": [
            51.607647388977746,
            2.4063726516146664
        ],
        "target_point_next": [
            102.49637457822698,
            5.772741500300691
        ]
    },
    "35": {
        "acceleration": [
            0.0010336547857150435,
            0.0004265963798388839,
            0.005142787471413612
        ],
        "angular_velocity": [
            0.0013732247753068805,
            -0.0036212310660630465,
            0.00019364706531632692
        ],
        "forward_vector": [
            -0.09335622191429138,
            0.9954137802124023,
            0.02088192105293274
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337770193815231,
            5.378573769121431e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6475830078125
        ],
        "rotation": [
            -0.0030823678243905306,
            1.196532964706421,
            95.3578872680664
        ],
        "velocity": [
            -6.033703357388731e-06,
            -5.7998149713966995e-05,
            0.0006734178168699145
        ],
        "speed": 5.831115627775438e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.951807022094727,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.8021850585938,
                3308.9013671875,
                368.9999084472656
            ],
            "velocity": [
                -0.7799157500267029,
                5.258575439453125,
                0.09549987316131592
            ],
            "speed_kmh": 19.14103596311124,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.756115913391113,
                "transform": {
                    "location": {
                        "x": 973.8652954101562,
                        "y": 3358.89111328125,
                        "z": 369.7301025390625
                    },
                    "rotation": {
                        "roll": -0.012481706216931343,
                        "pitch": -0.7455082535743713,
                        "yaw": -80.47489929199219
                    }
                },
                "velocity": {
                    "x": 1.1482759714126587,
                    "y": -6.657083034515381,
                    "z": -0.09904231131076813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.834117889404297,
                "transform": {
                    "location": {
                        "x": 970.647705078125,
                        "y": 3358.448974609375,
                        "z": 369.7301330566406
                    },
                    "rotation": {
                        "roll": -0.011871367692947388,
                        "pitch": -0.7260763645172119,
                        "yaw": -80.4312515258789
                    }
                },
                "velocity": {
                    "x": 1.1605671644210815,
                    "y": -6.734170436859131,
                    "z": -0.09589796513319016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.316954612731934,
                "transform": {
                    "location": {
                        "x": 971.8021850585938,
                        "y": 3308.9013671875,
                        "z": 368.9999084472656
                    },
                    "rotation": {
                        "roll": 0.009607354179024696,
                        "pitch": 0.9156414270401001,
                        "yaw": 98.17595672607422
                    }
                },
                "velocity": {
                    "x": -0.7799157500267029,
                    "y": 5.258575439453125,
                    "z": 0.09549987316131592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.384761333465576,
                "transform": {
                    "location": {
                        "x": 969.6241455078125,
                        "y": 3323.6279296875,
                        "z": 369.2381286621094
                    },
                    "rotation": {
                        "roll": -0.0017699890304356813,
                        "pitch": 1.487553596496582,
                        "yaw": 99.58214569091797
                    }
                },
                "velocity": {
                    "x": -0.9070686101913452,
                    "y": 5.3070969581604,
                    "z": 0.08721992373466492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.974989414215088,
                "transform": {
                    "location": {
                        "x": 978.7667236328125,
                        "y": 3265.1923828125,
                        "z": 368.0738220214844
                    },
                    "rotation": {
                        "roll": 0.01120578683912754,
                        "pitch": 1.4810513257980347,
                        "yaw": 92.73539733886719
                    }
                },
                "velocity": {
                    "x": -0.29553091526031494,
                    "y": 5.966157913208008,
                    "z": 0.1346305012702942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4192214012146,
                "transform": {
                    "location": {
                        "x": 977.9769897460938,
                        "y": 3280.080810546875,
                        "z": 368.41143798828125
                    },
                    "rotation": {
                        "roll": 0.009106302633881569,
                        "pitch": 1.3748828172683716,
                        "yaw": 94.59571838378906
                    }
                },
                "velocity": {
                    "x": -0.44287633895874023,
                    "y": 5.399807453155518,
                    "z": 0.11790110915899277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.157609462738037,
                "transform": {
                    "location": {
                        "x": 975.02734375,
                        "y": 3309.30615234375,
                        "z": 368.99945068359375
                    },
                    "rotation": {
                        "roll": 0.00953354500234127,
                        "pitch": 0.9153204560279846,
                        "yaw": 98.18394470214844
                    }
                },
                "velocity": {
                    "x": -0.7557323575019836,
                    "y": 5.101104259490967,
                    "z": 0.09241626411676407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.475981712341309,
                "transform": {
                    "location": {
                        "x": 972.7492065429688,
                        "y": 3324.6298828125,
                        "z": 369.2515869140625
                    },
                    "rotation": {
                        "roll": 0.004556847270578146,
                        "pitch": 1.0310852527618408,
                        "yaw": 99.66209411621094
                    }
                },
                "velocity": {
                    "x": -0.922649085521698,
                    "y": 5.396982192993164,
                    "z": 0.08763522654771805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0862826257944107,
        "expert_target_speed": 1.1756049495086587,
        "target_point": [
            51.60764911013639,
            2.406335738948168
        ],
        "target_point_next": [
            102.49637870718725,
            5.772668189179244
        ]
    },
    "40": {
        "acceleration": [
            -0.48126453161239624,
            5.065569877624512,
            0.103875532746315
        ],
        "angular_velocity": [
            1.5785905122756958,
            0.16730469465255737,
            0.22581087052822113
        ],
        "forward_vector": [
            -0.09329769760370255,
            0.9953575730323792,
            0.02363831177353859
        ],
        "right_vector": [
            -0.9956356883049011,
            -0.09332506358623505,
            5.484465145855211e-05
        ],
        "location": [
            973.8698120117188,
            3291.1181640625,
            368.64801025390625
        ],
        "rotation": [
            -0.003143245354294777,
            1.3545016050338745,
            95.35485076904297
        ],
        "velocity": [
            -0.06432757526636124,
            0.6831409931182861,
            0.013918818905949593
        ],
        "speed": 0.686162993331969,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.25796890258789,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.6046752929688,
                3310.23876953125,
                369.02349853515625
            ],
            "velocity": [
                -0.8438699841499329,
                5.676973342895508,
                0.09928100556135178
            ],
            "speed_kmh": 20.664752475409,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.840985298156738,
                "transform": {
                    "location": {
                        "x": 974.1536254882812,
                        "y": 3357.2158203125,
                        "z": 369.70648193359375
                    },
                    "rotation": {
                        "roll": -0.012054398655891418,
                        "pitch": -0.7314722537994385,
                        "yaw": -80.23723602294922
                    }
                },
                "velocity": {
                    "x": 1.1704747676849365,
                    "y": -6.739471435546875,
                    "z": -0.09270648658275604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.780214309692383,
                "transform": {
                    "location": {
                        "x": 970.9359130859375,
                        "y": 3356.772216796875,
                        "z": 369.7073059082031
                    },
                    "rotation": {
                        "roll": -0.009002645500004292,
                        "pitch": -0.7263495922088623,
                        "yaw": -80.24566650390625
                    }
                },
                "velocity": {
                    "x": 1.1560677289962769,
                    "y": -6.680307865142822,
                    "z": -0.09110988676548004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.740209102630615,
                "transform": {
                    "location": {
                        "x": 971.6046752929688,
                        "y": 3310.23876953125,
                        "z": 369.02349853515625
                    },
                    "rotation": {
                        "roll": 0.00786583125591278,
                        "pitch": 0.9503661394119263,
                        "yaw": 98.2953109741211
                    }
                },
                "velocity": {
                    "x": -0.8438699841499329,
                    "y": 5.676973342895508,
                    "z": 0.09928100556135178
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.046053409576416,
                "transform": {
                    "location": {
                        "x": 969.395263671875,
                        "y": 3324.967529296875,
                        "z": 369.2607421875
                    },
                    "rotation": {
                        "roll": 0.0029802965000271797,
                        "pitch": 1.2710981369018555,
                        "yaw": 99.66877746582031
                    }
                },
                "velocity": {
                    "x": -1.020900845527649,
                    "y": 5.958445072174072,
                    "z": 0.09723106026649475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.085715293884277,
                "transform": {
                    "location": {
                        "x": 978.688720703125,
                        "y": 3266.74462890625,
                        "z": 368.1091613769531
                    },
                    "rotation": {
                        "roll": 0.006881678942590952,
                        "pitch": 1.5127228498458862,
                        "yaw": 92.85476684570312
                    }
                },
                "velocity": {
                    "x": -0.358210951089859,
                    "y": 7.074802875518799,
                    "z": 0.16189345717430115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.069025039672852,
                "transform": {
                    "location": {
                        "x": 977.8538208007812,
                        "y": 3281.57080078125,
                        "z": 368.4444580078125
                    },
                    "rotation": {
                        "roll": 0.007750649470835924,
                        "pitch": 1.4994040727615356,
                        "yaw": 94.70738983154297
                    }
                },
                "velocity": {
                    "x": -0.5846925973892212,
                    "y": 7.043085098266602,
                    "z": 0.1555606573820114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.799509048461914,
                "transform": {
                    "location": {
                        "x": 974.8291015625,
                        "y": 3310.650146484375,
                        "z": 369.0231018066406
                    },
                    "rotation": {
                        "roll": 0.010499139316380024,
                        "pitch": 0.9375595450401306,
                        "yaw": 98.33987426757812
                    }
                },
                "velocity": {
                    "x": -0.851730227470398,
                    "y": 5.735767841339111,
                    "z": 0.099138543009758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8724894523620605,
                "transform": {
                    "location": {
                        "x": 972.4957885742188,
                        "y": 3326.110595703125,
                        "z": 369.2757263183594
                    },
                    "rotation": {
                        "roll": 0.008018096908926964,
                        "pitch": 1.1410104036331177,
                        "yaw": 99.69944763183594
                    }
                },
                "velocity": {
                    "x": -1.160964012145996,
                    "y": 6.772838592529297,
                    "z": 0.10924560576677322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0875556617975235,
        "expert_target_speed": 1.8623424373672026,
        "target_point": [
            51.56216261605632,
            2.4090278408210297
        ],
        "target_point_next": [
            102.45071798162503,
            5.777993108182413
        ]
    },
    "45": {
        "acceleration": [
            -0.3153941035270691,
            3.346724510192871,
            0.10016381740570068
        ],
        "angular_velocity": [
            0.20614562928676605,
            0.05701358616352081,
            -0.8230518102645874
        ],
        "forward_vector": [
            -0.09357193857431412,
            0.9952214956283569,
            0.027901960536837578
        ],
        "right_vector": [
            -0.9956088662147522,
            -0.093610979616642,
            9.317695366917178e-05
        ],
        "location": [
            973.8388671875,
            3291.4482421875,
            368.65380859375
        ],
        "rotation": [
            -0.005340725649148226,
            1.5988720655441284,
            95.37123107910156
        ],
        "velocity": [
            -0.17061854898929596,
            1.8118680715560913,
            0.038094643503427505
        ],
        "speed": 1.81988367704741,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.44883155822754,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.38037109375,
                3311.744873046875,
                369.0504150390625
            ],
            "velocity": [
                -1.029909372329712,
                6.8070597648620605,
                0.11999978870153427
            ],
            "speed_kmh": 24.788078581315812,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.159452199935913,
                "transform": {
                    "location": {
                        "x": 976.1577758789062,
                        "y": 3276.51123046875,
                        "z": 368.5300598144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2882555723190308,
                        "yaw": 99.8551025390625
                    }
                },
                "velocity": {
                    "x": -0.1628275066614151,
                    "y": 0.937297523021698,
                    "z": -1.9386063814163208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.730588436126709,
                "transform": {
                    "location": {
                        "x": 974.4177856445312,
                        "y": 3355.673583984375,
                        "z": 369.6864318847656
                    },
                    "rotation": {
                        "roll": -0.00201412639580667,
                        "pitch": -0.8230855464935303,
                        "yaw": -80.32170104980469
                    }
                },
                "velocity": {
                    "x": 0.9473456144332886,
                    "y": -5.651233196258545,
                    "z": -0.07579248398542404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.57996940612793,
                "transform": {
                    "location": {
                        "x": 971.190185546875,
                        "y": 3355.2861328125,
                        "z": 369.6880798339844
                    },
                    "rotation": {
                        "roll": -0.00405882578343153,
                        "pitch": -0.8173481822013855,
                        "yaw": -80.31010437011719
                    }
                },
                "velocity": {
                    "x": 0.9229026436805725,
                    "y": -5.502649307250977,
                    "z": -0.0718308612704277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.88557767868042,
                "transform": {
                    "location": {
                        "x": 971.38037109375,
                        "y": 3311.744873046875,
                        "z": 369.0504150390625
                    },
                    "rotation": {
                        "roll": 0.011209829710423946,
                        "pitch": 0.8736084699630737,
                        "yaw": 98.40624237060547
                    }
                },
                "velocity": {
                    "x": -1.029909372329712,
                    "y": 6.8070597648620605,
                    "z": 0.11999978870153427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.805285453796387,
                "transform": {
                    "location": {
                        "x": 969.1174926757812,
                        "y": 3326.606201171875,
                        "z": 369.2870178222656
                    },
                    "rotation": {
                        "roll": 0.028733830899000168,
                        "pitch": 1.341066598892212,
                        "yaw": 99.6052474975586
                    }
                },
                "velocity": {
                    "x": -1.1234902143478394,
                    "y": 6.711051940917969,
                    "z": 0.10706517845392227
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.90058708190918,
                "transform": {
                    "location": {
                        "x": 978.5926513671875,
                        "y": 3268.57470703125,
                        "z": 368.15081787109375
                    },
                    "rotation": {
                        "roll": 0.009778627194464207,
                        "pitch": 1.3481290340423584,
                        "yaw": 93.15350341796875
                    }
                },
                "velocity": {
                    "x": -0.3640967905521393,
                    "y": 6.889206409454346,
                    "z": 0.15609101951122284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.306242942810059,
                "transform": {
                    "location": {
                        "x": 977.6897583007812,
                        "y": 3283.504638671875,
                        "z": 368.4863586425781
                    },
                    "rotation": {
                        "roll": 0.003327691461890936,
                        "pitch": 1.452480673789978,
                        "yaw": 94.80921936035156
                    }
                },
                "velocity": {
                    "x": -0.7049583196640015,
                    "y": 8.274343490600586,
                    "z": 0.17872846126556396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.043292999267578,
                "transform": {
                    "location": {
                        "x": 974.6029663085938,
                        "y": 3312.164306640625,
                        "z": 369.0500183105469
                    },
                    "rotation": {
                        "roll": 0.01147580984979868,
                        "pitch": 0.855501651763916,
                        "yaw": 98.38630676269531
                    }
                },
                "velocity": {
                    "x": -1.0524828433990479,
                    "y": 6.963169574737549,
                    "z": 0.12052275985479355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.109604358673096,
                "transform": {
                    "location": {
                        "x": 972.2252807617188,
                        "y": 3327.71533203125,
                        "z": 369.30133056640625
                    },
                    "rotation": {
                        "roll": 0.012047642841935158,
                        "pitch": 0.891107439994812,
                        "yaw": 99.59040832519531
                    }
                },
                "velocity": {
                    "x": -1.009297251701355,
                    "y": 6.024879455566406,
                    "z": 0.09702876955270767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08698733896017075,
        "expert_target_speed": 2.992886835227636,
        "target_point": [
            51.2313185471839,
            2.394487572892279
        ],
        "target_point_next": [
            102.12082770103348,
            5.749014700148585
        ]
    },
    "50": {
        "acceleration": [
            -0.8243709802627563,
            7.825608253479004,
            0.14596521854400635
        ],
        "angular_velocity": [
            1.0299510955810547,
            0.16519080102443695,
            0.5292686820030212
        ],
        "forward_vector": [
            -0.09444605559110641,
            0.9950571656227112,
            0.03067929670214653
        ],
        "right_vector": [
            -0.9955248236656189,
            -0.09449968487024307,
            0.00029972934862598777
        ],
        "location": [
            973.7781982421875,
            3292.083251953125,
            368.66619873046875
        ],
        "rotation": [
            -0.017181314527988434,
            1.7580701112747192,
            95.4219970703125
        ],
        "velocity": [
            -0.3310117721557617,
            3.3636510372161865,
            0.06811227649450302
        ],
        "speed": 3.379898976814429,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.59916114807129,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.1137084960938,
                3313.513427734375,
                369.0806579589844
            ],
            "velocity": [
                -1.044254183769226,
                6.89141321182251,
                0.1182376816868782
            ],
            "speed_kmh": 25.095905206921824,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11052680760622025,
                "transform": {
                    "location": {
                        "x": 976.1484375,
                        "y": 3276.5693359375,
                        "z": 368.29290771484375
                    },
                    "rotation": {
                        "roll": 0.16019697487354279,
                        "pitch": 1.1983839273452759,
                        "yaw": 99.84037017822266
                    }
                },
                "velocity": {
                    "x": 0.0009394618100486696,
                    "y": -0.0035758751910179853,
                    "z": 0.11046495288610458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.8459343910217285,
                "transform": {
                    "location": {
                        "x": 974.6526489257812,
                        "y": 3354.275634765625,
                        "z": 369.6671447753906
                    },
                    "rotation": {
                        "roll": -0.003601089119911194,
                        "pitch": -0.770506739616394,
                        "yaw": -80.43389129638672
                    }
                },
                "velocity": {
                    "x": 0.9635688066482544,
                    "y": -5.765460014343262,
                    "z": -0.07720264047384262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.112927436828613,
                "transform": {
                    "location": {
                        "x": 971.4285888671875,
                        "y": 3353.8642578125,
                        "z": 369.66845703125
                    },
                    "rotation": {
                        "roll": -0.005188082344830036,
                        "pitch": -0.7526184916496277,
                        "yaw": -80.40848541259766
                    }
                },
                "velocity": {
                    "x": 1.0055702924728394,
                    "y": -6.029111862182617,
                    "z": -0.08074630796909332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9710845947265625,
                "transform": {
                    "location": {
                        "x": 971.1137084960938,
                        "y": 3313.513427734375,
                        "z": 369.0806579589844
                    },
                    "rotation": {
                        "roll": 0.004299812018871307,
                        "pitch": 0.9422791600227356,
                        "yaw": 98.54315185546875
                    }
                },
                "velocity": {
                    "x": -1.044254183769226,
                    "y": 6.89141321182251,
                    "z": 0.1182376816868782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.393473148345947,
                "transform": {
                    "location": {
                        "x": 968.8468627929688,
                        "y": 3328.22607421875,
                        "z": 369.3143005371094
                    },
                    "rotation": {
                        "roll": 0.02227812446653843,
                        "pitch": 0.9587467908859253,
                        "yaw": 99.48755645751953
                    }
                },
                "velocity": {
                    "x": -1.0488282442092896,
                    "y": 6.306057453155518,
                    "z": 0.10049014538526535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5486361980438232,
                "transform": {
                    "location": {
                        "x": 978.5221557617188,
                        "y": 3269.90234375,
                        "z": 368.1800231933594
                    },
                    "rotation": {
                        "roll": 0.004152266308665276,
                        "pitch": 0.7871997356414795,
                        "yaw": 93.39295959472656
                    }
                },
                "velocity": {
                    "x": -0.13439515233039856,
                    "y": 2.5444693565368652,
                    "z": 0.05621817335486412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.444892883300781,
                "transform": {
                    "location": {
                        "x": 977.5006713867188,
                        "y": 3285.717529296875,
                        "z": 368.5338439941406
                    },
                    "rotation": {
                        "roll": 0.0020964904688298702,
                        "pitch": 1.4116907119750977,
                        "yaw": 94.84992980957031
                    }
                },
                "velocity": {
                    "x": -0.8062121272087097,
                    "y": 9.408296585083008,
                    "z": 0.19994160532951355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.3201494216918945,
                "transform": {
                    "location": {
                        "x": 974.3271484375,
                        "y": 3313.9970703125,
                        "z": 369.08111572265625
                    },
                    "rotation": {
                        "roll": 0.008874813094735146,
                        "pitch": 0.909063994884491,
                        "yaw": 98.57159423828125
                    }
                },
                "velocity": {
                    "x": -1.0972384214401245,
                    "y": 7.236408710479736,
                    "z": 0.12266255915164948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.290963172912598,
                "transform": {
                    "location": {
                        "x": 971.9874877929688,
                        "y": 3329.141845703125,
                        "z": 369.323974609375
                    },
                    "rotation": {
                        "roll": 0.00853065587580204,
                        "pitch": 0.7799597382545471,
                        "yaw": 99.48456573486328
                    }
                },
                "velocity": {
                    "x": -0.8677291870117188,
                    "y": 5.2186713218688965,
                    "z": 0.08251750469207764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08442585170269012,
        "expert_target_speed": 4.523980256004263,
        "target_point": [
            50.595521448300495,
            2.34864173773628
        ],
        "target_point_next": [
            101.48798656289668,
            5.6580206412237875
        ]
    },
    "55": {
        "acceleration": [
            -0.7632625102996826,
            6.88197135925293,
            0.22363543510437012
        ],
        "angular_velocity": [
            0.2866705060005188,
            0.112314373254776,
            0.8374581336975098
        ],
        "forward_vector": [
            -0.09741814434528351,
            0.994687557220459,
            0.0332607626914978
        ],
        "right_vector": [
            -0.9952366948127747,
            -0.09748677164316177,
            0.0004439688636921346
        ],
        "location": [
            973.6712036132812,
            3293.154296875,
            368.68756103515625
        ],
        "rotation": [
            -0.025451626628637314,
            1.9060529470443726,
            95.59362030029297
        ],
        "velocity": [
            -0.5199620127677917,
            5.103816986083984,
            0.10849841684103012
        ],
        "speed": 5.13023472388554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.09207534790039,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.8787841796875,
                3315.065185546875,
                369.1061096191406
            ],
            "velocity": [
                -0.8402172923088074,
                5.536350727081299,
                0.09419731050729752
            ],
            "speed_kmh": 20.161934137352077,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0761038213968277,
                "transform": {
                    "location": {
                        "x": 976.1484375,
                        "y": 3276.569091796875,
                        "z": 368.3246765136719
                    },
                    "rotation": {
                        "roll": 0.14684471487998962,
                        "pitch": 1.2723958492279053,
                        "yaw": 99.84026336669922
                    }
                },
                "velocity": {
                    "x": 0.000562586123123765,
                    "y": -0.002084762090817094,
                    "z": 0.07607318460941315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.437924861907959,
                "transform": {
                    "location": {
                        "x": 974.9137573242188,
                        "y": 3352.713134765625,
                        "z": 369.6455078125
                    },
                    "rotation": {
                        "roll": -0.003417972242459655,
                        "pitch": -0.6740713119506836,
                        "yaw": -80.45381164550781
                    }
                },
                "velocity": {
                    "x": 1.225169062614441,
                    "y": -7.335663795471191,
                    "z": -0.09862971305847168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.962597846984863,
                "transform": {
                    "location": {
                        "x": 971.70703125,
                        "y": 3352.19677734375,
                        "z": 369.6452941894531
                    },
                    "rotation": {
                        "roll": -0.005737300030887127,
                        "pitch": -0.6495031714439392,
                        "yaw": -80.47100067138672
                    }
                },
                "velocity": {
                    "x": 1.3091731071472168,
                    "y": -7.853523254394531,
                    "z": -0.1058487519621849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.600537300109863,
                "transform": {
                    "location": {
                        "x": 970.8787841796875,
                        "y": 3315.065185546875,
                        "z": 369.1061096191406
                    },
                    "rotation": {
                        "roll": 0.002597202779725194,
                        "pitch": 1.0671145915985107,
                        "yaw": 98.59269714355469
                    }
                },
                "velocity": {
                    "x": -0.8402172923088074,
                    "y": 5.536350727081299,
                    "z": 0.09419731050729752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.938807964324951,
                "transform": {
                    "location": {
                        "x": 968.5770263671875,
                        "y": 3329.849609375,
                        "z": 369.33978271484375
                    },
                    "rotation": {
                        "roll": 0.014888882637023926,
                        "pitch": 1.024459958076477,
                        "yaw": 99.43972778320312
                    }
                },
                "velocity": {
                    "x": -1.1353437900543213,
                    "y": 6.844448566436768,
                    "z": 0.107586570084095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005292836111038923,
                "transform": {
                    "location": {
                        "x": 978.5166015625,
                        "y": 3270.0068359375,
                        "z": 368.1825256347656
                    },
                    "rotation": {
                        "roll": 0.00496520334854722,
                        "pitch": 0.8629328608512878,
                        "yaw": 93.39596557617188
                    }
                },
                "velocity": {
                    "x": -0.0003395230742171407,
                    "y": -0.005188326351344585,
                    "z": 0.000990003114566207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.592185020446777,
                "transform": {
                    "location": {
                        "x": 977.2799682617188,
                        "y": 3288.2197265625,
                        "z": 368.5866394042969
                    },
                    "rotation": {
                        "roll": -0.01708981581032276,
                        "pitch": 1.3866170644760132,
                        "yaw": 95.14122009277344
                    }
                },
                "velocity": {
                    "x": -0.9585562944412231,
                    "y": 10.546426773071289,
                    "z": 0.22007158398628235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.244683265686035,
                "transform": {
                    "location": {
                        "x": 974.072998046875,
                        "y": 3315.673583984375,
                        "z": 369.10858154296875
                    },
                    "rotation": {
                        "roll": 0.0017411826411262155,
                        "pitch": 1.0366382598876953,
                        "yaw": 98.57201385498047
                    }
                },
                "velocity": {
                    "x": -0.9344482421875,
                    "y": 6.1734771728515625,
                    "z": 0.10514333844184875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.132750511169434,
                "transform": {
                    "location": {
                        "x": 971.7777709960938,
                        "y": 3330.404052734375,
                        "z": 369.3440856933594
                    },
                    "rotation": {
                        "roll": 0.006552242673933506,
                        "pitch": 0.8399561047554016,
                        "yaw": 99.47957611083984
                    }
                },
                "velocity": {
                    "x": -0.8405590057373047,
                    "y": 5.0628156661987305,
                    "z": 0.08052363991737366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08015920966863632,
        "expert_target_speed": 6.175087626239346,
        "target_point": [
            49.52595642606836,
            2.1949737053598195
        ],
        "target_point_next": [
            100.42810716529706,
            5.35187793071694
        ]
    },
    "60": {
        "acceleration": [
            -0.03463029861450195,
            0.19565582275390625,
            0.004182159900665283
        ],
        "angular_velocity": [
            -1.7534904479980469,
            -0.09127658605575562,
            3.916750907897949
        ],
        "forward_vector": [
            -0.1011381670832634,
            0.9944766759872437,
            0.028057944029569626
        ],
        "right_vector": [
            -0.9948669075965881,
            -0.10119061917066574,
            0.00045255848090164363
        ],
        "location": [
            973.5301513671875,
            3294.52685546875,
            368.7165222167969
        ],
        "rotation": [
            -0.025939904153347015,
            1.607812762260437,
            95.8070068359375
        ],
        "velocity": [
            -0.57813960313797,
            5.5519328117370605,
            0.11158084869384766
        ],
        "speed": 5.581953363004667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.954795837402344,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.6911010742188,
                3316.29345703125,
                369.1262512207031
            ],
            "velocity": [
                -0.66624516248703,
                4.251179218292236,
                0.07032811641693115
            ],
            "speed_kmh": 15.493119122652656,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.012844793498516083,
                "transform": {
                    "location": {
                        "x": 976.1484375,
                        "y": 3276.568603515625,
                        "z": 368.3338928222656
                    },
                    "rotation": {
                        "roll": 0.14394140243530273,
                        "pitch": 1.2900041341781616,
                        "yaw": 99.8399429321289
                    }
                },
                "velocity": {
                    "x": 0.00015116084250621498,
                    "y": -0.0003985996590927243,
                    "z": 0.012837718240916729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.445079803466797,
                "transform": {
                    "location": {
                        "x": 975.2504272460938,
                        "y": 3350.6923828125,
                        "z": 369.6184387207031
                    },
                    "rotation": {
                        "roll": 0.00026346120284870267,
                        "pitch": -0.6824656128883362,
                        "yaw": -80.55240631103516
                    }
                },
                "velocity": {
                    "x": 1.3703759908676147,
                    "y": -8.332406044006348,
                    "z": -0.11156720668077469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.307310104370117,
                "transform": {
                    "location": {
                        "x": 972.050048828125,
                        "y": 3350.13525390625,
                        "z": 369.61810302734375
                    },
                    "rotation": {
                        "roll": -0.0005493922508321702,
                        "pitch": -0.711022675037384,
                        "yaw": -80.5920181274414
                    }
                },
                "velocity": {
                    "x": 1.34561288356781,
                    "y": -8.19686222076416,
                    "z": -0.11032342910766602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.303644180297852,
                "transform": {
                    "location": {
                        "x": 970.6911010742188,
                        "y": 3316.29345703125,
                        "z": 369.1262512207031
                    },
                    "rotation": {
                        "roll": 0.007259240839630365,
                        "pitch": 1.089100956916809,
                        "yaw": 98.66221618652344
                    }
                },
                "velocity": {
                    "x": -0.66624516248703,
                    "y": 4.251179218292236,
                    "z": 0.07032811641693115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.159402847290039,
                "transform": {
                    "location": {
                        "x": 968.2689819335938,
                        "y": 3331.71484375,
                        "z": 369.3679504394531
                    },
                    "rotation": {
                        "roll": 0.02327106148004532,
                        "pitch": 1.2950584888458252,
                        "yaw": 99.36756134033203
                    }
                },
                "velocity": {
                    "x": -1.319486379623413,
                    "y": 8.051029205322266,
                    "z": 0.12549783289432526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0018541127210482955,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009033203125,
                        "z": 368.18316650390625
                    },
                    "rotation": {
                        "roll": 0.011213934980332851,
                        "pitch": 1.2099884748458862,
                        "yaw": 93.39595794677734
                    }
                },
                "velocity": {
                    "x": -0.00015217866166494787,
                    "y": -0.0014000339433550835,
                    "z": 0.0012060186127200723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.32956314086914,
                "transform": {
                    "location": {
                        "x": 977.029052734375,
                        "y": 3290.927001953125,
                        "z": 368.64263916015625
                    },
                    "rotation": {
                        "roll": -0.014404268004000187,
                        "pitch": 1.3208833932876587,
                        "yaw": 95.36576843261719
                    }
                },
                "velocity": {
                    "x": -1.0578713417053223,
                    "y": 11.277674674987793,
                    "z": 0.23231488466262817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.969308376312256,
                "transform": {
                    "location": {
                        "x": 973.8798828125,
                        "y": 3316.9404296875,
                        "z": 369.1279296875
                    },
                    "rotation": {
                        "roll": 0.012181870639324188,
                        "pitch": 1.2263126373291016,
                        "yaw": 98.87225341796875
                    }
                },
                "velocity": {
                    "x": -0.4723147749900818,
                    "y": 2.9311294555664062,
                    "z": 0.0467953085899353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.572329044342041,
                "transform": {
                    "location": {
                        "x": 971.5527954101562,
                        "y": 3331.76806640625,
                        "z": 369.36578369140625
                    },
                    "rotation": {
                        "roll": 0.00953510869294405,
                        "pitch": 1.0688972473144531,
                        "yaw": 99.3129653930664
                    }
                },
                "velocity": {
                    "x": -1.0612919330596924,
                    "y": 6.485284328460693,
                    "z": 0.10125715285539627
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.074858158826828,
        "expert_target_speed": 6.586262870509903,
        "target_point": [
            48.1539988800566,
            2.009110507585884
        ],
        "target_point_next": [
            99.06755040539188,
            4.976477226457776
        ]
    },
    "65": {
        "acceleration": [
            0.22654175758361816,
            -1.3577079772949219,
            -0.04530757665634155
        ],
        "angular_velocity": [
            -1.6247377395629883,
            -0.3323628604412079,
            -3.4461727142333984
        ],
        "forward_vector": [
            -0.10275489836931229,
            0.9943915605545044,
            0.02503693476319313
        ],
        "right_vector": [
            -0.9947031140327454,
            -0.10278934240341187,
            8.945445733843371e-05
        ],
        "location": [
            973.372802734375,
            3296.04638671875,
            368.7473449707031
        ],
        "rotation": [
            -0.005126969888806343,
            1.4346606731414795,
            95.89968872070312
        ],
        "velocity": [
            -0.6250876188278198,
            6.071441650390625,
            0.12024471163749695
        ],
        "speed": 6.103534897525357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.577495574951172,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.5139770507812,
                3317.429931640625,
                369.1466979980469
            ],
            "velocity": [
                -0.7780545353889465,
                4.96931791305542,
                0.083493173122406
            ],
            "speed_kmh": 18.10998972842062,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.282936692237854,
                "transform": {
                    "location": {
                        "x": 976.1530151367188,
                        "y": 3276.719970703125,
                        "z": 368.33892822265625
                    },
                    "rotation": {
                        "roll": 0.2023736983537674,
                        "pitch": 1.4534846544265747,
                        "yaw": 98.50532531738281
                    }
                },
                "velocity": {
                    "x": 0.025598308071494102,
                    "y": 1.2822891473770142,
                    "z": 0.03171570599079132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.889239311218262,
                "transform": {
                    "location": {
                        "x": 975.5810546875,
                        "y": 3348.681396484375,
                        "z": 369.5919189453125
                    },
                    "rotation": {
                        "roll": -0.0007629698957316577,
                        "pitch": -0.7751171588897705,
                        "yaw": -80.67921447753906
                    }
                },
                "velocity": {
                    "x": 1.2734636068344116,
                    "y": -7.785010814666748,
                    "z": -0.10951894521713257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8635358810424805,
                "transform": {
                    "location": {
                        "x": 972.375,
                        "y": 3348.155029296875,
                        "z": 369.59173583984375
                    },
                    "rotation": {
                        "roll": -0.0009154904400929809,
                        "pitch": -0.781004786491394,
                        "yaw": -80.67118835449219
                    }
                },
                "velocity": {
                    "x": 1.2701367139816284,
                    "y": -7.759520053863525,
                    "z": -0.10860848426818848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.030552864074707,
                "transform": {
                    "location": {
                        "x": 970.5139770507812,
                        "y": 3317.429931640625,
                        "z": 369.1466979980469
                    },
                    "rotation": {
                        "roll": 0.0005336761241778731,
                        "pitch": 0.9124312400817871,
                        "yaw": 98.7655029296875
                    }
                },
                "velocity": {
                    "x": -0.7780545353889465,
                    "y": 4.96931791305542,
                    "z": 0.083493173122406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.199657440185547,
                "transform": {
                    "location": {
                        "x": 967.9326171875,
                        "y": 3333.76953125,
                        "z": 369.4007263183594
                    },
                    "rotation": {
                        "roll": 0.016044892370700836,
                        "pitch": 1.1115244626998901,
                        "yaw": 99.2892837524414
                    }
                },
                "velocity": {
                    "x": -1.3207056522369385,
                    "y": 8.091588973999023,
                    "z": 0.12765325605869293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000817366992123425,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009521484375,
                        "z": 368.1833190917969
                    },
                    "rotation": {
                        "roll": 0.013822611421346664,
                        "pitch": 1.2865275144577026,
                        "yaw": 93.39607238769531
                    }
                },
                "velocity": {
                    "x": -4.682525832322426e-05,
                    "y": -0.0003586225211620331,
                    "z": 0.0007329980144277215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.649163246154785,
                "transform": {
                    "location": {
                        "x": 976.7592163085938,
                        "y": 3293.693359375,
                        "z": 368.6985778808594
                    },
                    "rotation": {
                        "roll": -0.02606203779578209,
                        "pitch": 1.107112169265747,
                        "yaw": 95.7301254272461
                    }
                },
                "velocity": {
                    "x": -1.0642836093902588,
                    "y": 10.593706130981445,
                    "z": 0.21303240954875946
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.689762830734253,
                "transform": {
                    "location": {
                        "x": 973.7885131835938,
                        "y": 3317.521484375,
                        "z": 369.1389465332031
                    },
                    "rotation": {
                        "roll": 0.002565056551247835,
                        "pitch": 1.04584538936615,
                        "yaw": 98.90046691894531
                    }
                },
                "velocity": {
                    "x": -0.41579124331474304,
                    "y": 2.657066822052002,
                    "z": 0.04401731491088867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.926490306854248,
                "transform": {
                    "location": {
                        "x": 971.2544555664062,
                        "y": 3333.594970703125,
                        "z": 369.3944091796875
                    },
                    "rotation": {
                        "roll": 0.0028765753377228975,
                        "pitch": 1.1022149324417114,
                        "yaw": 99.27561950683594
                    }
                },
                "velocity": {
                    "x": -1.2762006521224976,
                    "y": 7.822124481201172,
                    "z": 0.12218837440013885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07755082845687866,
        "expert_target_speed": 7.048294377320434,
        "target_point": [
            46.629531973899205,
            1.9308277627830428
        ],
        "target_point_next": [
            97.5478205398778,
            4.8157686077524655
        ]
    },
    "70": {
        "acceleration": [
            0.05734682083129883,
            -0.2030467987060547,
            -0.010839849710464478
        ],
        "angular_velocity": [
            -0.3446648120880127,
            -0.08663331717252731,
            2.9211833477020264
        ],
        "forward_vector": [
            -0.10176762193441391,
            0.9946123957633972,
            0.019735483452677727
        ],
        "right_vector": [
            -0.994806170463562,
            -0.10178743302822113,
            -9.415670660928299e-07
        ],
        "location": [
            973.2241821289062,
            3297.50439453125,
            368.777099609375
        ],
        "rotation": [
            5.395833068178035e-05,
            1.130833387374878,
            95.84210968017578
        ],
        "velocity": [
            -0.5778531432151794,
            5.7291131019592285,
            0.11155717819929123
        ],
        "speed": 5.758181239780887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.42514991760254,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.3117065429688,
                3318.72705078125,
                369.1687316894531
            ],
            "velocity": [
                -0.8347498774528503,
                5.329526901245117,
                0.08726930618286133
            ],
            "speed_kmh": 19.422752442412154,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3362579345703125,
                "transform": {
                    "location": {
                        "x": 976.1729736328125,
                        "y": 3277.17919921875,
                        "z": 368.3494567871094
                    },
                    "rotation": {
                        "roll": 0.12728700041770935,
                        "pitch": 1.4574803113937378,
                        "yaw": 95.09297943115234
                    }
                },
                "velocity": {
                    "x": 0.10266992449760437,
                    "y": 2.333439826965332,
                    "z": 0.051170337945222855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068166732788086,
                "transform": {
                    "location": {
                        "x": 975.9005737304688,
                        "y": 3346.72900390625,
                        "z": 369.5643615722656
                    },
                    "rotation": {
                        "roll": -0.000976576004177332,
                        "pitch": -0.8163099884986877,
                        "yaw": -80.71110534667969
                    }
                },
                "velocity": {
                    "x": 1.3024591207504272,
                    "y": -7.961537837982178,
                    "z": -0.11323491483926773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.125408172607422,
                "transform": {
                    "location": {
                        "x": 972.6969604492188,
                        "y": 3346.1865234375,
                        "z": 369.56396484375
                    },
                    "rotation": {
                        "roll": -0.0010681243147701025,
                        "pitch": -0.8107229471206665,
                        "yaw": -80.74071502685547
                    }
                },
                "velocity": {
                    "x": 1.3070147037506104,
                    "y": -8.018787384033203,
                    "z": -0.11413463950157166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.395208835601807,
                "transform": {
                    "location": {
                        "x": 970.3117065429688,
                        "y": 3318.72705078125,
                        "z": 369.1687316894531
                    },
                    "rotation": {
                        "roll": 0.0005953647778369486,
                        "pitch": 0.8855066299438477,
                        "yaw": 98.8635482788086
                    }
                },
                "velocity": {
                    "x": -0.8347498774528503,
                    "y": 5.329526901245117,
                    "z": 0.08726930618286133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.781542778015137,
                "transform": {
                    "location": {
                        "x": 967.6144409179688,
                        "y": 3335.719970703125,
                        "z": 369.4323425292969
                    },
                    "rotation": {
                        "roll": 0.009151394478976727,
                        "pitch": 0.845345139503479,
                        "yaw": 99.26114654541016
                    }
                },
                "velocity": {
                    "x": -1.251082181930542,
                    "y": 7.679371356964111,
                    "z": 0.12024703621864319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008745105005800724,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009521484375,
                        "z": 368.183349609375
                    },
                    "rotation": {
                        "roll": 0.015526074916124344,
                        "pitch": 1.307714819908142,
                        "yaw": 93.39617156982422
                    }
                },
                "velocity": {
                    "x": -8.604954473412363e-07,
                    "y": -0.0001917938789119944,
                    "z": 0.0008532191859558225
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.69416618347168,
                "transform": {
                    "location": {
                        "x": 976.4974975585938,
                        "y": 3296.25146484375,
                        "z": 368.74932861328125
                    },
                    "rotation": {
                        "roll": -0.020019594579935074,
                        "pitch": 0.9974876046180725,
                        "yaw": 95.90763854980469
                    }
                },
                "velocity": {
                    "x": -0.9976791739463806,
                    "y": 9.64082145690918,
                    "z": 0.18989624083042145
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6672794818878174,
                "transform": {
                    "location": {
                        "x": 973.666015625,
                        "y": 3318.303955078125,
                        "z": 369.15350341796875
                    },
                    "rotation": {
                        "roll": 0.001448134076781571,
                        "pitch": 0.8537394404411316,
                        "yaw": 98.89642333984375
                    }
                },
                "velocity": {
                    "x": -0.5656440258026123,
                    "y": 3.622894763946533,
                    "z": 0.06015985459089279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.269827842712402,
                "transform": {
                    "location": {
                        "x": 970.9221801757812,
                        "y": 3335.630615234375,
                        "z": 369.4261169433594
                    },
                    "rotation": {
                        "roll": 0.002686579478904605,
                        "pitch": 0.981839656829834,
                        "yaw": 99.27066040039062
                    }
                },
                "velocity": {
                    "x": -1.3319581747055054,
                    "y": 8.160862922668457,
                    "z": 0.1274755895137787
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08412113040685654,
        "expert_target_speed": 6.743647833414229,
        "target_point": [
            45.162002364740395,
            1.9783106671632176
        ],
        "target_point_next": [
            96.07736184396865,
            4.914492417021297
        ]
    },
    "75": {
        "acceleration": [
            0.5899184942245483,
            -5.729522705078125,
            -0.08984223008155823
        ],
        "angular_velocity": [
            -1.2613621950149536,
            -0.06570133566856384,
            -0.28588977456092834
        ],
        "forward_vector": [
            -0.10018791258335114,
            0.9948806166648865,
            0.013224096037447453
        ],
        "right_vector": [
            -0.9949676394462585,
            -0.10019680857658386,
            1.0118818863702472e-05
        ],
        "location": [
            973.100341796875,
            3298.742431640625,
            368.8023376464844
        ],
        "rotation": [
            -0.0005798163474537432,
            0.7577069997787476,
            95.75049591064453
        ],
        "velocity": [
            -0.42025309801101685,
            4.247154235839844,
            0.08111964911222458
        ],
        "speed": 4.267895473110862,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.606138229370117,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.0916748046875,
                3320.134521484375,
                369.19171142578125
            ],
            "velocity": [
                -0.9112188220024109,
                5.806689739227295,
                0.0958547592163086
            ],
            "speed_kmh": 21.162719832500763,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8857128620147705,
                "transform": {
                    "location": {
                        "x": 976.2255249023438,
                        "y": 3277.95703125,
                        "z": 368.3669738769531
                    },
                    "rotation": {
                        "roll": 0.055417757481336594,
                        "pitch": 1.5127980709075928,
                        "yaw": 90.82608032226562
                    }
                },
                "velocity": {
                    "x": 0.29129526019096375,
                    "y": 3.8738343715667725,
                    "z": 0.08554567396640778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.097947120666504,
                "transform": {
                    "location": {
                        "x": 976.2271728515625,
                        "y": 3344.7216796875,
                        "z": 369.5352783203125
                    },
                    "rotation": {
                        "roll": 0.0008121822611428797,
                        "pitch": -0.8215009570121765,
                        "yaw": -80.76746368408203
                    }
                },
                "velocity": {
                    "x": 1.2956607341766357,
                    "y": -7.992772102355957,
                    "z": -0.11666323244571686
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067428588867188,
                "transform": {
                    "location": {
                        "x": 973.0225830078125,
                        "y": 3344.180908203125,
                        "z": 369.534912109375
                    },
                    "rotation": {
                        "roll": -0.0005493271164596081,
                        "pitch": -0.8271153569221497,
                        "yaw": -80.75957489013672
                    }
                },
                "velocity": {
                    "x": 1.2926687002182007,
                    "y": -7.96234655380249,
                    "z": -0.1159823015332222
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.878533363342285,
                "transform": {
                    "location": {
                        "x": 970.0916748046875,
                        "y": 3320.134521484375,
                        "z": 369.19171142578125
                    },
                    "rotation": {
                        "roll": -0.0006714409100823104,
                        "pitch": 0.8921797275543213,
                        "yaw": 98.93524932861328
                    }
                },
                "velocity": {
                    "x": -0.9112188220024109,
                    "y": 5.806689739227295,
                    "z": 0.0958547592163086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039325714111328,
                "transform": {
                    "location": {
                        "x": 967.2957763671875,
                        "y": 3337.68408203125,
                        "z": 369.4618225097656
                    },
                    "rotation": {
                        "roll": 0.009303919039666653,
                        "pitch": 0.910757839679718,
                        "yaw": 99.21510314941406
                    }
                },
                "velocity": {
                    "x": -1.285848617553711,
                    "y": 7.934930324554443,
                    "z": 0.11931247264146805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00029179410194046795,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009521484375,
                        "z": 368.183349609375
                    },
                    "rotation": {
                        "roll": 0.014876854605972767,
                        "pitch": 1.3129125833511353,
                        "yaw": 93.39622497558594
                    }
                },
                "velocity": {
                    "x": 1.086003157979576e-05,
                    "y": -9.204447269439697e-05,
                    "z": 0.0002766833349596709
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.376758575439453,
                "transform": {
                    "location": {
                        "x": 976.2470092773438,
                        "y": 3298.5771484375,
                        "z": 368.7948303222656
                    },
                    "rotation": {
                        "roll": -0.02893064171075821,
                        "pitch": 1.0371367931365967,
                        "yaw": 96.27385711669922
                    }
                },
                "velocity": {
                    "x": -1.032490849494934,
                    "y": 9.317973136901855,
                    "z": 0.18150214850902557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.768650531768799,
                "transform": {
                    "location": {
                        "x": 973.5017700195312,
                        "y": 3319.353271484375,
                        "z": 369.17108154296875
                    },
                    "rotation": {
                        "roll": 0.0006068542716093361,
                        "pitch": 0.8149644732475281,
                        "yaw": 98.89640808105469
                    }
                },
                "velocity": {
                    "x": -0.737270712852478,
                    "y": 4.710688591003418,
                    "z": 0.07663030177354813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09168636798858643,
        "expert_target_speed": 5.300351593708687,
        "target_point": [
            43.91456785360177,
            2.0513129712662836
        ],
        "target_point_next": [
            94.82516994626393,
            5.068859777839709
        ]
    },
    "80": {
        "acceleration": [
            0.3338974714279175,
            -3.3176374435424805,
            -0.06084054708480835
        ],
        "angular_velocity": [
            0.1641256958246231,
            0.12718962132930756,
            -0.8010081648826599
        ],
        "forward_vector": [
            -0.09909026324748993,
            0.9950091242790222,
            0.011751262471079826
        ],
        "right_vector": [
            -0.9950775504112244,
            -0.09909925609827042,
            0.0001842784695327282
        ],
        "location": [
            973.00927734375,
            3299.66552734375,
            368.8203430175781
        ],
        "rotation": [
            -0.010559107176959515,
            0.6733132004737854,
            95.68717956542969
        ],
        "velocity": [
            -0.3200090229511261,
            3.2644057273864746,
            0.06281974911689758
        ],
        "speed": 3.2800534336750906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.43235206604004,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.8187255859375,
                3321.8662109375,
                369.2209167480469
            ],
            "velocity": [
                -1.2122122049331665,
                7.6390533447265625,
                0.12463073432445526
            ],
            "speed_kmh": 27.848304242858955,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2754974365234375,
                "transform": {
                    "location": {
                        "x": 976.337158203125,
                        "y": 3279.107177734375,
                        "z": 368.3927307128906
                    },
                    "rotation": {
                        "roll": -0.03823855519294739,
                        "pitch": 1.4956269264221191,
                        "yaw": 86.6975326538086
                    }
                },
                "velocity": {
                    "x": 0.5615794658660889,
                    "y": 5.244162082672119,
                    "z": 0.11943362653255463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018425941467285,
                "transform": {
                    "location": {
                        "x": 976.5488891601562,
                        "y": 3342.73876953125,
                        "z": 369.5064392089844
                    },
                    "rotation": {
                        "roll": 1.5502955648116767e-05,
                        "pitch": -0.8304075002670288,
                        "yaw": -80.78852844238281
                    }
                },
                "velocity": {
                    "x": 1.280966877937317,
                    "y": -7.914604187011719,
                    "z": -0.11542415618896484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021040916442871,
                "transform": {
                    "location": {
                        "x": 973.3435668945312,
                        "y": 3342.202392578125,
                        "z": 369.5061340332031
                    },
                    "rotation": {
                        "roll": -0.0005493538919836283,
                        "pitch": -0.8278462290763855,
                        "yaw": -80.8139419555664
                    }
                },
                "velocity": {
                    "x": 1.2828104496002197,
                    "y": -7.916959762573242,
                    "z": -0.11510682851076126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.735640048980713,
                "transform": {
                    "location": {
                        "x": 969.8187255859375,
                        "y": 3321.8662109375,
                        "z": 369.2209167480469
                    },
                    "rotation": {
                        "roll": 0.0007024257211014628,
                        "pitch": 0.7706024050712585,
                        "yaw": 98.96570587158203
                    }
                },
                "velocity": {
                    "x": -1.2122122049331665,
                    "y": 7.6390533447265625,
                    "z": 0.12463073432445526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.012311935424805,
                "transform": {
                    "location": {
                        "x": 966.9939575195312,
                        "y": 3339.546875,
                        "z": 369.4906311035156
                    },
                    "rotation": {
                        "roll": 0.005149069242179394,
                        "pitch": 0.5982425808906555,
                        "yaw": 99.19842529296875
                    }
                },
                "velocity": {
                    "x": -1.1194192171096802,
                    "y": 6.921646595001221,
                    "z": 0.1011362075805664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006597550236620009,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009521484375,
                        "z": 368.183349609375
                    },
                    "rotation": {
                        "roll": 0.015614078380167484,
                        "pitch": 1.314176082611084,
                        "yaw": 93.39627838134766
                    }
                },
                "velocity": {
                    "x": -8.145338142639957e-06,
                    "y": -8.277043525595218e-05,
                    "z": 0.0006544917123392224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.860526084899902,
                "transform": {
                    "location": {
                        "x": 975.9874877929688,
                        "y": 3300.88330078125,
                        "z": 368.8389892578125
                    },
                    "rotation": {
                        "roll": -0.01980590634047985,
                        "pitch": 1.0063668489456177,
                        "yaw": 96.4635009765625
                    }
                },
                "velocity": {
                    "x": -0.9998354911804199,
                    "y": 8.802329063415527,
                    "z": 0.16809840500354767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.233475208282471,
                "transform": {
                    "location": {
                        "x": 973.3028564453125,
                        "y": 3320.623291015625,
                        "z": 369.1917419433594
                    },
                    "rotation": {
                        "roll": -0.0027160265017300844,
                        "pitch": 0.8604671955108643,
                        "yaw": 98.88591766357422
                    }
                },
                "velocity": {
                    "x": -0.8098992109298706,
                    "y": 5.169733047485352,
                    "z": 0.08476793020963669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09668289870023727,
        "expert_target_speed": 4.380355335807749,
        "target_point": [
            42.98469846148267,
            2.1006904060656746
        ],
        "target_point_next": [
            93.89193560138,
            5.174483006339097
        ]
    },
    "85": {
        "acceleration": [
            0.2582290768623352,
            -2.687234878540039,
            -0.05483701825141907
        ],
        "angular_velocity": [
            0.2649446725845337,
            0.04756709560751915,
            0.7192746996879578
        ],
        "forward_vector": [
            -0.09849777072668076,
            0.9950547218322754,
            0.012821918353438377
        ],
        "right_vector": [
            -0.9951360821723938,
            -0.09850966930389404,
            0.0002982490696012974
        ],
        "location": [
            972.93896484375,
            3300.3828125,
            368.83392333984375
        ],
        "rotation": [
            -0.01708981767296791,
            0.7346619367599487,
            95.65313720703125
        ],
        "velocity": [
            -0.24611981213092804,
            2.524613618850708,
            0.04810040444135666
        ],
        "speed": 2.5365821268805453,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.73440933227539,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.5017700195312,
                3323.86328125,
                369.2527770996094
            ],
            "velocity": [
                -1.2762582302093506,
                8.022310256958008,
                0.12928025424480438
            ],
            "speed_kmh": 29.24720522817831,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.3181762695312,
                        "y": 3380.857666015625,
                        "z": 370.3842468261719
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.33512020111084,
                "transform": {
                    "location": {
                        "x": 976.497314453125,
                        "y": 3280.42529296875,
                        "z": 368.42120361328125
                    },
                    "rotation": {
                        "roll": -0.14636240899562836,
                        "pitch": 1.3210883140563965,
                        "yaw": 83.90230560302734
                    }
                },
                "velocity": {
                    "x": 0.689307689666748,
                    "y": 5.289156436920166,
                    "z": 0.1148361787199974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058127403259277,
                "transform": {
                    "location": {
                        "x": 976.869873046875,
                        "y": 3340.755615234375,
                        "z": 369.47747802734375
                    },
                    "rotation": {
                        "roll": 2.2147029085317627e-05,
                        "pitch": -0.8213779926300049,
                        "yaw": -80.8088607788086
                    }
                },
                "velocity": {
                    "x": 1.2841721773147583,
                    "y": -7.9543046951293945,
                    "z": -0.11555089056491852
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083271026611328,
                "transform": {
                    "location": {
                        "x": 973.6654663085938,
                        "y": 3340.21240234375,
                        "z": 369.47711181640625
                    },
                    "rotation": {
                        "roll": -0.00039672537241131067,
                        "pitch": -0.8219859004020691,
                        "yaw": -80.79124450683594
                    }
                },
                "velocity": {
                    "x": 1.289361834526062,
                    "y": -7.97894811630249,
                    "z": -0.11492157727479935
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.124223709106445,
                "transform": {
                    "location": {
                        "x": 969.5017700195312,
                        "y": 3323.86328125,
                        "z": 369.2527770996094
                    },
                    "rotation": {
                        "roll": -0.00015262860688380897,
                        "pitch": 0.8442044854164124,
                        "yaw": 99.01468658447266
                    }
                },
                "velocity": {
                    "x": -1.2762582302093506,
                    "y": 8.022310256958008,
                    "z": 0.12928025424480438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.826777935028076,
                "transform": {
                    "location": {
                        "x": 966.7610473632812,
                        "y": 3340.98486328125,
                        "z": 369.513671875
                    },
                    "rotation": {
                        "roll": 0.0025938169565051794,
                        "pitch": -0.05386286973953247,
                        "yaw": 99.15725708007812
                    }
                },
                "velocity": {
                    "x": -0.6095608472824097,
                    "y": 3.7775793075561523,
                    "z": 0.05058455467224121
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027685193344950676,
                "transform": {
                    "location": {
                        "x": 978.5164794921875,
                        "y": 3270.009521484375,
                        "z": 368.183349609375
                    },
                    "rotation": {
                        "roll": 0.015471621416509151,
                        "pitch": 1.3145859241485596,
                        "yaw": 93.39628601074219
                    }
                },
                "velocity": {
                    "x": -7.994919542397838e-06,
                    "y": -7.619440293638036e-05,
                    "z": 0.0002660403843037784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.794760227203369,
                "transform": {
                    "location": {
                        "x": 975.7489624023438,
                        "y": 3302.927001953125,
                        "z": 368.8774108886719
                    },
                    "rotation": {
                        "roll": -0.026550333946943283,
                        "pitch": 0.9264809489250183,
                        "yaw": 96.75578308105469
                    }
                },
                "velocity": {
                    "x": -0.9303027987480164,
                    "y": 7.7376837730407715,
                    "z": 0.14517095685005188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.847776889801025,
                "transform": {
                    "location": {
                        "x": 973.0848388671875,
                        "y": 3322.0087890625,
                        "z": 369.2141418457031
                    },
                    "rotation": {
                        "roll": 0.00015687211998738348,
                        "pitch": 0.8657059669494629,
                        "yaw": 98.92005157470703
                    }
                },
                "velocity": {
                    "x": -0.9164102077484131,
                    "y": 5.774768352508545,
                    "z": 0.0934639498591423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.1094970703125,
                        "y": 3380.341064453125,
                        "z": 370.3842468261719
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10142733156681061,
        "expert_target_speed": 3.667300060173339,
        "target_point": [
            42.26271945353367,
            2.1269257267514714
        ],
        "target_point_next": [
            93.16812060795087,
            5.23097589952563
        ]
    },
    "90": {
        "acceleration": [
            -0.14190256595611572,
            1.1902904510498047,
            0.01653917133808136
        ],
        "angular_velocity": [
            1.1190648078918457,
            0.08211579918861389,
            -0.7333067655563354
        ],
        "forward_vector": [
            -0.09839198738336563,
            0.9950253963470459,
            0.015607199631631374
        ],
        "right_vector": [
            -0.995145857334137,
            -0.09841044247150421,
            0.0004175333306193352
        ],
        "location": [
            972.8806762695312,
            3300.9716796875,
            368.84466552734375
        ],
        "rotation": [
            -0.023925811052322388,
            0.894262969493866,
            95.64727020263672
        ],
        "velocity": [
            -0.23638661205768585,
            2.364180088043213,
            0.04587941989302635
        ],
        "speed": 2.375968459188826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.05274772644043,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.2020874023438,
                3325.7490234375,
                369.2820739746094
            ],
            "velocity": [
                -1.0525667667388916,
                6.6146979331970215,
                0.10744668543338776
            ],
            "speed_kmh": 24.11561252707025,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.6474609375,
                        "y": 3378.8095703125,
                        "z": 370.1812744140625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.337948322296143,
                "transform": {
                    "location": {
                        "x": 976.7205200195312,
                        "y": 3282.002685546875,
                        "z": 368.4557189941406
                    },
                    "rotation": {
                        "roll": -0.18954461812973022,
                        "pitch": 1.4867067337036133,
                        "yaw": 82.28341674804688
                    }
                },
                "velocity": {
                    "x": 1.0667002201080322,
                    "y": 7.2583231925964355,
                    "z": 0.15615659952163696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08271598815918,
                "transform": {
                    "location": {
                        "x": 977.1920776367188,
                        "y": 3338.76171875,
                        "z": 369.447998046875
                    },
                    "rotation": {
                        "roll": -0.0014038382796570659,
                        "pitch": -0.8499487042427063,
                        "yaw": -80.82215881347656
                    }
                },
                "velocity": {
                    "x": 1.288988471031189,
                    "y": -7.978326797485352,
                    "z": -0.1229216530919075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.047986030578613,
                "transform": {
                    "location": {
                        "x": 973.9869995117188,
                        "y": 3338.222412109375,
                        "z": 369.4476623535156
                    },
                    "rotation": {
                        "roll": 0.0006323960842564702,
                        "pitch": -0.8525919914245605,
                        "yaw": -80.84471130371094
                    }
                },
                "velocity": {
                    "x": 1.2801052331924438,
                    "y": -7.944569110870361,
                    "z": -0.12341973930597305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.698781490325928,
                "transform": {
                    "location": {
                        "x": 969.2020874023438,
                        "y": 3325.7490234375,
                        "z": 369.2820739746094
                    },
                    "rotation": {
                        "roll": -0.0011901840334758162,
                        "pitch": 1.006872296333313,
                        "yaw": 99.0282211303711
                    }
                },
                "velocity": {
                    "x": -1.0525667667388916,
                    "y": 6.6146979331970215,
                    "z": 0.10744668543338776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8209989070892334,
                "transform": {
                    "location": {
                        "x": 966.6173095703125,
                        "y": 3341.876708984375,
                        "z": 369.5252380371094
                    },
                    "rotation": {
                        "roll": 0.0019378315191715956,
                        "pitch": 0.2542605996131897,
                        "yaw": 99.15080261230469
                    }
                },
                "velocity": {
                    "x": -0.6074275374412537,
                    "y": 3.7720136642456055,
                    "z": 0.05455503240227699
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.29380667209625244,
                "transform": {
                    "location": {
                        "x": 978.5150756835938,
                        "y": 3270.03271484375,
                        "z": 368.1839294433594
                    },
                    "rotation": {
                        "roll": 0.013809118419885635,
                        "pitch": 1.3462575674057007,
                        "yaw": 93.36456298828125
                    }
                },
                "velocity": {
                    "x": -0.016737550497055054,
                    "y": 0.2932615876197815,
                    "z": 0.0063134669326245785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.995445251464844,
                "transform": {
                    "location": {
                        "x": 975.512451171875,
                        "y": 3304.85986328125,
                        "z": 368.9136962890625
                    },
                    "rotation": {
                        "roll": -0.015289297327399254,
                        "pitch": 1.0430859327316284,
                        "yaw": 96.99637603759766
                    }
                },
                "velocity": {
                    "x": -0.9810509085655212,
                    "y": 7.9336724281311035,
                    "z": 0.14672663807868958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.38182258605957,
                "transform": {
                    "location": {
                        "x": 972.8274536132812,
                        "y": 3323.63525390625,
                        "z": 369.24127197265625
                    },
                    "rotation": {
                        "roll": -0.001007035723887384,
                        "pitch": 0.7655138969421387,
                        "yaw": 98.98477172851562
                    }
                },
                "velocity": {
                    "x": -1.157693862915039,
                    "y": 7.289507865905762,
                    "z": 0.1188492551445961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.4387817382812,
                        "y": 3378.29296875,
                        "z": 370.1812744140625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10316089540719986,
        "expert_target_speed": 3.5129796655097527,
        "target_point": [
            41.67075569293895,
            2.1312097848841036
        ],
        "target_point_next": [
            92.5758376113414,
            5.240490899221269
        ]
    },
    "95": {
        "acceleration": [
            -0.5114293098449707,
            4.702720642089844,
            0.09971827268600464
        ],
        "angular_velocity": [
            1.4654309749603271,
            0.19554226100444794,
            0.6807252168655396
        ],
        "forward_vector": [
            -0.09907027333974838,
            0.9948431849479675,
            0.021724896505475044
        ],
        "right_vector": [
            -0.9950769543647766,
            -0.09910375624895096,
            0.0004675406380556524
        ],
        "location": [
            972.8114013671875,
            3301.662353515625,
            368.8565673828125
        ],
        "rotation": [
            -0.02679443173110485,
            1.2448428869247437,
            95.68698120117188
        ],
        "velocity": [
            -0.3276284635066986,
            3.235917806625366,
            0.06129150092601776
        ],
        "speed": 3.252461292826539,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.696199417114258,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.9912109375,
                3327.069091796875,
                369.30194091796875
            ],
            "velocity": [
                -0.5607277750968933,
                3.502354860305786,
                0.05287380889058113
            ],
            "speed_kmh": 12.770464476690462,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.9772338867188,
                        "y": 3376.76171875,
                        "z": 369.9783630371094
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.473041534423828,
                "transform": {
                    "location": {
                        "x": 976.8871459960938,
                        "y": 3283.97119140625,
                        "z": 368.4977111816406
                    },
                    "rotation": {
                        "roll": -0.41033935546875,
                        "pitch": 1.4263415336608887,
                        "yaw": 85.85791015625
                    }
                },
                "velocity": {
                    "x": 0.4496907591819763,
                    "y": 8.459156036376953,
                    "z": 0.18135406076908112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017597198486328,
                "transform": {
                    "location": {
                        "x": 977.5123901367188,
                        "y": 3336.778076171875,
                        "z": 369.4176025390625
                    },
                    "rotation": {
                        "roll": 0.00035737454891204834,
                        "pitch": -0.8950142860412598,
                        "yaw": -80.83116149902344
                    }
                },
                "velocity": {
                    "x": 1.2772458791732788,
                    "y": -7.9142303466796875,
                    "z": -0.12439622730016708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056878089904785,
                "transform": {
                    "location": {
                        "x": 974.3073120117188,
                        "y": 3336.236572265625,
                        "z": 369.4171447753906
                    },
                    "rotation": {
                        "roll": -0.0008544644224457443,
                        "pitch": -0.8933681845664978,
                        "yaw": -80.81602478027344
                    }
                },
                "velocity": {
                    "x": 1.283514380455017,
                    "y": -7.953021049499512,
                    "z": -0.12382616102695465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.547351360321045,
                "transform": {
                    "location": {
                        "x": 968.9912109375,
                        "y": 3327.069091796875,
                        "z": 369.30194091796875
                    },
                    "rotation": {
                        "roll": -0.0008239547023549676,
                        "pitch": 1.1635568141937256,
                        "yaw": 99.05703735351562
                    }
                },
                "velocity": {
                    "x": -0.5607277750968933,
                    "y": 3.502354860305786,
                    "z": 0.05287380889058113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.095673084259033,
                "transform": {
                    "location": {
                        "x": 966.4555053710938,
                        "y": 3342.880859375,
                        "z": 369.53802490234375
                    },
                    "rotation": {
                        "roll": 0.00041982607217505574,
                        "pitch": 0.7529600262641907,
                        "yaw": 99.15313720703125
                    }
                },
                "velocity": {
                    "x": -0.6514511108398438,
                    "y": 4.043087959289551,
                    "z": 0.059893473982810974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1085013151168823,
                "transform": {
                    "location": {
                        "x": 978.5054321289062,
                        "y": 3270.208740234375,
                        "z": 368.18804931640625
                    },
                    "rotation": {
                        "roll": 0.012422226369380951,
                        "pitch": 1.4213759899139404,
                        "yaw": 93.25090026855469
                    }
                },
                "velocity": {
                    "x": -0.061722930520772934,
                    "y": 1.106497883796692,
                    "z": 0.025059575214982033
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.171822547912598,
                "transform": {
                    "location": {
                        "x": 975.2587890625,
                        "y": 3306.887939453125,
                        "z": 368.9508056640625
                    },
                    "rotation": {
                        "roll": -0.022338837385177612,
                        "pitch": 1.0569648742675781,
                        "yaw": 97.18046569824219
                    }
                },
                "velocity": {
                    "x": -1.0401804447174072,
                    "y": 8.10397720336914,
                    "z": 0.14919066429138184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.290863990783691,
                "transform": {
                    "location": {
                        "x": 972.5159912109375,
                        "y": 3325.59814453125,
                        "z": 369.2728576660156
                    },
                    "rotation": {
                        "roll": -0.0030517999548465014,
                        "pitch": 0.8120684623718262,
                        "yaw": 99.0135726928711
                    }
                },
                "velocity": {
                    "x": -1.3013569116592407,
                    "y": 8.187029838562012,
                    "z": 0.13203313946723938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.7685546875,
                        "y": 3376.244873046875,
                        "z": 369.9783020019531
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10459423810243607,
        "expert_target_speed": 4.35977669215327,
        "target_point": [
            40.97808217406911,
            2.101864791295463
        ],
        "target_point_next": [
            91.88530465640241,
            5.1759001361568355
        ]
    },
    "100": {
        "acceleration": [
            -0.5636030435562134,
            4.865713119506836,
            0.10141327977180481
        ],
        "angular_velocity": [
            0.5937743782997131,
            0.09424681216478348,
            0.6658119559288025
        ],
        "forward_vector": [
            -0.10117790848016739,
            0.9945153594017029,
            0.026500100269913673
        ],
        "right_vector": [
            -0.9948624968528748,
            -0.10123274475336075,
            0.0007326453342102468
        ],
        "location": [
            972.710205078125,
            3302.641845703125,
            368.8739318847656
        ],
        "rotation": [
            -0.04199223592877388,
            1.5185216665267944,
            95.80905151367188
        ],
        "velocity": [
            -0.4739411473274231,
            4.501573085784912,
            0.08452720195055008
        ],
        "speed": 4.526453408331199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.25395965576172,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.9057006835938,
                3327.603759765625,
                369.31103515625
            ],
            "velocity": [
                -0.3643498122692108,
                2.2732086181640625,
                0.0368313193321228
            ],
            "speed_kmh": 8.28906137057129,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.3081665039062,
                        "y": 3374.70458984375,
                        "z": 369.9452209472656
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.609513282775879,
                "transform": {
                    "location": {
                        "x": 976.961669921875,
                        "y": 3286.236083984375,
                        "z": 368.545654296875
                    },
                    "rotation": {
                        "roll": -0.29916372895240784,
                        "pitch": 1.3969444036483765,
                        "yaw": 88.5832748413086
                    }
                },
                "velocity": {
                    "x": 0.20406535267829895,
                    "y": 9.605219841003418,
                    "z": 0.20212100446224213
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.092466354370117,
                "transform": {
                    "location": {
                        "x": 977.833251953125,
                        "y": 3334.7890625,
                        "z": 369.3863220214844
                    },
                    "rotation": {
                        "roll": 0.0010022374335676432,
                        "pitch": -0.8891881108283997,
                        "yaw": -80.83918762207031
                    }
                },
                "velocity": {
                    "x": 1.2861765623092651,
                    "y": -7.9886040687561035,
                    "z": -0.12632188200950623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.062067985534668,
                "transform": {
                    "location": {
                        "x": 974.6283569335938,
                        "y": 3334.246826171875,
                        "z": 369.3858947753906
                    },
                    "rotation": {
                        "roll": -0.00036628631642088294,
                        "pitch": -0.8894340395927429,
                        "yaw": -80.85963439941406
                    }
                },
                "velocity": {
                    "x": 1.2827807664871216,
                    "y": -7.95839262008667,
                    "z": -0.12411592155694962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3025171756744385,
                "transform": {
                    "location": {
                        "x": 968.9057006835938,
                        "y": 3327.603759765625,
                        "z": 369.31103515625
                    },
                    "rotation": {
                        "roll": -0.0003662247909232974,
                        "pitch": 1.0597447156906128,
                        "yaw": 99.06497192382812
                    }
                },
                "velocity": {
                    "x": -0.3643498122692108,
                    "y": 2.2732086181640625,
                    "z": 0.0368313193321228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.527740955352783,
                "transform": {
                    "location": {
                        "x": 966.2890625,
                        "y": 3343.91357421875,
                        "z": 369.5525817871094
                    },
                    "rotation": {
                        "roll": 0.0005497390520758927,
                        "pitch": 0.9074520468711853,
                        "yaw": 99.1551284790039
                    }
                },
                "velocity": {
                    "x": -0.720296323299408,
                    "y": 4.469604015350342,
                    "z": 0.06520441174507141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9750674962997437,
                "transform": {
                    "location": {
                        "x": 978.48388671875,
                        "y": 3270.593017578125,
                        "z": 368.1968994140625
                    },
                    "rotation": {
                        "roll": 0.014244969002902508,
                        "pitch": 1.4495915174484253,
                        "yaw": 93.32027435302734
                    }
                },
                "velocity": {
                    "x": -0.11080154031515121,
                    "y": 1.9714411497116089,
                    "z": 0.045108478516340256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.935444355010986,
                "transform": {
                    "location": {
                        "x": 974.9976196289062,
                        "y": 3308.87548828125,
                        "z": 368.9864807128906
                    },
                    "rotation": {
                        "roll": -0.021209709346294403,
                        "pitch": 0.9952131509780884,
                        "yaw": 97.51612854003906
                    }
                },
                "velocity": {
                    "x": -1.0471477508544922,
                    "y": 7.864774227142334,
                    "z": 0.14171546697616577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.975061416625977,
                "transform": {
                    "location": {
                        "x": 972.19482421875,
                        "y": 3327.6142578125,
                        "z": 369.3045349121094
                    },
                    "rotation": {
                        "roll": -9.152558777714148e-05,
                        "pitch": 0.917362630367279,
                        "yaw": 99.05359649658203
                    }
                },
                "velocity": {
                    "x": -1.2598652839660645,
                    "y": 7.87391471862793,
                    "z": 0.1257532835006714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.0994873046875,
                        "y": 3374.1875,
                        "z": 369.9452209472656
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10369451344013214,
        "expert_target_speed": 5.554648441885446,
        "target_point": [
            39.99776495152303,
            2.012968768121251
        ],
        "target_point_next": [
            90.91142468671387,
            4.978478258317708
        ]
    },
    "105": {
        "acceleration": [
            -0.06963133811950684,
            -0.2122783660888672,
            -0.034901052713394165
        ],
        "angular_velocity": [
            -1.3072528839111328,
            -0.04012453183531761,
            0.9436443448066711
        ],
        "forward_vector": [
            -0.10472645610570908,
            0.9941331148147583,
            0.027048982679843903
        ],
        "right_vector": [
            -0.9944943189620972,
            -0.1047869324684143,
            0.000824212038423866
        ],
        "location": [
            972.57373046875,
            3303.9189453125,
            368.8980407714844
        ],
        "rotation": [
            -0.04724116250872612,
            1.5499815940856934,
            96.01361846923828
        ],
        "velocity": [
            -0.5926228761672974,
            5.432600021362305,
            0.10206401348114014
        ],
        "speed": 5.4648279813240705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.65941619873047,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.796875,
                3328.28369140625,
                369.32379150390625
            ],
            "velocity": [
                -0.5076805949211121,
                3.1659278869628906,
                0.04994019493460655
            ],
            "speed_kmh": 11.54434907714273,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.977362632751465,
                "transform": {
                    "location": {
                        "x": 971.6329345703125,
                        "y": 3372.688720703125,
                        "z": 369.91131591796875
                    },
                    "rotation": {
                        "roll": -0.004577663727104664,
                        "pitch": -0.7793586850166321,
                        "yaw": -80.84562683105469
                    }
                },
                "velocity": {
                    "x": 1.1210718154907227,
                    "y": -6.885640621185303,
                    "z": -0.12139485776424408
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.498846054077148,
                "transform": {
                    "location": {
                        "x": 976.9415893554688,
                        "y": 3288.77587890625,
                        "z": 368.59869384765625
                    },
                    "rotation": {
                        "roll": -0.313934326171875,
                        "pitch": 1.351824164390564,
                        "yaw": 91.39203643798828
                    }
                },
                "velocity": {
                    "x": -0.31552934646606445,
                    "y": 10.491872787475586,
                    "z": 0.21635976433753967
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02476978302002,
                "transform": {
                    "location": {
                        "x": 978.1536254882812,
                        "y": 3332.80029296875,
                        "z": 369.3550720214844
                    },
                    "rotation": {
                        "roll": -0.0006713337497785687,
                        "pitch": -0.8897345662117004,
                        "yaw": -80.84688568115234
                    }
                },
                "velocity": {
                    "x": 1.2763267755508423,
                    "y": -7.921657562255859,
                    "z": -0.1235392764210701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053874015808105,
                "transform": {
                    "location": {
                        "x": 974.9485473632812,
                        "y": 3332.2587890625,
                        "z": 369.35467529296875
                    },
                    "rotation": {
                        "roll": -0.0005493627395480871,
                        "pitch": -0.8890993595123291,
                        "yaw": -80.82745361328125
                    }
                },
                "velocity": {
                    "x": 1.2814608812332153,
                    "y": -7.950319766998291,
                    "z": -0.12316642701625824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.206763505935669,
                "transform": {
                    "location": {
                        "x": 968.796875,
                        "y": 3328.28369140625,
                        "z": 369.32379150390625
                    },
                    "rotation": {
                        "roll": 0.0006131012924015522,
                        "pitch": 0.8354960083961487,
                        "yaw": 99.07365417480469
                    }
                },
                "velocity": {
                    "x": -0.5076805949211121,
                    "y": 3.1659278869628906,
                    "z": 0.04994019493460655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.344078063964844,
                "transform": {
                    "location": {
                        "x": 966.0865478515625,
                        "y": 3345.170166015625,
                        "z": 369.5702209472656
                    },
                    "rotation": {
                        "roll": -6.111017864895985e-05,
                        "pitch": 1.1355462074279785,
                        "yaw": 99.15353393554688
                    }
                },
                "velocity": {
                    "x": -0.8503125309944153,
                    "y": 5.275450229644775,
                    "z": 0.07590263336896896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3123939037323,
                "transform": {
                    "location": {
                        "x": 978.447265625,
                        "y": 3271.249267578125,
                        "z": 368.21197509765625
                    },
                    "rotation": {
                        "roll": 0.01114965695887804,
                        "pitch": 1.5069445371627808,
                        "yaw": 93.30101013183594
                    }
                },
                "velocity": {
                    "x": -0.18329669535160065,
                    "y": 3.3064639568328857,
                    "z": 0.07517877221107483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078866958618164,
                "transform": {
                    "location": {
                        "x": 974.7310791015625,
                        "y": 3310.857666015625,
                        "z": 369.02178955078125
                    },
                    "rotation": {
                        "roll": -0.011169438250362873,
                        "pitch": 1.0167077779769897,
                        "yaw": 97.69879150390625
                    }
                },
                "velocity": {
                    "x": -1.0827672481536865,
                    "y": 8.004764556884766,
                    "z": 0.1394764631986618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9785308837890625,
                "transform": {
                    "location": {
                        "x": 971.8819580078125,
                        "y": 3329.5712890625,
                        "z": 369.3356018066406
                    },
                    "rotation": {
                        "roll": -0.0006408889894373715,
                        "pitch": 0.8970770239830017,
                        "yaw": 99.0816421508789
                    }
                },
                "velocity": {
                    "x": -1.261046290397644,
                    "y": 7.877264022827148,
                    "z": 0.12422599643468857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.683572769165039,
                "transform": {
                    "location": {
                        "x": 968.4135131835938,
                        "y": 3372.25146484375,
                        "z": 369.9124450683594
                    },
                    "rotation": {
                        "roll": -0.040496792644262314,
                        "pitch": -1.0936566591262817,
                        "yaw": -80.76872253417969
                    }
                },
                "velocity": {
                    "x": 1.1074918508529663,
                    "y": -6.590038299560547,
                    "z": -0.12246892601251602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10158000886440277,
        "expert_target_speed": 6.404535750225042,
        "target_point": [
            38.72032521845005,
            1.8682697974919922
        ],
        "target_point_next": [
            89.64424492298717,
            4.652043511911986
        ]
    },
    "110": {
        "acceleration": [
            -1.116102933883667,
            8.992834091186523,
            0.15777960419654846
        ],
        "angular_velocity": [
            2.0704028606414795,
            0.31176644563674927,
            1.0873050689697266
        ],
        "forward_vector": [
            -0.1089373305439949,
            0.9936738610267639,
            0.027293389663100243
        ],
        "right_vector": [
            -0.9940407872200012,
            -0.10900430381298065,
            0.0009738225489854813
        ],
        "location": [
            972.4142456054688,
            3305.36181640625,
            368.9245910644531
        ],
        "rotation": [
            -0.05581672489643097,
            1.5639902353286743,
            96.25640106201172
        ],
        "velocity": [
            -0.7570056915283203,
            6.699953079223633,
            0.12236358225345612
        ],
        "speed": 6.742583249823802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.149364471435547,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.6484375,
                3329.212158203125,
                369.3388671875
            ],
            "velocity": [
                -0.6777127981185913,
                4.241483211517334,
                0.06661378592252731
            ],
            "speed_kmh": 15.46488596122277,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.711435794830322,
                "transform": {
                    "location": {
                        "x": 971.9158935546875,
                        "y": 3371.00927734375,
                        "z": 369.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0507507249712944,
                        "pitch": -0.9017624855041504,
                        "yaw": -80.43144226074219
                    }
                },
                "velocity": {
                    "x": 1.1353552341461182,
                    "y": -6.614262580871582,
                    "z": -0.07658892124891281
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.501811027526855,
                "transform": {
                    "location": {
                        "x": 976.83154296875,
                        "y": 3291.270263671875,
                        "z": 368.6496887207031
                    },
                    "rotation": {
                        "roll": -0.1946105659008026,
                        "pitch": 1.0931854248046875,
                        "yaw": 93.12324523925781
                    }
                },
                "velocity": {
                    "x": -0.5111284255981445,
                    "y": 9.486083984375,
                    "z": 0.19332076609134674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081570625305176,
                "transform": {
                    "location": {
                        "x": 978.4737548828125,
                        "y": 3330.81298828125,
                        "z": 369.323974609375
                    },
                    "rotation": {
                        "roll": 0.0010479994816705585,
                        "pitch": -0.8876649737358093,
                        "yaw": -80.85118103027344
                    }
                },
                "velocity": {
                    "x": 1.284871220588684,
                    "y": -7.97781229019165,
                    "z": -0.12412088364362717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058833122253418,
                "transform": {
                    "location": {
                        "x": 975.268798828125,
                        "y": 3330.270263671875,
                        "z": 369.32354736328125
                    },
                    "rotation": {
                        "roll": 0.0018660662462934852,
                        "pitch": -0.8877264857292175,
                        "yaw": -80.87523651123047
                    }
                },
                "velocity": {
                    "x": 1.2779669761657715,
                    "y": -7.955894470214844,
                    "z": -0.12382766604423523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.295801639556885,
                "transform": {
                    "location": {
                        "x": 968.6484375,
                        "y": 3329.212158203125,
                        "z": 369.3388671875
                    },
                    "rotation": {
                        "roll": 0.0004477656912058592,
                        "pitch": 0.7801715135574341,
                        "yaw": 99.07884979248047
                    }
                },
                "velocity": {
                    "x": -0.6777127981185913,
                    "y": 4.241483211517334,
                    "z": 0.06661378592252731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.405657768249512,
                "transform": {
                    "location": {
                        "x": 965.8652954101562,
                        "y": 3346.54296875,
                        "z": 369.58929443359375
                    },
                    "rotation": {
                        "roll": -0.0003662357048597187,
                        "pitch": 1.1482435464859009,
                        "yaw": 99.15446472167969
                    }
                },
                "velocity": {
                    "x": -1.0207520723342896,
                    "y": 6.323215961456299,
                    "z": 0.0863473117351532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.766685962677002,
                "transform": {
                    "location": {
                        "x": 978.3881225585938,
                        "y": 3272.271240234375,
                        "z": 368.2353515625
                    },
                    "rotation": {
                        "roll": 0.002880551153793931,
                        "pitch": 1.5394835472106934,
                        "yaw": 93.32830047607422
                    }
                },
                "velocity": {
                    "x": -0.2832098603248596,
                    "y": 4.757030010223389,
                    "z": 0.10841110348701477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047014236450195,
                "transform": {
                    "location": {
                        "x": 974.4522705078125,
                        "y": 3312.857666015625,
                        "z": 369.056640625
                    },
                    "rotation": {
                        "roll": -0.022705094888806343,
                        "pitch": 0.9859719276428223,
                        "yaw": 97.99565887451172
                    }
                },
                "velocity": {
                    "x": -1.1333693265914917,
                    "y": 7.965616703033447,
                    "z": 0.1373438984155655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.046476364135742,
                "transform": {
                    "location": {
                        "x": 971.5645141601562,
                        "y": 3331.553955078125,
                        "z": 369.3670349121094
                    },
                    "rotation": {
                        "roll": 0.0003873109817504883,
                        "pitch": 0.8695376515388489,
                        "yaw": 99.09577941894531
                    }
                },
                "velocity": {
                    "x": -1.2736796140670776,
                    "y": 7.944079399108887,
                    "z": 0.1229766234755516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.915506839752197,
                "transform": {
                    "location": {
                        "x": 968.7012329101562,
                        "y": 3370.5732421875,
                        "z": 369.8848876953125
                    },
                    "rotation": {
                        "roll": -0.04965212568640709,
                        "pitch": -0.9112564921379089,
                        "yaw": -80.29672241210938
                    }
                },
                "velocity": {
                    "x": 1.167214035987854,
                    "y": -6.815613269805908,
                    "z": -0.09626495838165283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0985969752073288,
        "expert_target_speed": 7.484553683055233,
        "target_point": [
            37.2762383046219,
            1.7028401870219776
        ],
        "target_point_next": [
            88.21149984920595,
            4.270743135354669
        ]
    },
    "115": {
        "acceleration": [
            -0.9642577171325684,
            6.4737701416015625,
            0.08993208408355713
        ],
        "angular_velocity": [
            0.23657965660095215,
            0.0844082459807396,
            1.4213175773620605
        ],
        "forward_vector": [
            -0.11453273147344589,
            0.992984414100647,
            0.02939789928495884
        ],
        "right_vector": [
            -0.9934089779853821,
            -0.11461751163005829,
            0.0012096174759790301
        ],
        "location": [
            972.2008666992188,
            3307.2109375,
            368.9578857421875
        ],
        "rotation": [
            -0.06933596730232239,
            1.6846182346343994,
            96.57952880859375
        ],
        "velocity": [
            -0.9622855186462402,
            8.10965347290039,
            0.14565204083919525
        ],
        "speed": 8.166545957130323,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.499847412109375,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.4572143554688,
                3330.4072265625,
                369.35797119140625
            ],
            "velocity": [
                -0.8343372941017151,
                5.219014644622803,
                0.08405725657939911
            ],
            "speed_kmh": 19.029430488518535,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.21353816986084,
                "transform": {
                    "location": {
                        "x": 975.9512329101562,
                        "y": 3277.7001953125,
                        "z": 368.5572509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2882555723190308,
                        "yaw": 99.8551025390625
                    }
                },
                "velocity": {
                    "x": -1.1954610347747803,
                    "y": 6.881529808044434,
                    "z": -1.8029295206069946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.969395160675049,
                "transform": {
                    "location": {
                        "x": 972.203125,
                        "y": 3369.319580078125,
                        "z": 369.8680114746094
                    },
                    "rotation": {
                        "roll": -0.0013122523669153452,
                        "pitch": -0.6419967412948608,
                        "yaw": -80.29612731933594
                    }
                },
                "velocity": {
                    "x": 1.1724296808242798,
                    "y": -6.869682312011719,
                    "z": -0.07310561090707779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.75735092163086,
                "transform": {
                    "location": {
                        "x": 976.6677856445312,
                        "y": 3293.64306640625,
                        "z": 368.69775390625
                    },
                    "rotation": {
                        "roll": -0.15234370529651642,
                        "pitch": 1.1609954833984375,
                        "yaw": 94.38341522216797
                    }
                },
                "velocity": {
                    "x": -0.7778656482696533,
                    "y": 9.724345207214355,
                    "z": 0.19476072490215302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032380104064941,
                "transform": {
                    "location": {
                        "x": 978.7939453125,
                        "y": 3328.82421875,
                        "z": 369.2922668457031
                    },
                    "rotation": {
                        "roll": -0.0010070466669276357,
                        "pitch": -0.9117072820663452,
                        "yaw": -80.85131072998047
                    }
                },
                "velocity": {
                    "x": 1.2769626379013062,
                    "y": -7.929209232330322,
                    "z": -0.12706324458122253
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057347297668457,
                "transform": {
                    "location": {
                        "x": 975.5885620117188,
                        "y": 3328.281494140625,
                        "z": 369.2918701171875
                    },
                    "rotation": {
                        "roll": -0.001220783917233348,
                        "pitch": -0.9112564921379089,
                        "yaw": -80.84361267089844
                    }
                },
                "velocity": {
                    "x": 1.2798174619674683,
                    "y": -7.954050064086914,
                    "z": -0.1264781951904297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285953044891357,
                "transform": {
                    "location": {
                        "x": 968.4572143554688,
                        "y": 3330.4072265625,
                        "z": 369.35797119140625
                    },
                    "rotation": {
                        "roll": -0.0002746468235272914,
                        "pitch": 0.7763875722885132,
                        "yaw": 99.0827865600586
                    }
                },
                "velocity": {
                    "x": -0.8343372941017151,
                    "y": 5.219014644622803,
                    "z": 0.08405725657939911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6970086097717285,
                "transform": {
                    "location": {
                        "x": 965.5838012695312,
                        "y": 3348.29052734375,
                        "z": 369.6127014160156
                    },
                    "rotation": {
                        "roll": 0.0002972989750560373,
                        "pitch": 1.3213273286819458,
                        "yaw": 99.15018463134766
                    }
                },
                "velocity": {
                    "x": -1.2239197492599487,
                    "y": 7.598389625549316,
                    "z": 0.10215643048286438
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.664301872253418,
                "transform": {
                    "location": {
                        "x": 978.3112182617188,
                        "y": 3273.55810546875,
                        "z": 368.2647705078125
                    },
                    "rotation": {
                        "roll": 0.004563191439956427,
                        "pitch": 1.377690076828003,
                        "yaw": 93.31079864501953
                    }
                },
                "velocity": {
                    "x": -0.2753262519836426,
                    "y": 4.655127048492432,
                    "z": 0.09848527610301971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019970893859863,
                "transform": {
                    "location": {
                        "x": 974.1661987304688,
                        "y": 3314.841796875,
                        "z": 369.0905456542969
                    },
                    "rotation": {
                        "roll": -0.01495356485247612,
                        "pitch": 0.9648597836494446,
                        "yaw": 98.2524185180664
                    }
                },
                "velocity": {
                    "x": -1.1524769067764282,
                    "y": 7.935580253601074,
                    "z": 0.13528048992156982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036006927490234,
                "transform": {
                    "location": {
                        "x": 971.24609375,
                        "y": 3333.539306640625,
                        "z": 369.3979187011719
                    },
                    "rotation": {
                        "roll": -0.0012207216350361705,
                        "pitch": 0.8850080370903015,
                        "yaw": 99.10948944091797
                    }
                },
                "velocity": {
                    "x": -1.2722011804580688,
                    "y": 7.933694362640381,
                    "z": 0.12413927167654037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.7138752937316895,
                "transform": {
                    "location": {
                        "x": 968.9872436523438,
                        "y": 3368.8935546875,
                        "z": 369.86236572265625
                    },
                    "rotation": {
                        "roll": -0.011016852222383022,
                        "pitch": -0.7555828094482422,
                        "yaw": -80.32749938964844
                    }
                },
                "velocity": {
                    "x": 1.1248770952224731,
                    "y": -6.6184563636779785,
                    "z": -0.08250103145837784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.091196708381176,
        "expert_target_speed": 8.584784427306897,
        "target_point": [
            35.42385695330468,
            1.4924965613517855
        ],
        "target_point_next": [
            86.37279026146568,
            3.7731080863160376
        ]
    },
    "120": {
        "acceleration": [
            -1.302042007446289,
            8.4246826171875,
            0.13902395963668823
        ],
        "angular_velocity": [
            1.2156496047973633,
            0.20652227103710175,
            1.6586917638778687
        ],
        "forward_vector": [
            -0.12116331607103348,
            0.9922398328781128,
            0.027921505272388458
        ],
        "right_vector": [
            -0.9926204681396484,
            -0.12125285714864731,
            0.0015301872044801712
        ],
        "location": [
            971.9423828125,
            3309.341796875,
            368.9964904785156
        ],
        "rotation": [
            -0.08770749717950821,
            1.599992275238037,
            96.96197509765625
        ],
        "velocity": [
            -1.1587803363800049,
            9.271392822265625,
            0.16662703454494476
        ],
        "speed": 9.343526996415193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.70148468017578,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.2444458007812,
                3331.73681640625,
                369.3783264160156
            ],
            "velocity": [
                -0.8890823721885681,
                5.5353498458862305,
                0.08581721782684326
            ],
            "speed_kmh": 20.18503337836999,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.026083946228027,
                "transform": {
                    "location": {
                        "x": 975.9020385742188,
                        "y": 3279.264892578125,
                        "z": 368.3365783691406
                    },
                    "rotation": {
                        "roll": -0.366729736328125,
                        "pitch": 1.3553279638290405,
                        "yaw": 92.43342590332031
                    }
                },
                "velocity": {
                    "x": 0.9905835390090942,
                    "y": 5.935558795928955,
                    "z": 0.3187037706375122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.802992820739746,
                "transform": {
                    "location": {
                        "x": 972.4749145507812,
                        "y": 3367.7275390625,
                        "z": 369.8515930175781
                    },
                    "rotation": {
                        "roll": -0.00448605976998806,
                        "pitch": -0.8260840177536011,
                        "yaw": -80.29344177246094
                    }
                },
                "velocity": {
                    "x": 0.9756230115890503,
                    "y": -5.719992160797119,
                    "z": -0.06762665510177612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.189821243286133,
                "transform": {
                    "location": {
                        "x": 976.4495239257812,
                        "y": 3296.170654296875,
                        "z": 368.74798583984375
                    },
                    "rotation": {
                        "roll": -0.08605963736772537,
                        "pitch": 1.1859462261199951,
                        "yaw": 95.15128326416016
                    }
                },
                "velocity": {
                    "x": -0.9138551950454712,
                    "y": 10.146780014038086,
                    "z": 0.2004782110452652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080520629882812,
                "transform": {
                    "location": {
                        "x": 979.1138916015625,
                        "y": 3326.836181640625,
                        "z": 369.2602233886719
                    },
                    "rotation": {
                        "roll": 6.873768143123016e-05,
                        "pitch": -0.9222120642662048,
                        "yaw": -80.85774993896484
                    }
                },
                "velocity": {
                    "x": 1.2836605310440063,
                    "y": -7.976847171783447,
                    "z": -0.1301189512014389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05750846862793,
                "transform": {
                    "location": {
                        "x": 975.9085083007812,
                        "y": 3326.29296875,
                        "z": 369.2597961425781
                    },
                    "rotation": {
                        "roll": 0.0008034516358748078,
                        "pitch": -0.9221506118774414,
                        "yaw": -80.88245391845703
                    }
                },
                "velocity": {
                    "x": 1.2776474952697754,
                    "y": -7.954514980316162,
                    "z": -0.12942825257778168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6069536209106445,
                "transform": {
                    "location": {
                        "x": 968.2444458007812,
                        "y": 3331.73681640625,
                        "z": 369.3783264160156
                    },
                    "rotation": {
                        "roll": 0.001409459742717445,
                        "pitch": 0.82576984167099,
                        "yaw": 99.12201690673828
                    }
                },
                "velocity": {
                    "x": -0.8890823721885681,
                    "y": 5.5353498458862305,
                    "z": 0.08581721782684326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.669085502624512,
                "transform": {
                    "location": {
                        "x": 965.2606811523438,
                        "y": 3350.2958984375,
                        "z": 369.6397705078125
                    },
                    "rotation": {
                        "roll": 0.0017267848597839475,
                        "pitch": 1.2350552082061768,
                        "yaw": 99.15056610107422
                    }
                },
                "velocity": {
                    "x": -1.3766413927078247,
                    "y": 8.558318138122559,
                    "z": 0.11442525684833527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004464593715965748,
                "transform": {
                    "location": {
                        "x": 978.2899169921875,
                        "y": 3273.91796875,
                        "z": 368.2718811035156
                    },
                    "rotation": {
                        "roll": 0.0054467469453811646,
                        "pitch": 0.7752742171287537,
                        "yaw": 93.34243774414062
                    }
                },
                "velocity": {
                    "x": 0.0002755649038590491,
                    "y": -0.004256924614310265,
                    "z": 0.001317289425060153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05600643157959,
                "transform": {
                    "location": {
                        "x": 973.8751831054688,
                        "y": 3316.8310546875,
                        "z": 369.12396240234375
                    },
                    "rotation": {
                        "roll": -0.01821891777217388,
                        "pitch": 0.9564176797866821,
                        "yaw": 98.33907318115234
                    }
                },
                "velocity": {
                    "x": -1.1868250370025635,
                    "y": 7.966981410980225,
                    "z": 0.13375544548034668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.983009338378906,
                "transform": {
                    "location": {
                        "x": 970.9291381835938,
                        "y": 3335.513916015625,
                        "z": 369.4288635253906
                    },
                    "rotation": {
                        "roll": -6.105205102358013e-05,
                        "pitch": 0.8822213411331177,
                        "yaw": 99.12071228027344
                    }
                },
                "velocity": {
                    "x": -1.2656264305114746,
                    "y": 7.881086826324463,
                    "z": 0.1228770986199379
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.523329734802246,
                "transform": {
                    "location": {
                        "x": 969.2383422851562,
                        "y": 3367.414306640625,
                        "z": 369.8454284667969
                    },
                    "rotation": {
                        "roll": -0.005889879539608955,
                        "pitch": -1.0432703495025635,
                        "yaw": -80.34785461425781
                    }
                },
                "velocity": {
                    "x": 0.9228453636169434,
                    "y": -5.4452996253967285,
                    "z": -0.06510858237743378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.50127774477005,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08893077820539474,
        "expert_target_speed": 9.375635129504444,
        "target_point": [
            33.286549800402845,
            1.2577481576992389
        ],
        "target_point_next": [
            84.24956920989362,
            3.1982756208146235
        ]
    },
    "125": {
        "acceleration": [
            -0.7748317718505859,
            3.4809303283691406,
            0.08577436208724976
        ],
        "angular_velocity": [
            -0.783021092414856,
            -0.03661903738975525,
            1.839918613433838
        ],
        "forward_vector": [
            -0.12879903614521027,
            0.9912665486335754,
            0.028309732675552368
        ],
        "right_vector": [
            -0.9916552305221558,
            -0.12890397012233734,
            0.001905527780763805
        ],
        "location": [
            971.6213989257812,
            3311.843017578125,
            369.04046630859375
        ],
        "rotation": [
            -0.10922254621982574,
            1.622244954109192,
            97.40318298339844
        ],
        "velocity": [
            -1.3902955055236816,
            10.504731178283691,
            0.18432605266571045
        ],
        "speed": 10.596334211447127,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.09441375732422,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.13958740234375
            ],
            "velocity": [
                -4.952719245920889e-05,
                5.707070158678107e-06,
                0.0012978295562788844
            ],
            "speed_kmh": 0.004675632367380351,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.089704513549805,
                "transform": {
                    "location": {
                        "x": 976.122314453125,
                        "y": 3280.754638671875,
                        "z": 368.4231262207031
                    },
                    "rotation": {
                        "roll": -0.3258361518383026,
                        "pitch": 1.2584964036941528,
                        "yaw": 84.39041900634766
                    }
                },
                "velocity": {
                    "x": 1.2491416931152344,
                    "y": 5.955056190490723,
                    "z": 0.24789121747016907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.255500316619873,
                "transform": {
                    "location": {
                        "x": 972.70458984375,
                        "y": 3366.3818359375,
                        "z": 369.8356018066406
                    },
                    "rotation": {
                        "roll": -0.0068359668366611,
                        "pitch": -0.8994129300117493,
                        "yaw": -80.30857849121094
                    }
                },
                "velocity": {
                    "x": 0.8839672803878784,
                    "y": -5.1802239418029785,
                    "z": -0.0645417794585228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.869359016418457,
                "transform": {
                    "location": {
                        "x": 976.218505859375,
                        "y": 3298.54248046875,
                        "z": 368.79412841796875
                    },
                    "rotation": {
                        "roll": -0.07211300730705261,
                        "pitch": 0.9652354717254639,
                        "yaw": 95.79693603515625
                    }
                },
                "velocity": {
                    "x": -0.9109468460083008,
                    "y": 8.820765495300293,
                    "z": 0.17263558506965637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031241416931152,
                "transform": {
                    "location": {
                        "x": 979.4292602539062,
                        "y": 3324.847412109375,
                        "z": 369.2279357910156
                    },
                    "rotation": {
                        "roll": 0.005044051446020603,
                        "pitch": -0.9202244877815247,
                        "yaw": -81.0018539428711
                    }
                },
                "velocity": {
                    "x": 1.2474780082702637,
                    "y": -7.932705402374268,
                    "z": -0.12966756522655487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058351516723633,
                "transform": {
                    "location": {
                        "x": 976.2238159179688,
                        "y": 3324.3037109375,
                        "z": 369.2274475097656
                    },
                    "rotation": {
                        "roll": 0.004747434984892607,
                        "pitch": -0.921044111251831,
                        "yaw": -80.98223114013672
                    }
                },
                "velocity": {
                    "x": 1.253369927406311,
                    "y": -7.959222316741943,
                    "z": -0.1298666000366211
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019849541131407022,
                "transform": {
                    "location": {
                        "x": 978.2897338867188,
                        "y": 3273.920654296875,
                        "z": 368.27252197265625
                    },
                    "rotation": {
                        "roll": 0.004120645113289356,
                        "pitch": 1.1753320693969727,
                        "yaw": 93.34251403808594
                    }
                },
                "velocity": {
                    "x": 4.185401849099435e-05,
                    "y": -0.0018334758933633566,
                    "z": 0.0007593792979605496
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034707069396973,
                "transform": {
                    "location": {
                        "x": 973.5737915039062,
                        "y": 3318.8193359375,
                        "z": 369.1570129394531
                    },
                    "rotation": {
                        "roll": -0.018005330115556717,
                        "pitch": 0.9344176650047302,
                        "yaw": 98.67044830322266
                    }
                },
                "velocity": {
                    "x": -1.215497374534607,
                    "y": 7.941155910491943,
                    "z": 0.13084301352500916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062140464782715,
                "transform": {
                    "location": {
                        "x": 970.6110229492188,
                        "y": 3337.49560546875,
                        "z": 369.4594421386719
                    },
                    "rotation": {
                        "roll": 0.0007555682677775621,
                        "pitch": 0.8612321615219116,
                        "yaw": 99.1218032836914
                    }
                },
                "velocity": {
                    "x": -1.2780532836914062,
                    "y": 7.959305763244629,
                    "z": 0.11889045685529709
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.513397216796875,
                "transform": {
                    "location": {
                        "x": 969.4674072265625,
                        "y": 3366.0634765625,
                        "z": 369.82830810546875
                    },
                    "rotation": {
                        "roll": -0.0054016089998185635,
                        "pitch": -0.8423193693161011,
                        "yaw": -80.36549377441406
                    }
                },
                "velocity": {
                    "x": 0.9210691452026367,
                    "y": -5.435524940490723,
                    "z": -0.06518085300922394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.001837605843320489,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210998535156
                    },
                    "rotation": {
                        "roll": 8.162135782185942e-05,
                        "pitch": 0.6913653612136841,
                        "yaw": 99.13835144042969
                    }
                },
                "velocity": {
                    "x": -3.5117193419864634e-06,
                    "y": -4.3135285523021594e-05,
                    "z": -0.0018370961770415306
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0012987867230549455,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.13958740234375
                    },
                    "rotation": {
                        "roll": 0.0021053834352642298,
                        "pitch": 0.18603384494781494,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": -4.952719245920889e-05,
                    "y": 5.707070158678107e-06,
                    "z": 0.0012978295562788844
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08547084778547287,
        "expert_target_speed": 10.0,
        "target_point": [
            30.773519454855112,
            1.005337315323565
        ],
        "target_point_next": [
            81.74997214941254,
            2.5533246688853115
        ]
    },
    "130": {
        "acceleration": [
            -0.5790901184082031,
            1.5917778015136719,
            0.04515796899795532
        ],
        "angular_velocity": [
            -0.8674831390380859,
            -0.10367804020643234,
            1.9328339099884033
        ],
        "forward_vector": [
            -0.13699555397033691,
            0.9902688264846802,
            0.024490052834153175
        ],
        "right_vector": [
            -0.9905561804771423,
            -0.13708961009979248,
            0.002195915672928095
        ],
        "location": [
            971.2536010742188,
            3314.55078125,
            369.08807373046875
        ],
        "rotation": [
            -0.12585456669330597,
            1.4033169746398926,
            97.87640380859375
        ],
        "velocity": [
            -1.555728554725647,
            11.094831466674805,
            0.18970021605491638
        ],
        "speed": 11.20337344775698,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 81.36323547363281,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.13970947265625
            ],
            "velocity": [
                4.61590061604511e-05,
                7.535368240496609e-06,
                0.001096016145311296
            ],
            "speed_kmh": 0.003949248940018627,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.622730255126953,
                "transform": {
                    "location": {
                        "x": 976.4059448242188,
                        "y": 3282.197998046875,
                        "z": 368.4649963378906
                    },
                    "rotation": {
                        "roll": -0.2836304306983948,
                        "pitch": 1.2487634420394897,
                        "yaw": 80.48983764648438
                    }
                },
                "velocity": {
                    "x": 1.0271282196044922,
                    "y": 5.526739597320557,
                    "z": 0.12349626421928406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.129002571105957,
                "transform": {
                    "location": {
                        "x": 972.9325561523438,
                        "y": 3365.02587890625,
                        "z": 369.81634521484375
                    },
                    "rotation": {
                        "roll": 0.008403578773140907,
                        "pitch": -0.5719600319862366,
                        "yaw": -80.43476104736328
                    }
                },
                "velocity": {
                    "x": 1.006550669670105,
                    "y": -6.04534387588501,
                    "z": -0.07310030609369278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.757516860961914,
                "transform": {
                    "location": {
                        "x": 975.9880981445312,
                        "y": 3300.69677734375,
                        "z": 368.83544921875
                    },
                    "rotation": {
                        "roll": -0.042419422417879105,
                        "pitch": 1.0399713516235352,
                        "yaw": 96.2095718383789
                    }
                },
                "velocity": {
                    "x": -0.9499207139015198,
                    "y": 8.704269409179688,
                    "z": 0.16566835343837738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082014083862305,
                "transform": {
                    "location": {
                        "x": 979.7422485351562,
                        "y": 3322.858154296875,
                        "z": 369.1956481933594
                    },
                    "rotation": {
                        "roll": 0.001572958892211318,
                        "pitch": -0.9164064526557922,
                        "yaw": -81.0713119506836
                    }
                },
                "velocity": {
                    "x": 1.2542824745178223,
                    "y": -7.983083248138428,
                    "z": -0.12694182991981506
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056967735290527,
                "transform": {
                    "location": {
                        "x": 976.537109375,
                        "y": 3322.31396484375,
                        "z": 369.1951904296875
                    },
                    "rotation": {
                        "roll": 0.005522439256310463,
                        "pitch": -0.9200127720832825,
                        "yaw": -81.08199310302734
                    }
                },
                "velocity": {
                    "x": 1.2482701539993286,
                    "y": -7.958615779876709,
                    "z": -0.13033422827720642
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001927542849443853,
                "transform": {
                    "location": {
                        "x": 978.2897338867188,
                        "y": 3273.921142578125,
                        "z": 368.2726745605469
                    },
                    "rotation": {
                        "roll": 0.003902669530361891,
                        "pitch": 1.2823952436447144,
                        "yaw": 93.34261322021484
                    }
                },
                "velocity": {
                    "x": 0.00014134641969576478,
                    "y": -0.0004764130571857095,
                    "z": 0.0018623837968334556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03950309753418,
                "transform": {
                    "location": {
                        "x": 973.2681884765625,
                        "y": 3320.80419921875,
                        "z": 369.1894836425781
                    },
                    "rotation": {
                        "roll": -0.012451204471290112,
                        "pitch": 0.9292677044868469,
                        "yaw": 98.76054382324219
                    }
                },
                "velocity": {
                    "x": -1.227799892425537,
                    "y": 7.944128036499023,
                    "z": 0.13020537793636322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.98655891418457,
                "transform": {
                    "location": {
                        "x": 970.2927856445312,
                        "y": 3339.475341796875,
                        "z": 369.4890441894531
                    },
                    "rotation": {
                        "roll": -0.0004272505466360599,
                        "pitch": 0.8184888362884521,
                        "yaw": 99.13054656982422
                    }
                },
                "velocity": {
                    "x": -1.2673771381378174,
                    "y": 7.884487152099609,
                    "z": 0.117240309715271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.673390865325928,
                "transform": {
                    "location": {
                        "x": 969.7364501953125,
                        "y": 3364.44873046875,
                        "z": 369.8064880371094
                    },
                    "rotation": {
                        "roll": 0.015419934876263142,
                        "pitch": -0.18804876506328583,
                        "yaw": -80.51272583007812
                    }
                },
                "velocity": {
                    "x": 1.2537651062011719,
                    "y": -7.5697150230407715,
                    "z": -0.09172487258911133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00014385984104592353,
                "transform": {
                    "location": {
                        "x": 955.8789672851562,
                        "y": 3403.592529296875,
                        "z": 370.2210388183594
                    },
                    "rotation": {
                        "roll": -0.0009460492874495685,
                        "pitch": 0.6878341436386108,
                        "yaw": 99.13831329345703
                    }
                },
                "velocity": {
                    "x": -2.168228820664808e-05,
                    "y": -1.4731735063833185e-05,
                    "z": -0.00014145142631605268
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0010970135917887092,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.13970947265625
                    },
                    "rotation": {
                        "roll": 0.0003660507209133357,
                        "pitch": 0.18657343089580536,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": 4.61590061604511e-05,
                    "y": 7.535368240496609e-06,
                    "z": 0.001096016145311296
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08345716446638107,
        "expert_target_speed": 10.0,
        "target_point": [
            28.048152408768996,
            0.7578875854187781
        ],
        "target_point_next": [
            79.03565101262556,
            1.8848216069843904
        ]
    },
    "135": {
        "acceleration": [
            -0.589759349822998,
            1.2230110168457031,
            -0.0023254752159118652
        ],
        "angular_velocity": [
            -0.5754116773605347,
            -0.0471792034804821,
            2.0100760459899902
        ],
        "forward_vector": [
            -0.14553500711917877,
            0.9891278743743896,
            0.021111348643898964
        ],
        "right_vector": [
            -0.9893379211425781,
            -0.1456180065870285,
            0.002440506359562278
        ],
        "location": [
            970.8478393554688,
            3317.3662109375,
            369.1361999511719
        ],
        "rotation": [
            -0.1398620307445526,
            1.2096810340881348,
            98.3701400756836
        ],
        "velocity": [
            -1.6973177194595337,
            11.404776573181152,
            0.18977323174476624
        ],
        "speed": 11.530386642475305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.51958465576172,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.1398010253906
            ],
            "velocity": [
                -1.700992652331479e-05,
                -4.445910235517658e-05,
                0.001501219579949975
            ],
            "speed_kmh": 0.005407106735476585,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.753513336181641,
                "transform": {
                    "location": {
                        "x": 976.5580444335938,
                        "y": 3283.587646484375,
                        "z": 368.49468994140625
                    },
                    "rotation": {
                        "roll": -0.1276855170726776,
                        "pitch": 1.208076000213623,
                        "yaw": 82.97531127929688
                    }
                },
                "velocity": {
                    "x": 0.370077520608902,
                    "y": 5.740335941314697,
                    "z": 0.12042094767093658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.674449443817139,
                "transform": {
                    "location": {
                        "x": 973.2275390625,
                        "y": 3363.25244140625,
                        "z": 369.7921447753906
                    },
                    "rotation": {
                        "roll": 0.007531290408223867,
                        "pitch": -0.252990186214447,
                        "yaw": -80.65131378173828
                    }
                },
                "velocity": {
                    "x": 1.2481141090393066,
                    "y": -7.571706771850586,
                    "z": -0.09294683486223221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.468741416931152,
                "transform": {
                    "location": {
                        "x": 975.7294311523438,
                        "y": 3302.978271484375,
                        "z": 368.8787841796875
                    },
                    "rotation": {
                        "roll": -0.043121337890625,
                        "pitch": 1.1510438919067383,
                        "yaw": 96.59385681152344
                    }
                },
                "velocity": {
                    "x": -1.1064441204071045,
                    "y": 9.402229309082031,
                    "z": 0.1758502572774887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02982234954834,
                "transform": {
                    "location": {
                        "x": 980.05029296875,
                        "y": 3320.8681640625,
                        "z": 369.1635437011719
                    },
                    "rotation": {
                        "roll": 0.010163875296711922,
                        "pitch": -0.9168981909751892,
                        "yaw": -81.24591827392578
                    }
                },
                "velocity": {
                    "x": 1.1951797008514404,
                    "y": -7.939342498779297,
                    "z": -0.12815327942371368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057745933532715,
                "transform": {
                    "location": {
                        "x": 976.8450317382812,
                        "y": 3320.32373046875,
                        "z": 369.162841796875
                    },
                    "rotation": {
                        "roll": 0.00891481339931488,
                        "pitch": -0.920258641242981,
                        "yaw": -81.22871398925781
                    }
                },
                "velocity": {
                    "x": 1.200530767440796,
                    "y": -7.966733932495117,
                    "z": -0.13096390664577484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011425480479374528,
                "transform": {
                    "location": {
                        "x": 978.2896728515625,
                        "y": 3273.921142578125,
                        "z": 368.2727355957031
                    },
                    "rotation": {
                        "roll": 0.003472181735560298,
                        "pitch": 1.3034254312515259,
                        "yaw": 93.34268188476562
                    }
                },
                "velocity": {
                    "x": 2.492071143933572e-05,
                    "y": -0.00021892055519856513,
                    "z": 0.0011211016681045294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043980598449707,
                "transform": {
                    "location": {
                        "x": 972.9578857421875,
                        "y": 3322.790771484375,
                        "z": 369.2217102050781
                    },
                    "rotation": {
                        "roll": -0.013061507605016232,
                        "pitch": 0.9260370135307312,
                        "yaw": 98.92158508300781
                    }
                },
                "velocity": {
                    "x": -1.2494962215423584,
                    "y": 7.945271015167236,
                    "z": 0.13060107827186584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050530433654785,
                "transform": {
                    "location": {
                        "x": 969.9743041992188,
                        "y": 3341.454345703125,
                        "z": 369.5178527832031
                    },
                    "rotation": {
                        "roll": 0.0009083201875910163,
                        "pitch": 0.8144112229347229,
                        "yaw": 99.14091491699219
                    }
                },
                "velocity": {
                    "x": -1.2804619073867798,
                    "y": 7.947205066680908,
                    "z": 0.11570312082767487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.304372787475586,
                "transform": {
                    "location": {
                        "x": 970.0696411132812,
                        "y": 3362.435546875,
                        "z": 369.7818603515625
                    },
                    "rotation": {
                        "roll": 0.009890717454254627,
                        "pitch": -0.2532019317150116,
                        "yaw": -80.60386657714844
                    }
                },
                "velocity": {
                    "x": 1.351848840713501,
                    "y": -8.192995071411133,
                    "z": -0.09972470998764038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0010244124568998814,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210388183594
                    },
                    "rotation": {
                        "roll": 1.803726627258584e-05,
                        "pitch": 0.6878546476364136,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -4.807613731827587e-05,
                    "y": -1.114234351007326e-06,
                    "z": -0.0010232831118628383
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0015019740676507354,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1398010253906
                    },
                    "rotation": {
                        "roll": -3.052256943192333e-05,
                        "pitch": 0.1867988407611847,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": -1.700992652331479e-05,
                    "y": -4.445910235517658e-05,
                    "z": 0.001501219579949975
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0829702690243721,
        "expert_target_speed": 10.0,
        "target_point": [
            25.209135576228327,
            0.5245555953425889
        ],
        "target_point_next": [
            76.204452158432,
            1.212073484607986
        ]
    },
    "140": {
        "acceleration": [
            -0.6412172317504883,
            1.4325141906738281,
            0.005002915859222412
        ],
        "angular_velocity": [
            -0.1073005348443985,
            0.06532144546508789,
            2.0432164669036865
        ],
        "forward_vector": [
            -0.15426865220069885,
            0.9878339767456055,
            0.019626427441835403
        ],
        "right_vector": [
            -0.9880130887031555,
            -0.15434834361076355,
            0.002603002591058612
        ],
        "location": [
            970.4066772460938,
            3320.251708984375,
            369.18414306640625
        ],
        "rotation": [
            -0.14916996657848358,
            1.1245837211608887,
            98.87610626220703
        ],
        "velocity": [
            -1.8462717533111572,
            11.704010963439941,
            0.1903408318758011
        ],
        "speed": 11.848737992689221,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.60088348388672,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.1398010253906
            ],
            "velocity": [
                -4.511829320108518e-05,
                -7.397017907351255e-05,
                0.0008626921917311847
            ],
            "speed_kmh": 0.0031213163966825955,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 963.8653564453125,
                        "y": 3400.499267578125,
                        "z": 370.58416748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48855656385421753,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5859904289245605,
                "transform": {
                    "location": {
                        "x": 976.6669921875,
                        "y": 3285.12744140625,
                        "z": 368.5278015136719
                    },
                    "rotation": {
                        "roll": -0.16073600947856903,
                        "pitch": 1.1264346837997437,
                        "yaw": 85.1570816040039
                    }
                },
                "velocity": {
                    "x": 0.3681510090827942,
                    "y": 6.574235916137695,
                    "z": 0.13841655850410461
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.753236770629883,
                "transform": {
                    "location": {
                        "x": 973.5665893554688,
                        "y": 3361.193359375,
                        "z": 369.7681579589844
                    },
                    "rotation": {
                        "roll": 0.0016007466474547982,
                        "pitch": -0.41091781854629517,
                        "yaw": -80.68494415283203
                    }
                },
                "velocity": {
                    "x": 1.4158477783203125,
                    "y": -8.637310028076172,
                    "z": -0.10679736733436584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.798842430114746,
                "transform": {
                    "location": {
                        "x": 975.458251953125,
                        "y": 3305.231201171875,
                        "z": 368.9205017089844
                    },
                    "rotation": {
                        "roll": -0.026153484359383583,
                        "pitch": 0.9953292608261108,
                        "yaw": 96.9668960571289
                    }
                },
                "velocity": {
                    "x": -1.0673868656158447,
                    "y": 8.732369422912598,
                    "z": 0.1613859385251999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081546783447266,
                "transform": {
                    "location": {
                        "x": 980.3501586914062,
                        "y": 3318.87646484375,
                        "z": 369.13134765625
                    },
                    "rotation": {
                        "roll": 0.0045592086389660835,
                        "pitch": -0.9226970076560974,
                        "yaw": -81.46590423583984
                    }
                },
                "velocity": {
                    "x": 1.192209243774414,
                    "y": -7.9920549392700195,
                    "z": -0.13073457777500153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057888984680176,
                "transform": {
                    "location": {
                        "x": 977.1451416015625,
                        "y": 3318.331787109375,
                        "z": 369.13037109375
                    },
                    "rotation": {
                        "roll": 0.004727167543023825,
                        "pitch": -0.9308454394340515,
                        "yaw": -81.4811782836914
                    }
                },
                "velocity": {
                    "x": 1.1880122423171997,
                    "y": -7.968749046325684,
                    "z": -0.13128696382045746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0175570547580719,
                "transform": {
                    "location": {
                        "x": 978.2896118164062,
                        "y": 3273.9228515625,
                        "z": 368.27276611328125
                    },
                    "rotation": {
                        "roll": 0.0027956166304647923,
                        "pitch": 1.3142375946044922,
                        "yaw": 93.34349060058594
                    }
                },
                "velocity": {
                    "x": 0.0010725785978138447,
                    "y": -0.017515232786536217,
                    "z": 0.0005624580080620944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.038443565368652,
                "transform": {
                    "location": {
                        "x": 972.6445922851562,
                        "y": 3324.776123046875,
                        "z": 369.25396728515625
                    },
                    "rotation": {
                        "roll": -0.008453349582850933,
                        "pitch": 0.9235507845878601,
                        "yaw": 98.96695709228516
                    }
                },
                "velocity": {
                    "x": -1.2554371356964111,
                    "y": 7.938760757446289,
                    "z": 0.1285524219274521
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.993323802947998,
                "transform": {
                    "location": {
                        "x": 969.6558227539062,
                        "y": 3343.43408203125,
                        "z": 369.5465087890625
                    },
                    "rotation": {
                        "roll": 0.00041284161852672696,
                        "pitch": 0.8179560899734497,
                        "yaw": 99.13908386230469
                    }
                },
                "velocity": {
                    "x": -1.2694827318191528,
                    "y": 7.891044616699219,
                    "z": 0.11423923075199127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8835225105285645,
                "transform": {
                    "location": {
                        "x": 970.3974609375,
                        "y": 3360.4462890625,
                        "z": 369.7589416503906
                    },
                    "rotation": {
                        "roll": 0.010039014741778374,
                        "pitch": -0.6592702865600586,
                        "yaw": -80.65126037597656
                    }
                },
                "velocity": {
                    "x": 1.2732837200164795,
                    "y": -7.779426574707031,
                    "z": -0.09590814262628555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00043290675967000425,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210388183594
                    },
                    "rotation": {
                        "roll": 5.090992272016592e-05,
                        "pitch": 0.6880254149436951,
                        "yaw": 99.13836669921875
                    }
                },
                "velocity": {
                    "x": -1.7835516700870357e-05,
                    "y": -3.751933400053531e-05,
                    "z": -0.00043090886902064085
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0008670323295518756,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1398010253906
                    },
                    "rotation": {
                        "roll": -0.0006103513296693563,
                        "pitch": 0.18643683195114136,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": -4.511829320108518e-05,
                    "y": -7.397017907351255e-05,
                    "z": 0.0008626921917311847
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09450740367174149,
        "expert_target_speed": 10.0,
        "target_point": [
            22.293772120041105,
            0.3112651473065027
        ],
        "target_point_next": [
            73.29317163778089,
            0.5484212081631004
        ]
    },
    "145": {
        "acceleration": [
            -0.9435606002807617,
            3.088550567626953,
            0.03531217575073242
        ],
        "angular_velocity": [
            0.3917848467826843,
            0.054769061505794525,
            2.065871238708496
        ],
        "forward_vector": [
            -0.16320432722568512,
            0.9863792657852173,
            0.020500056445598602
        ],
        "right_vector": [
            -0.9865742921829224,
            -0.16329190135002136,
            0.0026620642747730017
        ],
        "location": [
            969.9205932617188,
            3323.252685546875,
            369.2326965332031
        ],
        "rotation": [
            -0.15255729854106903,
            1.1746490001678467,
            99.39492797851562
        ],
        "velocity": [
            -2.0575621128082275,
            12.327177047729492,
            0.19944044947624207
        ],
        "speed": 12.497714023537771,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.62106323242188,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.2986450195312,
                3394.7626953125,
                370.14013671875
            ],
            "velocity": [
                -0.08477554470300674,
                0.5267229080200195,
                0.005550222471356392
            ],
            "speed_kmh": 1.92070954815605,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.3377685546875,
                        "y": 3399.37548828125,
                        "z": 370.46197509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.195068359375,
                        "y": 3398.44921875,
                        "z": 370.42242431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.129817008972168,
                "transform": {
                    "location": {
                        "x": 976.7723388671875,
                        "y": 3286.905517578125,
                        "z": 368.56573486328125
                    },
                    "rotation": {
                        "roll": -0.1610412746667862,
                        "pitch": 1.028954267501831,
                        "yaw": 86.2822265625
                    }
                },
                "velocity": {
                    "x": 0.4232999384403229,
                    "y": 8.117025375366211,
                    "z": 0.16924041509628296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.241155624389648,
                "transform": {
                    "location": {
                        "x": 973.9085083007812,
                        "y": 3359.103271484375,
                        "z": 369.7455139160156
                    },
                    "rotation": {
                        "roll": 0.004052830394357443,
                        "pitch": -0.7987359166145325,
                        "yaw": -80.72443389892578
                    }
                },
                "velocity": {
                    "x": 1.3260953426361084,
                    "y": -8.133146286010742,
                    "z": -0.1002359539270401
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.135337829589844,
                "transform": {
                    "location": {
                        "x": 975.180419921875,
                        "y": 3307.457763671875,
                        "z": 368.96124267578125
                    },
                    "rotation": {
                        "roll": -0.03442375734448433,
                        "pitch": 1.0608512163162231,
                        "yaw": 97.19547271728516
                    }
                },
                "velocity": {
                    "x": -1.166151762008667,
                    "y": 9.059133529663086,
                    "z": 0.16302500665187836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031288146972656,
                "transform": {
                    "location": {
                        "x": 980.647216796875,
                        "y": 3316.88525390625,
                        "z": 369.0985412597656
                    },
                    "rotation": {
                        "roll": -0.0026245329063385725,
                        "pitch": -0.9398749470710754,
                        "yaw": -81.52877044677734
                    }
                },
                "velocity": {
                    "x": 1.1830137968063354,
                    "y": -7.942604064941406,
                    "z": -0.1307801753282547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058143615722656,
                "transform": {
                    "location": {
                        "x": 977.4423828125,
                        "y": 3316.33984375,
                        "z": 369.0973815917969
                    },
                    "rotation": {
                        "roll": -0.0027465939056128263,
                        "pitch": -0.9502295255661011,
                        "yaw": -81.50340270996094
                    }
                },
                "velocity": {
                    "x": 1.1884361505508423,
                    "y": -7.968926906585693,
                    "z": -0.13231728971004486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5927002429962158,
                "transform": {
                    "location": {
                        "x": 978.2854614257812,
                        "y": 3273.989501953125,
                        "z": 368.27435302734375
                    },
                    "rotation": {
                        "roll": 0.004334797617048025,
                        "pitch": 1.37938392162323,
                        "yaw": 93.37445068359375
                    }
                },
                "velocity": {
                    "x": -0.036494407802820206,
                    "y": 0.5914100408554077,
                    "z": 0.013997354544699192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040787696838379,
                "transform": {
                    "location": {
                        "x": 972.329833984375,
                        "y": 3326.7607421875,
                        "z": 369.2861328125
                    },
                    "rotation": {
                        "roll": -0.00555425463244319,
                        "pitch": 0.9251968860626221,
                        "yaw": 99.03533935546875
                    }
                },
                "velocity": {
                    "x": -1.263440728187561,
                    "y": 7.939876556396484,
                    "z": 0.12785117328166962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050268173217773,
                "transform": {
                    "location": {
                        "x": 969.3370971679688,
                        "y": 3345.414306640625,
                        "z": 369.5753173828125
                    },
                    "rotation": {
                        "roll": -0.00027467627660371363,
                        "pitch": 0.8179560899734497,
                        "yaw": 99.14204406738281
                    }
                },
                "velocity": {
                    "x": -1.2789177894592285,
                    "y": 7.947192192077637,
                    "z": 0.1154385507106781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04525375366211,
                "transform": {
                    "location": {
                        "x": 970.7161254882812,
                        "y": 3358.494384765625,
                        "z": 369.73492431640625
                    },
                    "rotation": {
                        "roll": 0.011743040755391121,
                        "pitch": -0.6681222319602966,
                        "yaw": -80.73261260986328
                    }
                },
                "velocity": {
                    "x": 1.292072057723999,
                    "y": -7.940232753753662,
                    "z": -0.09679742902517319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0009282813407480717,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22100830078125
                    },
                    "rotation": {
                        "roll": 1.0939761523331981e-05,
                        "pitch": 0.6873219013214111,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -1.3769659744866658e-05,
                    "y": -3.246746928198263e-05,
                    "z": -0.0009276111959479749
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.5335304737091064,
                "transform": {
                    "location": {
                        "x": 957.2986450195312,
                        "y": 3394.7626953125,
                        "z": 370.14013671875
                    },
                    "rotation": {
                        "roll": -0.000244142982410267,
                        "pitch": -0.10531467944383621,
                        "yaw": 99.1297836303711
                    }
                },
                "velocity": {
                    "x": -0.08477554470300674,
                    "y": 0.5267229080200195,
                    "z": 0.005550222471356392
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09769542515277863,
        "expert_target_speed": 10.0,
        "target_point": [
            19.255605622765902,
            0.11969874422506299
        ],
        "target_point_next": [
            70.25506179869757,
            -0.10494302941390288
        ]
    },
    "150": {
        "acceleration": [
            -0.9366130828857422,
            3.4844017028808594,
            0.05962789058685303
        ],
        "angular_velocity": [
            0.33935967087745667,
            -0.02825416997075081,
            1.440775990486145
        ],
        "forward_vector": [
            -0.17067383229732513,
            0.9850776791572571,
            0.022189345210790634
        ],
        "right_vector": [
            -0.9853091835975647,
            -0.17076487839221954,
            0.0022609978914260864
        ],
        "location": [
            969.3779296875,
            3326.441162109375,
            369.2840881347656
        ],
        "rotation": [
            -0.1295776516199112,
            1.2714601755142212,
            99.8294448852539
        ],
        "velocity": [
            -2.2875587940216064,
            13.15903091430664,
            0.21302436292171478
        ],
        "speed": 13.35638498396117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.5436782836914,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.2736206054688,
                3394.91796875,
                370.1416015625
            ],
            "velocity": [
                -0.11368393898010254,
                0.709042489528656,
                0.0058126067742705345
            ],
            "speed_kmh": 2.5852388727778206,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.6674194335938,
                        "y": 3397.327392578125,
                        "z": 370.26416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.5247192382812,
                        "y": 3396.401123046875,
                        "z": 370.22454833984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.117022514343262,
                "transform": {
                    "location": {
                        "x": 976.7850341796875,
                        "y": 3289.072021484375,
                        "z": 368.61053466796875
                    },
                    "rotation": {
                        "roll": 0.006908522453159094,
                        "pitch": 1.0563160181045532,
                        "yaw": 89.68634796142578
                    }
                },
                "velocity": {
                    "x": -0.26439139246940613,
                    "y": 9.111273765563965,
                    "z": 0.1867731213569641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.900493144989014,
                "transform": {
                    "location": {
                        "x": 974.231201171875,
                        "y": 3357.123046875,
                        "z": 369.7207336425781
                    },
                    "rotation": {
                        "roll": 0.0009906224440783262,
                        "pitch": -0.8604125380516052,
                        "yaw": -80.7552719116211
                    }
                },
                "velocity": {
                    "x": 1.269161581993103,
                    "y": -7.797237396240234,
                    "z": -0.10054842382669449
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075886726379395,
                "transform": {
                    "location": {
                        "x": 974.8985595703125,
                        "y": 3309.6005859375,
                        "z": 368.9993591308594
                    },
                    "rotation": {
                        "roll": -0.024352997541427612,
                        "pitch": 0.8955265283584595,
                        "yaw": 97.58553314208984
                    }
                },
                "velocity": {
                    "x": -1.0674046277999878,
                    "y": 8.003750801086426,
                    "z": 0.14341537654399872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081921577453613,
                "transform": {
                    "location": {
                        "x": 980.932861328125,
                        "y": 3314.891845703125,
                        "z": 369.0653076171875
                    },
                    "rotation": {
                        "roll": 0.006130045745521784,
                        "pitch": -0.9588629007339478,
                        "yaw": -81.87890625
                    }
                },
                "velocity": {
                    "x": 1.1206567287445068,
                    "y": -8.00268268585205,
                    "z": -0.13655179738998413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057765007019043,
                "transform": {
                    "location": {
                        "x": 977.728515625,
                        "y": 3314.34619140625,
                        "z": 369.0637512207031
                    },
                    "rotation": {
                        "roll": 0.008233736269176006,
                        "pitch": -0.9660618901252747,
                        "yaw": -81.89479064941406
                    }
                },
                "velocity": {
                    "x": 1.1159082651138306,
                    "y": -7.978981018066406,
                    "z": -0.13484129309654236
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7671508789062,
                        "y": 3422.33984375,
                        "z": 370.5230712890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5604844093322754,
                "transform": {
                    "location": {
                        "x": 978.2693481445312,
                        "y": 3274.25439453125,
                        "z": 368.28045654296875
                    },
                    "rotation": {
                        "roll": 0.004946041852235794,
                        "pitch": 1.444509744644165,
                        "yaw": 93.44276428222656
                    }
                },
                "velocity": {
                    "x": -0.0941413938999176,
                    "y": 1.5572439432144165,
                    "z": 0.035215720534324646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041690826416016,
                "transform": {
                    "location": {
                        "x": 972.0133666992188,
                        "y": 3328.745849609375,
                        "z": 369.31793212890625
                    },
                    "rotation": {
                        "roll": -0.003753658616915345,
                        "pitch": 0.9065231680870056,
                        "yaw": 99.05252075195312
                    }
                },
                "velocity": {
                    "x": -1.26747465133667,
                    "y": 7.9401750564575195,
                    "z": 0.12617914378643036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992173671722412,
                "transform": {
                    "location": {
                        "x": 969.0186767578125,
                        "y": 3347.393310546875,
                        "z": 369.6031188964844
                    },
                    "rotation": {
                        "roll": -0.00024420206318609416,
                        "pitch": 0.7833201885223389,
                        "yaw": 99.14270782470703
                    }
                },
                "velocity": {
                    "x": -1.2699334621429443,
                    "y": 7.889912128448486,
                    "z": 0.10675826668739319
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.105422019958496,
                "transform": {
                    "location": {
                        "x": 971.0424194335938,
                        "y": 3356.489013671875,
                        "z": 369.7096252441406
                    },
                    "rotation": {
                        "roll": 0.006149007938802242,
                        "pitch": -0.6937832832336426,
                        "yaw": -80.76368713378906
                    }
                },
                "velocity": {
                    "x": 1.2987141609191895,
                    "y": -8.000021934509277,
                    "z": -0.10416734218597412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0002290646662004292,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22100830078125
                    },
                    "rotation": {
                        "roll": 0.0003926574136130512,
                        "pitch": 0.6877043843269348,
                        "yaw": 99.13842010498047
                    }
                },
                "velocity": {
                    "x": 8.109779628284741e-06,
                    "y": -3.07944392261561e-05,
                    "z": -0.00022684037685394287
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.7181219458580017,
                "transform": {
                    "location": {
                        "x": 957.2736206054688,
                        "y": 3394.91796875,
                        "z": 370.1416015625
                    },
                    "rotation": {
                        "roll": 0.0005907714948989451,
                        "pitch": 0.00706241512671113,
                        "yaw": 99.12955474853516
                    }
                },
                "velocity": {
                    "x": -0.11368393898010254,
                    "y": 0.709042489528656,
                    "z": 0.0058126067742705345
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.050041913986206055,
        "expert_target_speed": 10.0,
        "target_point": [
            16.021647682214788,
            -0.01671604706309404
        ],
        "target_point_next": [
            67.01793332514885,
            -0.6281445314466385
        ]
    },
    "155": {
        "acceleration": [
            -0.8320188522338867,
            3.7300491333007812,
            0.02773076295852661
        ],
        "angular_velocity": [
            0.08054663240909576,
            -0.233429417014122,
            0.8778198957443237
        ],
        "forward_vector": [
            -0.17580458521842957,
            0.9841632843017578,
            0.02270050346851349
        ],
        "right_vector": [
            -0.9844086170196533,
            -0.17588789761066437,
            0.0017119701951742172
        ],
        "location": [
            968.7776489257812,
            3329.8486328125,
            369.33843994140625
        ],
        "rotation": [
            -0.09811399132013321,
            1.3007547855377197,
            100.12812042236328
        ],
        "velocity": [
            -2.513134002685547,
            14.069811820983887,
            0.22243165969848633
        ],
        "speed": 14.292496184829023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.29595947265625,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.2399291992188,
                3395.1279296875,
                370.1434631347656
            ],
            "velocity": [
                -0.15232396125793457,
                0.9483672380447388,
                0.007552585564553738
            ],
            "speed_kmh": 3.4579870205056262,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.914623737335205,
                "transform": {
                    "location": {
                        "x": 968.001708984375,
                        "y": 3395.33740234375,
                        "z": 370.14556884765625
                    },
                    "rotation": {
                        "roll": -0.01025388017296791,
                        "pitch": -0.558163046836853,
                        "yaw": -80.41817474365234
                    }
                },
                "velocity": {
                    "x": 1.3328303098678589,
                    "y": -7.7997918128967285,
                    "z": -0.16756626963615417
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.091659545898438,
                "transform": {
                    "location": {
                        "x": 964.859130859375,
                        "y": 3394.3994140625,
                        "z": 370.1327209472656
                    },
                    "rotation": {
                        "roll": -0.021728483960032463,
                        "pitch": -0.5751360654830933,
                        "yaw": -80.46831512451172
                    }
                },
                "velocity": {
                    "x": 1.349265456199646,
                    "y": -7.978234767913818,
                    "z": -0.04703858122229576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.023042678833008,
                "transform": {
                    "location": {
                        "x": 976.7169189453125,
                        "y": 3291.46923828125,
                        "z": 368.6594543457031
                    },
                    "rotation": {
                        "roll": -0.030609190464019775,
                        "pitch": 1.0664725303649902,
                        "yaw": 91.67581939697266
                    }
                },
                "velocity": {
                    "x": -0.3921613097190857,
                    "y": 10.01331615447998,
                    "z": 0.20271772146224976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.094199180603027,
                "transform": {
                    "location": {
                        "x": 974.5510864257812,
                        "y": 3355.154052734375,
                        "z": 369.6940612792969
                    },
                    "rotation": {
                        "roll": 0.0025752009823918343,
                        "pitch": -0.7485613822937012,
                        "yaw": -80.7831039428711
                    }
                },
                "velocity": {
                    "x": 1.2937648296356201,
                    "y": -7.989429950714111,
                    "z": -0.10603281855583191
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.682980537414551,
                "transform": {
                    "location": {
                        "x": 974.6409912109375,
                        "y": 3311.5166015625,
                        "z": 369.0331115722656
                    },
                    "rotation": {
                        "roll": -0.013916069641709328,
                        "pitch": 0.9216247200965881,
                        "yaw": 97.66931915283203
                    }
                },
                "velocity": {
                    "x": -1.0284544229507446,
                    "y": 7.612701416015625,
                    "z": 0.13132455945014954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030587196350098,
                "transform": {
                    "location": {
                        "x": 981.2124633789062,
                        "y": 3312.8974609375,
                        "z": 369.0314025878906
                    },
                    "rotation": {
                        "roll": 0.0021071520168334246,
                        "pitch": -0.9758222699165344,
                        "yaw": -82.04439544677734
                    }
                },
                "velocity": {
                    "x": 1.1078567504882812,
                    "y": -7.952626705169678,
                    "z": -0.13676698505878448
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059249877929688,
                "transform": {
                    "location": {
                        "x": 978.0078735351562,
                        "y": 3312.3515625,
                        "z": 369.0296936035156
                    },
                    "rotation": {
                        "roll": 0.002525511896237731,
                        "pitch": -0.9805896878242493,
                        "yaw": -82.03295135498047
                    }
                },
                "velocity": {
                    "x": 1.11163330078125,
                    "y": -7.9810099601745605,
                    "z": -0.1387685388326645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7364501953125,
                        "y": 3422.529541015625,
                        "z": 370.5090637207031
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.49285888671875,
                "transform": {
                    "location": {
                        "x": 978.23828125,
                        "y": 3274.7646484375,
                        "z": 368.2920227050781
                    },
                    "rotation": {
                        "roll": 0.0049260021187365055,
                        "pitch": 1.4585185050964355,
                        "yaw": 93.5126724243164
                    }
                },
                "velocity": {
                    "x": -0.15241003036499023,
                    "y": 2.487558603286743,
                    "z": 0.056295040994882584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039895057678223,
                "transform": {
                    "location": {
                        "x": 971.6959228515625,
                        "y": 3330.730224609375,
                        "z": 369.349365234375
                    },
                    "rotation": {
                        "roll": -0.0028076539747416973,
                        "pitch": 0.8914011120796204,
                        "yaw": 99.10900115966797
                    }
                },
                "velocity": {
                    "x": -1.271107792854309,
                    "y": 7.937798976898193,
                    "z": 0.12465396523475647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052314758300781,
                "transform": {
                    "location": {
                        "x": 968.7001953125,
                        "y": 3349.373291015625,
                        "z": 369.63031005859375
                    },
                    "rotation": {
                        "roll": -0.0006103399209678173,
                        "pitch": 0.7474002242088318,
                        "yaw": 99.1391830444336
                    }
                },
                "velocity": {
                    "x": -1.2788454294204712,
                    "y": 7.9493937492370605,
                    "z": 0.1070520356297493
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.953807353973389,
                "transform": {
                    "location": {
                        "x": 971.3623046875,
                        "y": 3354.51513671875,
                        "z": 369.6841735839844
                    },
                    "rotation": {
                        "roll": 0.005889135878533125,
                        "pitch": -0.8038039207458496,
                        "yaw": -80.796630859375
                    }
                },
                "velocity": {
                    "x": 1.2698358297348022,
                    "y": -7.8510870933532715,
                    "z": -0.10487646609544754
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.393122673034668,
                "transform": {
                    "location": {
                        "x": 955.8490600585938,
                        "y": 3403.7783203125,
                        "z": 370.22161865234375
                    },
                    "rotation": {
                        "roll": 0.0024581756442785263,
                        "pitch": 0.06291969865560532,
                        "yaw": 99.14069366455078
                    }
                },
                "velocity": {
                    "x": -0.2215098738670349,
                    "y": 1.3753646612167358,
                    "z": 0.009799432940781116
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.9605519771575928,
                "transform": {
                    "location": {
                        "x": 957.2399291992188,
                        "y": 3395.1279296875,
                        "z": 370.1434631347656
                    },
                    "rotation": {
                        "roll": 0.0001572377805132419,
                        "pitch": 0.0354350209236145,
                        "yaw": 99.13556671142578
                    }
                },
                "velocity": {
                    "x": -0.15232396125793457,
                    "y": 0.9483672380447388,
                    "z": 0.007552585564553738
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.009773493744432926,
        "expert_target_speed": 10.0,
        "target_point": [
            12.561411545856032,
            -0.09194821297086753
        ],
        "target_point_next": [
            63.553817514618075,
            -0.9691754835229389
        ]
    },
    "160": {
        "acceleration": [
            -0.41030406951904297,
            2.155590057373047,
            0.04399031400680542
        ],
        "angular_velocity": [
            -0.2649562954902649,
            -0.2882196009159088,
            -0.05277959629893303
        ],
        "forward_vector": [
            -0.17675481736660004,
            0.9840295314788818,
            0.021062247455120087
        ],
        "right_vector": [
            -0.9842449426651001,
            -0.1768088936805725,
            0.0007183597190305591
        ],
        "location": [
            968.1331176757812,
            3333.451171875,
            369.3952331542969
        ],
        "rotation": [
            -0.04116811975836754,
            1.2068670988082886,
            100.18307495117188
        ],
        "velocity": [
            -2.620506525039673,
            14.601926803588867,
            0.22867001593112946
        ],
        "speed": 14.83520545274458,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.900604248046875,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.1979370117188,
                3395.389404296875,
                370.1457214355469
            ],
            "velocity": [
                -0.1829318404197693,
                1.1474543809890747,
                0.009822673164308071
            ],
            "speed_kmh": 4.183150584284083,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.134721755981445,
                "transform": {
                    "location": {
                        "x": 968.3385620117188,
                        "y": 3393.3583984375,
                        "z": 370.1179504394531
                    },
                    "rotation": {
                        "roll": -0.006286644376814365,
                        "pitch": -0.5683605074882507,
                        "yaw": -80.31394958496094
                    }
                },
                "velocity": {
                    "x": 1.3677239418029785,
                    "y": -8.018420219421387,
                    "z": -0.0892399400472641
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081001281738281,
                "transform": {
                    "location": {
                        "x": 965.1983642578125,
                        "y": 3392.40625,
                        "z": 370.1201171875
                    },
                    "rotation": {
                        "roll": -0.015136714093387127,
                        "pitch": -0.5692484378814697,
                        "yaw": -80.31794738769531
                    }
                },
                "velocity": {
                    "x": 1.3613619804382324,
                    "y": -7.965243339538574,
                    "z": -0.06460586190223694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.48438835144043,
                "transform": {
                    "location": {
                        "x": 976.565673828125,
                        "y": 3293.94873046875,
                        "z": 368.70849609375
                    },
                    "rotation": {
                        "roll": 0.022529160603880882,
                        "pitch": 1.16273033618927,
                        "yaw": 93.72917938232422
                    }
                },
                "velocity": {
                    "x": -0.7309974431991577,
                    "y": 9.45429801940918,
                    "z": 0.18847452104091644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.144984245300293,
                "transform": {
                    "location": {
                        "x": 974.8767700195312,
                        "y": 3353.14306640625,
                        "z": 369.6665954589844
                    },
                    "rotation": {
                        "roll": 0.0005044601857662201,
                        "pitch": -0.7220465540885925,
                        "yaw": -80.8069839477539
                    }
                },
                "velocity": {
                    "x": 1.3002079725265503,
                    "y": -8.039816856384277,
                    "z": -0.10754634439945221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.536238670349121,
                "transform": {
                    "location": {
                        "x": 974.3588256835938,
                        "y": 3313.51513671875,
                        "z": 369.0679931640625
                    },
                    "rotation": {
                        "roll": -0.02239982970058918,
                        "pitch": 1.062941312789917,
                        "yaw": 98.0944595336914
                    }
                },
                "velocity": {
                    "x": -1.2116889953613281,
                    "y": 8.448578834533691,
                    "z": 0.1438458263874054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082996368408203,
                "transform": {
                    "location": {
                        "x": 981.4845581054688,
                        "y": 3310.902099609375,
                        "z": 368.996826171875
                    },
                    "rotation": {
                        "roll": 0.008487518876791,
                        "pitch": -0.9934987425804138,
                        "yaw": -82.29991912841797
                    }
                },
                "velocity": {
                    "x": 1.047951579093933,
                    "y": -8.01357364654541,
                    "z": -0.13880608975887299
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057026863098145,
                "transform": {
                    "location": {
                        "x": 978.280029296875,
                        "y": 3310.35595703125,
                        "z": 368.994873046875
                    },
                    "rotation": {
                        "roll": 0.008021355606615543,
                        "pitch": -0.9993932247161865,
                        "yaw": -82.32063293457031
                    }
                },
                "velocity": {
                    "x": 1.0428669452667236,
                    "y": -7.988041877746582,
                    "z": -0.13890035450458527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6114501953125,
                        "y": 3423.3046875,
                        "z": 370.45220947265625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.83229660987854,
                "transform": {
                    "location": {
                        "x": 978.1904296875,
                        "y": 3275.548583984375,
                        "z": 368.30999755859375
                    },
                    "rotation": {
                        "roll": 0.0010363578330725431,
                        "pitch": 1.5039119720458984,
                        "yaw": 93.50849151611328
                    }
                },
                "velocity": {
                    "x": -0.23280316591262817,
                    "y": 3.8242368698120117,
                    "z": 0.08667630702257156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041804313659668,
                "transform": {
                    "location": {
                        "x": 971.377685546875,
                        "y": 3332.71484375,
                        "z": 369.38037109375
                    },
                    "rotation": {
                        "roll": -0.002288764575496316,
                        "pitch": 0.892616868019104,
                        "yaw": 99.09940338134766
                    }
                },
                "velocity": {
                    "x": -1.2731167078018188,
                    "y": 7.939438819885254,
                    "z": 0.12292907387018204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99239444732666,
                "transform": {
                    "location": {
                        "x": 968.3815307617188,
                        "y": 3351.35302734375,
                        "z": 369.6566467285156
                    },
                    "rotation": {
                        "roll": -0.0007934911409392953,
                        "pitch": 0.7539367079734802,
                        "yaw": 99.14389038085938
                    }
                },
                "velocity": {
                    "x": -1.270256519317627,
                    "y": 7.890082359313965,
                    "z": 0.10687866061925888
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.080522537231445,
                "transform": {
                    "location": {
                        "x": 971.6824951171875,
                        "y": 3352.535888671875,
                        "z": 369.6573486328125
                    },
                    "rotation": {
                        "roll": 0.002988307736814022,
                        "pitch": -0.7558901906013489,
                        "yaw": -80.8129653930664
                    }
                },
                "velocity": {
                    "x": 1.288717269897461,
                    "y": -7.976375102996826,
                    "z": -0.10723365843296051
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5623369216918945,
                "transform": {
                    "location": {
                        "x": 955.7899780273438,
                        "y": 3404.1455078125,
                        "z": 370.22509765625
                    },
                    "rotation": {
                        "roll": 0.0007512129377573729,
                        "pitch": 0.4728471338748932,
                        "yaw": 99.14684295654297
                    }
                },
                "velocity": {
                    "x": -0.2492615282535553,
                    "y": 1.542279839515686,
                    "z": 0.01174536719918251
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.161986231803894,
                "transform": {
                    "location": {
                        "x": 957.1979370117188,
                        "y": 3395.389404296875,
                        "z": 370.1457214355469
                    },
                    "rotation": {
                        "roll": -0.002563479356467724,
                        "pitch": 0.045372944325208664,
                        "yaw": 99.11833953857422
                    }
                },
                "velocity": {
                    "x": -0.1829318404197693,
                    "y": 1.1474543809890747,
                    "z": 0.009822673164308071
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.017243800684809685,
        "expert_target_speed": 10.0,
        "target_point": [
            8.901576920692985,
            -0.10146535036052917
        ],
        "target_point_next": [
            59.89311825478975,
            -1.0275898238195662
        ]
    },
    "165": {
        "acceleration": [
            -0.42815685272216797,
            3.4720230102539062,
            -0.035828351974487305
        ],
        "angular_velocity": [
            -0.15549667179584503,
            -0.25082528591156006,
            -0.823689877986908
        ],
        "forward_vector": [
            -0.1750919073820114,
            0.9842997193336487,
            0.022288262844085693
        ],
        "right_vector": [
            -0.9845452308654785,
            -0.1751299500465393,
            -0.00024856533855199814
        ],
        "location": [
            967.454833984375,
            3337.244873046875,
            369.4540100097656
        ],
        "rotation": [
            0.014245282858610153,
            1.2771291732788086,
            100.08654022216797
        ],
        "velocity": [
            -2.7749581336975098,
            15.62307071685791,
            0.23675325512886047
        ],
        "speed": 15.867600047509299,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.36503982543945,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.1473388671875,
                3395.7041015625,
                370.1484680175781
            ],
            "velocity": [
                -0.22005684673786163,
                1.3615810871124268,
                0.010943498462438583
            ],
            "speed_kmh": 4.965453041996508,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.93137788772583,
                "transform": {
                    "location": {
                        "x": 968.6763916015625,
                        "y": 3391.380126953125,
                        "z": 370.0972595214844
                    },
                    "rotation": {
                        "roll": -0.004974406212568283,
                        "pitch": -0.5635383725166321,
                        "yaw": -80.3025894165039
                    }
                },
                "velocity": {
                    "x": 1.3356854915618896,
                    "y": -7.817699432373047,
                    "z": -0.07922268658876419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107070922851562,
                "transform": {
                    "location": {
                        "x": 965.5399780273438,
                        "y": 3390.411865234375,
                        "z": 370.10211181640625
                    },
                    "rotation": {
                        "roll": -0.009735115803778172,
                        "pitch": -0.5627119541168213,
                        "yaw": -80.27348327636719
                    }
                },
                "velocity": {
                    "x": 1.3694169521331787,
                    "y": -7.990204334259033,
                    "z": -0.07697108387947083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.389427185058594,
                "transform": {
                    "location": {
                        "x": 976.3929443359375,
                        "y": 3296.177978515625,
                        "z": 368.75225830078125
                    },
                    "rotation": {
                        "roll": -0.01287838164716959,
                        "pitch": 1.2022088766098022,
                        "yaw": 94.4737548828125
                    }
                },
                "velocity": {
                    "x": -0.683771550655365,
                    "y": 8.359892845153809,
                    "z": 0.16473126411437988
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076189994812012,
                "transform": {
                    "location": {
                        "x": 975.2001342773438,
                        "y": 3351.142822265625,
                        "z": 369.640380859375
                    },
                    "rotation": {
                        "roll": 0.0012036936823278666,
                        "pitch": -0.7848228216171265,
                        "yaw": -80.82456970214844
                    }
                },
                "velocity": {
                    "x": 1.2868696451187134,
                    "y": -7.972283363342285,
                    "z": -0.10728468745946884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.709632873535156,
                "transform": {
                    "location": {
                        "x": 974.0310668945312,
                        "y": 3315.776123046875,
                        "z": 369.10662841796875
                    },
                    "rotation": {
                        "roll": -0.016479456797242165,
                        "pitch": 1.1243857145309448,
                        "yaw": 98.27429962158203
                    }
                },
                "velocity": {
                    "x": -1.4008234739303589,
                    "y": 9.606687545776367,
                    "z": 0.16191302239894867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032015800476074,
                "transform": {
                    "location": {
                        "x": 981.7459716796875,
                        "y": 3308.905517578125,
                        "z": 368.961669921875
                    },
                    "rotation": {
                        "roll": 0.0032377999741584063,
                        "pitch": -1.0109840631484985,
                        "yaw": -82.57284545898438
                    }
                },
                "velocity": {
                    "x": 1.0298879146575928,
                    "y": -7.964443206787109,
                    "z": -0.14233136177062988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059283256530762,
                "transform": {
                    "location": {
                        "x": 978.541015625,
                        "y": 3308.358642578125,
                        "z": 368.95947265625
                    },
                    "rotation": {
                        "roll": 0.0037503123749047518,
                        "pitch": -1.0182445049285889,
                        "yaw": -82.56450653076172
                    }
                },
                "velocity": {
                    "x": 1.0328599214553833,
                    "y": -7.991557598114014,
                    "z": -0.1423167586326599
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3986206054688,
                        "y": 3424.62744140625,
                        "z": 370.4021301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8653564453125,
                        "y": 3440.36767578125,
                        "z": 370.6263732910156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.209280014038086,
                "transform": {
                    "location": {
                        "x": 978.1209716796875,
                        "y": 3276.6865234375,
                        "z": 368.3359680175781
                    },
                    "rotation": {
                        "roll": 0.0001557079522171989,
                        "pitch": 1.5139386653900146,
                        "yaw": 93.50178527832031
                    }
                },
                "velocity": {
                    "x": -0.3180302679538727,
                    "y": 5.19814395904541,
                    "z": 0.12147128582000732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.51786994934082,
                "transform": {
                    "location": {
                        "x": 971.0528564453125,
                        "y": 3334.739013671875,
                        "z": 369.412109375
                    },
                    "rotation": {
                        "roll": -0.0007018453325144947,
                        "pitch": 0.9513360261917114,
                        "yaw": 99.13265991210938
                    }
                },
                "velocity": {
                    "x": -1.3493549823760986,
                    "y": 8.409271240234375,
                    "z": 0.13230837881565094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052188873291016,
                "transform": {
                    "location": {
                        "x": 968.0628662109375,
                        "y": 3353.333251953125,
                        "z": 369.6831970214844
                    },
                    "rotation": {
                        "roll": -6.107678200351074e-05,
                        "pitch": 0.7541484832763672,
                        "yaw": 99.14434051513672
                    }
                },
                "velocity": {
                    "x": -1.2796813249588013,
                    "y": 7.949128150939941,
                    "z": 0.10732698440551758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023686408996582,
                "transform": {
                    "location": {
                        "x": 972.0039672851562,
                        "y": 3350.546142578125,
                        "z": 369.630615234375
                    },
                    "rotation": {
                        "roll": 0.0025082137435674667,
                        "pitch": -0.7711760997772217,
                        "yaw": -80.8239974975586
                    }
                },
                "velocity": {
                    "x": 1.2792959213256836,
                    "y": -7.920319080352783,
                    "z": -0.10719340294599533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.810207724571228,
                "transform": {
                    "location": {
                        "x": 955.724365234375,
                        "y": 3404.552978515625,
                        "z": 370.2284240722656
                    },
                    "rotation": {
                        "roll": 0.0006168464897200465,
                        "pitch": 0.48101603984832764,
                        "yaw": 99.14414978027344
                    }
                },
                "velocity": {
                    "x": -0.2879081964492798,
                    "y": 1.787112832069397,
                    "z": 0.013724221847951412
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.3792924880981445,
                "transform": {
                    "location": {
                        "x": 957.1473388671875,
                        "y": 3395.7041015625,
                        "z": 370.1484680175781
                    },
                    "rotation": {
                        "roll": 0.0015062653692439198,
                        "pitch": 0.04193053022027016,
                        "yaw": 99.13545227050781
                    }
                },
                "velocity": {
                    "x": -0.22005684673786163,
                    "y": 1.3615810871124268,
                    "z": 0.010943498462438583
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.037794921547174454,
        "expert_target_speed": 10.0,
        "target_point": [
            56.040905618041236,
            -0.9300906428159568
        ],
        "target_point_next": [
            107.03392391226532,
            -1.7703823925415314
        ]
    },
    "170": {
        "acceleration": [
            -0.24444103240966797,
            3.0118942260742188,
            0.010791122913360596
        ],
        "angular_velocity": [
            -0.07052110880613327,
            -0.18785366415977478,
            -1.04366934299469
        ],
        "forward_vector": [
            -0.17092327773571014,
            0.9850561618804932,
            0.021204669028520584
        ],
        "right_vector": [
            -0.9852810502052307,
            -0.1709386557340622,
            -0.0010978241916745901
        ],
        "location": [
            966.7498168945312,
            3341.2548828125,
            369.5135498046875
        ],
        "rotation": [
            0.06291485577821732,
            1.2150291204452515,
            99.84374237060547
        ],
        "velocity": [
            -2.852813959121704,
            16.413818359375,
            0.23716744780540466
        ],
        "speed": 16.6598913747934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.66572570800781,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.0881958007812,
                3396.072021484375,
                370.1516418457031
            ],
            "velocity": [
                -0.25260886549949646,
                1.574270486831665,
                0.014133453369140625
            ],
            "speed_kmh": 5.740096491042991,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.895751953125,
                        "y": 3262.928955078125,
                        "z": 368.344482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.29438781738281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.941616058349609,
                "transform": {
                    "location": {
                        "x": 968.962890625,
                        "y": 3389.67919921875,
                        "z": 370.0809631347656
                    },
                    "rotation": {
                        "roll": -0.000396737945266068,
                        "pitch": -0.6646115183830261,
                        "yaw": -80.45122528076172
                    }
                },
                "velocity": {
                    "x": 0.9719434976577759,
                    "y": -5.861281394958496,
                    "z": -0.059207670390605927
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.095349311828613,
                "transform": {
                    "location": {
                        "x": 965.8761596679688,
                        "y": 3388.41455078125,
                        "z": 370.0826110839844
                    },
                    "rotation": {
                        "roll": 0.0058641862124204636,
                        "pitch": -0.5623772740364075,
                        "yaw": -80.46800231933594
                    }
                },
                "velocity": {
                    "x": 1.3350645303726196,
                    "y": -7.984127521514893,
                    "z": -0.07745368778705597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.022991180419922,
                "transform": {
                    "location": {
                        "x": 976.2261352539062,
                        "y": 3298.005615234375,
                        "z": 368.78759765625
                    },
                    "rotation": {
                        "roll": 0.006131591275334358,
                        "pitch": 1.2199536561965942,
                        "yaw": 95.2286605834961
                    }
                },
                "velocity": {
                    "x": -0.7151263356208801,
                    "y": 6.985190391540527,
                    "z": 0.13459596037864685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046416282653809,
                "transform": {
                    "location": {
                        "x": 975.5206298828125,
                        "y": 3349.15625,
                        "z": 369.61346435546875
                    },
                    "rotation": {
                        "roll": -9.154905274044722e-05,
                        "pitch": -0.7813462615013123,
                        "yaw": -80.83815002441406
                    }
                },
                "velocity": {
                    "x": 1.2811777591705322,
                    "y": -7.943016052246094,
                    "z": -0.109078049659729
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.857640266418457,
                "transform": {
                    "location": {
                        "x": 973.6607055664062,
                        "y": 3318.255126953125,
                        "z": 369.1477966308594
                    },
                    "rotation": {
                        "roll": -0.0259094201028347,
                        "pitch": 0.9943730235099792,
                        "yaw": 98.62043762207031
                    }
                },
                "velocity": {
                    "x": -1.4800889492034912,
                    "y": 9.744521141052246,
                    "z": 0.1634306162595749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083261489868164,
                "transform": {
                    "location": {
                        "x": 982.0044555664062,
                        "y": 3306.907958984375,
                        "z": 368.9259948730469
                    },
                    "rotation": {
                        "roll": -0.0034180409274995327,
                        "pitch": -1.0233125686645508,
                        "yaw": -82.64665985107422
                    }
                },
                "velocity": {
                    "x": 1.0346102714538574,
                    "y": -8.015454292297363,
                    "z": -0.14554761350154877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059198379516602,
                "transform": {
                    "location": {
                        "x": 978.7993774414062,
                        "y": 3306.36083984375,
                        "z": 368.9234924316406
                    },
                    "rotation": {
                        "roll": -0.0015563627239316702,
                        "pitch": -1.034391164779663,
                        "yaw": -82.67341613769531
                    }
                },
                "velocity": {
                    "x": 1.028015375137329,
                    "y": -7.99203634262085,
                    "z": -0.1456589698791504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1909790039062,
                        "y": 3425.916748046875,
                        "z": 370.4055480957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8636474609375,
                        "y": 3440.377685546875,
                        "z": 370.62603759765625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4442973136901855,
                "transform": {
                    "location": {
                        "x": 978.0313720703125,
                        "y": 3278.03173828125,
                        "z": 368.3660583496094
                    },
                    "rotation": {
                        "roll": -0.008148238994181156,
                        "pitch": 1.3706344366073608,
                        "yaw": 93.7509765625
                    }
                },
                "velocity": {
                    "x": -0.36704057455062866,
                    "y": 5.430573463439941,
                    "z": 0.12053003162145615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.368873596191406,
                "transform": {
                    "location": {
                        "x": 970.69482421875,
                        "y": 3336.969970703125,
                        "z": 369.4469299316406
                    },
                    "rotation": {
                        "roll": -0.0013122371165081859,
                        "pitch": 1.0016950368881226,
                        "yaw": 99.1125717163086
                    }
                },
                "velocity": {
                    "x": -1.485184907913208,
                    "y": 9.249335289001465,
                    "z": 0.14077310264110565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994126319885254,
                "transform": {
                    "location": {
                        "x": 967.7442016601562,
                        "y": 3355.31298828125,
                        "z": 369.7096862792969
                    },
                    "rotation": {
                        "roll": -0.00021359510719776154,
                        "pitch": 0.7500981688499451,
                        "yaw": 99.14476013183594
                    }
                },
                "velocity": {
                    "x": -1.27040696144104,
                    "y": 7.8918776512146,
                    "z": 0.10193164646625519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026329040527344,
                "transform": {
                    "location": {
                        "x": 972.3229370117188,
                        "y": 3348.568603515625,
                        "z": 369.6039733886719
                    },
                    "rotation": {
                        "roll": 0.0024834577925503254,
                        "pitch": -0.7807042598724365,
                        "yaw": -80.84001922607422
                    }
                },
                "velocity": {
                    "x": 1.2758855819702148,
                    "y": -7.923524379730225,
                    "z": -0.10875625163316727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.9911372661590576,
                "transform": {
                    "location": {
                        "x": 955.6486206054688,
                        "y": 3405.0234375,
                        "z": 370.23199462890625
                    },
                    "rotation": {
                        "roll": 0.0013101989170536399,
                        "pitch": 0.5325088500976562,
                        "yaw": 99.14466094970703
                    }
                },
                "velocity": {
                    "x": -0.3164452314376831,
                    "y": 1.9657843112945557,
                    "z": 0.013502035290002823
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.5944712162017822,
                "transform": {
                    "location": {
                        "x": 957.0881958007812,
                        "y": 3396.072021484375,
                        "z": 370.1516418457031
                    },
                    "rotation": {
                        "roll": -0.0009460464934818447,
                        "pitch": 0.04305068030953407,
                        "yaw": 99.13080596923828
                    }
                },
                "velocity": {
                    "x": -0.25260886549949646,
                    "y": 1.574270486831665,
                    "z": 0.014133453369140625
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.05104600265622139,
        "expert_target_speed": 10.0,
        "target_point": [
            51.97284030447834,
            -0.701642317109048
        ],
        "target_point_next": [
            102.96896204055871,
            -1.3258000364401994
        ]
    },
    "175": {
        "acceleration": [
            0.09641170501708984,
            1.3236236572265625,
            -0.018403828144073486
        ],
        "angular_velocity": [
            -0.6312207579612732,
            -0.21539907157421112,
            -1.083416223526001
        ],
        "forward_vector": [
            -0.16634614765644073,
            0.9858647584915161,
            0.01999054104089737
        ],
        "right_vector": [
            -0.9860659837722778,
            -0.1663464605808258,
            -0.0016587739810347557
        ],
        "location": [
            966.0319213867188,
            3345.4384765625,
            369.57415771484375
        ],
        "rotation": [
            0.09505978971719742,
            1.1454499959945679,
            99.57737731933594
        ],
        "velocity": [
            -2.869035005569458,
            16.95399284362793,
            0.24284958839416504
        ],
        "speed": 17.195035190570852,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.84664535522461,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                957.0205078125,
                3396.49267578125,
                370.1553039550781
            ],
            "velocity": [
                -0.28677842020988464,
                1.7825896739959717,
                0.014425954781472683
            ],
            "speed_kmh": 6.500044913331924,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.8076171875,
                        "y": 3265.421875,
                        "z": 368.1842041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.29438781738281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.968832969665527,
                "transform": {
                    "location": {
                        "x": 969.2021484375,
                        "y": 3388.239013671875,
                        "z": 370.0660705566406
                    },
                    "rotation": {
                        "roll": -0.002319345949217677,
                        "pitch": -0.5911528468132019,
                        "yaw": -80.55299377441406
                    }
                },
                "velocity": {
                    "x": 0.9742172956466675,
                    "y": -5.88850736618042,
                    "z": -0.05783931538462639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.121909141540527,
                "transform": {
                    "location": {
                        "x": 966.208984375,
                        "y": 3386.4150390625,
                        "z": 370.0625
                    },
                    "rotation": {
                        "roll": 0.0028552189469337463,
                        "pitch": -0.5807163119316101,
                        "yaw": -80.56468200683594
                    }
                },
                "velocity": {
                    "x": 1.3298008441925049,
                    "y": -8.011869430541992,
                    "z": -0.0835791751742363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.433942794799805,
                "transform": {
                    "location": {
                        "x": 976.0457763671875,
                        "y": 3299.787109375,
                        "z": 368.8230895996094
                    },
                    "rotation": {
                        "roll": -0.007110615726560354,
                        "pitch": 1.0716087818145752,
                        "yaw": 95.6678695678711
                    }
                },
                "velocity": {
                    "x": -0.767423689365387,
                    "y": 7.392911434173584,
                    "z": 0.13936801254749298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.118621826171875,
                "transform": {
                    "location": {
                        "x": 975.842529296875,
                        "y": 3347.16064453125,
                        "z": 369.58544921875
                    },
                    "rotation": {
                        "roll": -0.0005188510986045003,
                        "pitch": -0.7972947955131531,
                        "yaw": -80.84001159667969
                    }
                },
                "velocity": {
                    "x": 1.292359471321106,
                    "y": -8.014286041259766,
                    "z": -0.11423151940107346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.62093448638916,
                "transform": {
                    "location": {
                        "x": 973.311279296875,
                        "y": 3320.53271484375,
                        "z": 369.1849060058594
                    },
                    "rotation": {
                        "roll": -0.02087402157485485,
                        "pitch": 0.7941733598709106,
                        "yaw": 98.76077270507812
                    }
                },
                "velocity": {
                    "x": -1.3146228790283203,
                    "y": 8.518970489501953,
                    "z": 0.13938245177268982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031042098999023,
                "transform": {
                    "location": {
                        "x": 982.2498779296875,
                        "y": 3304.9091796875,
                        "z": 368.8898010253906
                    },
                    "rotation": {
                        "roll": 0.005604403559118509,
                        "pitch": -1.0424507856369019,
                        "yaw": -83.03423309326172
                    }
                },
                "velocity": {
                    "x": 0.9506369829177856,
                    "y": -7.9732513427734375,
                    "z": -0.14556342363357544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057799339294434,
                "transform": {
                    "location": {
                        "x": 979.0442504882812,
                        "y": 3304.361572265625,
                        "z": 368.88690185546875
                    },
                    "rotation": {
                        "roll": 0.005007478408515453,
                        "pitch": -1.0516988039016724,
                        "yaw": -83.03361511230469
                    }
                },
                "velocity": {
                    "x": 0.9527990221977234,
                    "y": -7.999906539916992,
                    "z": -0.14762946963310242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9924926757812,
                        "y": 3427.150634765625,
                        "z": 370.4088439941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7880249023438,
                        "y": 3440.8466796875,
                        "z": 370.6102600097656
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.334376335144043,
                "transform": {
                    "location": {
                        "x": 977.9246826171875,
                        "y": 3279.58642578125,
                        "z": 368.40087890625
                    },
                    "rotation": {
                        "roll": -0.003906291909515858,
                        "pitch": 1.5331792831420898,
                        "yaw": 93.91157531738281
                    }
                },
                "velocity": {
                    "x": -0.5058838129043579,
                    "y": 7.315135955810547,
                    "z": 0.1610734760761261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.324177742004395,
                "transform": {
                    "location": {
                        "x": 970.3416137695312,
                        "y": 3339.16748046875,
                        "z": 369.4798278808594
                    },
                    "rotation": {
                        "roll": 0.00027416396187618375,
                        "pitch": 0.7353176474571228,
                        "yaw": 99.14443969726562
                    }
                },
                "velocity": {
                    "x": -1.3210464715957642,
                    "y": 8.217761993408203,
                    "z": 0.12311635911464691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05178451538086,
                "transform": {
                    "location": {
                        "x": 967.425537109375,
                        "y": 3357.29296875,
                        "z": 369.73486328125
                    },
                    "rotation": {
                        "roll": -0.00030519365100190043,
                        "pitch": 0.7028742432594299,
                        "yaw": 99.14114379882812
                    }
                },
                "velocity": {
                    "x": -1.279000997543335,
                    "y": 7.948929309844971,
                    "z": 0.0995568037033081
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.044011116027832,
                "transform": {
                    "location": {
                        "x": 972.6426391601562,
                        "y": 3346.584228515625,
                        "z": 369.5762023925781
                    },
                    "rotation": {
                        "roll": 0.00042767688864842057,
                        "pitch": -0.8130452036857605,
                        "yaw": -80.84757995605469
                    }
                },
                "velocity": {
                    "x": 1.2792552709579468,
                    "y": -7.940855979919434,
                    "z": -0.11149639636278152
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.2082555294036865,
                "transform": {
                    "location": {
                        "x": 955.5668334960938,
                        "y": 3405.531494140625,
                        "z": 370.2357482910156
                    },
                    "rotation": {
                        "roll": -0.0006409174529835582,
                        "pitch": 0.5253713130950928,
                        "yaw": 99.14447784423828
                    }
                },
                "velocity": {
                    "x": -0.3508825898170471,
                    "y": 2.1801493167877197,
                    "z": 0.014934043399989605
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.805567979812622,
                "transform": {
                    "location": {
                        "x": 957.0205078125,
                        "y": 3396.49267578125,
                        "z": 370.1553039550781
                    },
                    "rotation": {
                        "roll": 0.0018298676004633307,
                        "pitch": 0.04581690579652786,
                        "yaw": 99.13282012939453
                    }
                },
                "velocity": {
                    "x": -0.28677842020988464,
                    "y": 1.7825896739959717,
                    "z": 0.014425954781472683
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.060454968363046646,
        "expert_target_speed": 10.0,
        "target_point": [
            47.73081515803825,
            -0.4718793524114355
        ],
        "target_point_next": [
            98.72928719284437,
            -0.8589905700573137
        ]
    },
    "180": {
        "acceleration": [
            0.2729368209838867,
            0.39249420166015625,
            -0.0499686598777771
        ],
        "angular_velocity": [
            -0.5462871789932251,
            -0.07446637004613876,
            -1.1054872274398804
        ],
        "forward_vector": [
            -0.16164730489253998,
            0.9867146611213684,
            0.016257045790553093
        ],
        "right_vector": [
            -0.9868482947349548,
            -0.1616375595331192,
            -0.0019209298770874739
        ],
        "location": [
            965.3209838867188,
            3349.697509765625,
            369.63372802734375
        ],
        "rotation": [
            0.11007578670978546,
            0.9315011501312256,
            99.30376434326172
        ],
        "velocity": [
            -2.8112480640411377,
            17.103097915649414,
            0.22841279208660126
        ],
        "speed": 17.332601477847067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.00741195678711,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.9445190429688,
                3396.965576171875,
                370.15936279296875
            ],
            "velocity": [
                -0.3203325569629669,
                1.9905489683151245,
                0.01702173240482807
            ],
            "speed_kmh": 7.258431989530267,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.913330078125,
                        "y": 3426.868408203125,
                        "z": 370.60595703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.921142578125,
                        "y": 3425.00732421875,
                        "z": 370.4288635253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.7448120117188,
                        "y": 3267.085205078125,
                        "z": 368.1496887207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.29438781738281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.4175190925598145,
                "transform": {
                    "location": {
                        "x": 969.4608154296875,
                        "y": 3386.6767578125,
                        "z": 370.0494384765625
                    },
                    "rotation": {
                        "roll": -0.003417978063225746,
                        "pitch": -0.5105224847793579,
                        "yaw": -80.59068298339844
                    }
                },
                "velocity": {
                    "x": 1.2100650072097778,
                    "y": -7.317727088928223,
                    "z": -0.07878579199314117
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.291696548461914,
                "transform": {
                    "location": {
                        "x": 966.4900512695312,
                        "y": 3384.7119140625,
                        "z": 370.0442810058594
                    },
                    "rotation": {
                        "roll": 0.003728387178853154,
                        "pitch": -0.8231196999549866,
                        "yaw": -80.64695739746094
                    }
                },
                "velocity": {
                    "x": 1.0182324647903442,
                    "y": -6.208413600921631,
                    "z": -0.06517849117517471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.390887260437012,
                "transform": {
                    "location": {
                        "x": 975.8466796875,
                        "y": 3301.712646484375,
                        "z": 368.8601989746094
                    },
                    "rotation": {
                        "roll": -0.012329106219112873,
                        "pitch": 1.0047343969345093,
                        "yaw": 95.89888000488281
                    }
                },
                "velocity": {
                    "x": -0.8745810985565186,
                    "y": 8.343664169311523,
                    "z": 0.15924406051635742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073148727416992,
                "transform": {
                    "location": {
                        "x": 976.1644897460938,
                        "y": 3345.162353515625,
                        "z": 369.5570373535156
                    },
                    "rotation": {
                        "roll": 0.0019405160564929247,
                        "pitch": -0.8404479026794434,
                        "yaw": -80.84941101074219
                    }
                },
                "velocity": {
                    "x": 1.2834594249725342,
                    "y": -7.969631671905518,
                    "z": -0.11591435968875885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.206451416015625,
                "transform": {
                    "location": {
                        "x": 972.993408203125,
                        "y": 3322.5732421875,
                        "z": 369.2181701660156
                    },
                    "rotation": {
                        "roll": -0.016265878453850746,
                        "pitch": 0.8419095873832703,
                        "yaw": 98.90389251708984
                    }
                },
                "velocity": {
                    "x": -1.2736985683441162,
                    "y": 8.10594654083252,
                    "z": 0.13102880120277405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083603858947754,
                "transform": {
                    "location": {
                        "x": 982.4886474609375,
                        "y": 3302.90966796875,
                        "z": 368.85284423828125
                    },
                    "rotation": {
                        "roll": -0.0023498255759477615,
                        "pitch": -1.0581942796707153,
                        "yaw": -83.22416687011719
                    }
                },
                "velocity": {
                    "x": 0.9489068388938904,
                    "y": -8.026328086853027,
                    "z": -0.14930161833763123
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059165000915527,
                "transform": {
                    "location": {
                        "x": 979.2826538085938,
                        "y": 3302.361083984375,
                        "z": 368.849609375
                    },
                    "rotation": {
                        "roll": -0.0017700210446491838,
                        "pitch": -1.0698193311691284,
                        "yaw": -83.25728607177734
                    }
                },
                "velocity": {
                    "x": 0.9425458908081055,
                    "y": -8.002449989318848,
                    "z": -0.15013369917869568
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8600463867188,
                        "y": 3427.97314453125,
                        "z": 370.4110412597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6124877929688,
                        "y": 3441.937744140625,
                        "z": 370.57366943359375
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.387402534484863,
                "transform": {
                    "location": {
                        "x": 977.7874145507812,
                        "y": 3281.558349609375,
                        "z": 368.4441833496094
                    },
                    "rotation": {
                        "roll": -0.008209272287786007,
                        "pitch": 1.4531909227371216,
                        "yaw": 93.98480987548828
                    }
                },
                "velocity": {
                    "x": -0.5842213034629822,
                    "y": 8.36500072479248,
                    "z": 0.18429575860500336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.426266670227051,
                "transform": {
                    "location": {
                        "x": 970.0335693359375,
                        "y": 3341.083984375,
                        "z": 369.507568359375
                    },
                    "rotation": {
                        "roll": -0.0007629027240909636,
                        "pitch": 0.694391131401062,
                        "yaw": 99.11338806152344
                    }
                },
                "velocity": {
                    "x": -1.1786154508590698,
                    "y": 7.331358909606934,
                    "z": 0.10712194442749023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992882251739502,
                "transform": {
                    "location": {
                        "x": 967.1069946289062,
                        "y": 3359.272705078125,
                        "z": 369.7595520019531
                    },
                    "rotation": {
                        "roll": -9.157380554825068e-05,
                        "pitch": 0.6869940757751465,
                        "yaw": 99.14092254638672
                    }
                },
                "velocity": {
                    "x": -1.2696887254714966,
                    "y": 7.890810966491699,
                    "z": 0.09572833776473999
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033164024353027,
                "transform": {
                    "location": {
                        "x": 972.9622192382812,
                        "y": 3344.600830078125,
                        "z": 369.54779052734375
                    },
                    "rotation": {
                        "roll": -6.107812077971175e-05,
                        "pitch": -0.8440883755683899,
                        "yaw": -80.84770965576172
                    }
                },
                "velocity": {
                    "x": 1.2776397466659546,
                    "y": -7.930068016052246,
                    "z": -0.11569675803184509
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.4249367713928223,
                "transform": {
                    "location": {
                        "x": 955.4741821289062,
                        "y": 3406.107177734375,
                        "z": 370.239990234375
                    },
                    "rotation": {
                        "roll": 0.0010011441772803664,
                        "pitch": 0.5203852653503418,
                        "yaw": 99.14456176757812
                    }
                },
                "velocity": {
                    "x": -0.38526660203933716,
                    "y": 2.394070625305176,
                    "z": 0.017727259546518326
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.016231060028076,
                "transform": {
                    "location": {
                        "x": 956.9445190429688,
                        "y": 3396.965576171875,
                        "z": 370.15936279296875
                    },
                    "rotation": {
                        "roll": -0.00012206965038785711,
                        "pitch": 0.04706000164151192,
                        "yaw": 99.13394927978516
                    }
                },
                "velocity": {
                    "x": -0.3203325569629669,
                    "y": 1.9905489683151245,
                    "z": 0.01702173240482807
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06463855504989624,
        "expert_target_speed": 10.0,
        "target_point": [
            43.41458200873321,
            -0.2569674185332538
        ],
        "target_point_next": [
            94.41432117041992,
            -0.4005307134511682
        ]
    },
    "185": {
        "acceleration": [
            0.2706623077392578,
            -1.4561843872070312,
            -0.010464489459991455
        ],
        "angular_velocity": [
            -0.7033014297485352,
            0.184845432639122,
            -0.025556785985827446
        ],
        "forward_vector": [
            -0.1580251306295395,
            0.9873299598693848,
            0.014411783777177334
        ],
        "right_vector": [
            -0.9874348640441895,
            -0.15801872313022614,
            -0.0015888605266809464
        ],
        "location": [
            964.6259155273438,
            3353.976806640625,
            369.69091796875
        ],
        "rotation": [
            0.09104449301958084,
            0.8257629871368408,
            99.0932388305664
        ],
        "velocity": [
            -2.7487075328826904,
            17.046903610229492,
            0.22786477208137512
        ],
        "speed": 17.267087646669932,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.203243255615234,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.8602294921875,
                3397.489990234375,
                370.1639404296875
            ],
            "velocity": [
                -0.35313183069229126,
                2.1977615356445312,
                0.018229607492685318
            ],
            "speed_kmh": 8.013692325071421,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.2415161132812,
                        "y": 3424.8291015625,
                        "z": 370.4157409667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2520751953125,
                        "y": 3422.9501953125,
                        "z": 370.3927001953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.6309814453125,
                        "y": 3269.58154296875,
                        "z": 368.1890869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.909423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.428632736206055,
                "transform": {
                    "location": {
                        "x": 969.7925415039062,
                        "y": 3384.6572265625,
                        "z": 370.0279541015625
                    },
                    "rotation": {
                        "roll": 0.00018415697559248656,
                        "pitch": -0.5566399097442627,
                        "yaw": -80.68587493896484
                    }
                },
                "velocity": {
                    "x": 1.3566683530807495,
                    "y": -8.3182373046875,
                    "z": -0.09072699397802353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.33225154876709,
                "transform": {
                    "location": {
                        "x": 966.743896484375,
                        "y": 3383.15966796875,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.000818852277006954,
                        "pitch": -0.6742557287216187,
                        "yaw": -80.7093276977539
                    }
                },
                "velocity": {
                    "x": 1.0201131105422974,
                    "y": -6.249163627624512,
                    "z": -0.06877529621124268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.005992889404297,
                "transform": {
                    "location": {
                        "x": 975.578857421875,
                        "y": 3304.04345703125,
                        "z": 368.9045104980469
                    },
                    "rotation": {
                        "roll": 0.008363157510757446,
                        "pitch": 0.9001711010932922,
                        "yaw": 96.55498504638672
                    }
                },
                "velocity": {
                    "x": -1.1853430271148682,
                    "y": 9.933828353881836,
                    "z": 0.1841362714767456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091164588928223,
                "transform": {
                    "location": {
                        "x": 976.4854736328125,
                        "y": 3343.16796875,
                        "z": 369.52789306640625
                    },
                    "rotation": {
                        "roll": 0.0009428267949260771,
                        "pitch": -0.8372172117233276,
                        "yaw": -80.85940551757812
                    }
                },
                "velocity": {
                    "x": 1.2851779460906982,
                    "y": -7.987605571746826,
                    "z": -0.11584731936454773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.81825065612793,
                "transform": {
                    "location": {
                        "x": 972.6596069335938,
                        "y": 3324.68798828125,
                        "z": 369.2525634765625
                    },
                    "rotation": {
                        "roll": -0.008514435961842537,
                        "pitch": 0.9800501465797424,
                        "yaw": 98.97183227539062
                    }
                },
                "velocity": {
                    "x": -1.3785831928253174,
                    "y": 8.708675384521484,
                    "z": 0.14151881635189056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032617568969727,
                "transform": {
                    "location": {
                        "x": 982.7194213867188,
                        "y": 3300.908935546875,
                        "z": 368.8153381347656
                    },
                    "rotation": {
                        "roll": 0.010283388197422028,
                        "pitch": -1.077660322189331,
                        "yaw": -83.48677062988281
                    }
                },
                "velocity": {
                    "x": 0.8753436207771301,
                    "y": -7.9833502769470215,
                    "z": -0.15111377835273743
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058319091796875,
                "transform": {
                    "location": {
                        "x": 979.5126342773438,
                        "y": 3300.35986328125,
                        "z": 368.8117980957031
                    },
                    "rotation": {
                        "roll": 0.00896366685628891,
                        "pitch": -1.0842583179473877,
                        "yaw": -83.48693084716797
                    }
                },
                "velocity": {
                    "x": 0.8761932253837585,
                    "y": -8.00905704498291,
                    "z": -0.1542595773935318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.66162109375,
                        "y": 3429.206787109375,
                        "z": 370.4144592285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3662109375,
                        "y": 3443.46875,
                        "z": 370.5224914550781
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.6205444335938,
                        "y": 3284.721435546875,
                        "z": 368.5128479003906
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.906203269958496,
                "transform": {
                    "location": {
                        "x": 969.7325439453125,
                        "y": 3342.955322265625,
                        "z": 369.5350036621094
                    },
                    "rotation": {
                        "roll": -3.052578176720999e-05,
                        "pitch": 0.8519431352615356,
                        "yaw": 99.15502166748047
                    }
                },
                "velocity": {
                    "x": -1.256103277206421,
                    "y": 7.804969310760498,
                    "z": 0.11272107809782028
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053199768066406,
                "transform": {
                    "location": {
                        "x": 966.788330078125,
                        "y": 3361.2529296875,
                        "z": 369.78375244140625
                    },
                    "rotation": {
                        "roll": -0.0005187851493246853,
                        "pitch": 0.6897329688072205,
                        "yaw": 99.14091491699219
                    }
                },
                "velocity": {
                    "x": -1.2792311906814575,
                    "y": 7.9503655433654785,
                    "z": 0.09634574502706528
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028444290161133,
                "transform": {
                    "location": {
                        "x": 973.2813720703125,
                        "y": 3342.61962890625,
                        "z": 369.51885986328125
                    },
                    "rotation": {
                        "roll": -0.0004577516810968518,
                        "pitch": -0.8384398221969604,
                        "yaw": -80.84815979003906
                    }
                },
                "velocity": {
                    "x": 1.276796579360962,
                    "y": -7.925426483154297,
                    "z": -0.11539987474679947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.558260440826416,
                "transform": {
                    "location": {
                        "x": 955.374267578125,
                        "y": 3406.72802734375,
                        "z": 370.2447509765625
                    },
                    "rotation": {
                        "roll": 0.00036767381243407726,
                        "pitch": 0.5597885847091675,
                        "yaw": 99.1445083618164
                    }
                },
                "velocity": {
                    "x": -0.4064134955406189,
                    "y": 2.5257084369659424,
                    "z": 0.017919348552823067
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2260255813598633,
                "transform": {
                    "location": {
                        "x": 956.8602294921875,
                        "y": 3397.489990234375,
                        "z": 370.1639404296875
                    },
                    "rotation": {
                        "roll": -0.0008544925367459655,
                        "pitch": 0.04559151083230972,
                        "yaw": 99.13323211669922
                    }
                },
                "velocity": {
                    "x": -0.35313183069229126,
                    "y": 2.1977615356445312,
                    "z": 0.018229607492685318
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06435348838567734,
        "expert_target_speed": 10.0,
        "target_point": [
            39.07986681039632,
            -0.10746507063354471
        ],
        "target_point_next": [
            90.079789196327,
            -0.06362891232182122
        ]
    },
    "190": {
        "acceleration": [
            0.10800361633300781,
            -2.6433563232421875,
            -0.13214111328125
        ],
        "angular_velocity": [
            -0.8391796946525574,
            0.3126279413700104,
            1.5523567199707031
        ],
        "forward_vector": [
            -0.16204676032066345,
            0.986733078956604,
            0.00993450079113245
        ],
        "right_vector": [
            -0.986781656742096,
            -0.1620555818080902,
            8.361925574718043e-05
        ],
        "location": [
            963.946044921875,
            3358.162109375,
            369.74566650390625
        ],
        "rotation": [
            -0.00479126675054431,
            0.5692142844200134,
            99.32617950439453
        ],
        "velocity": [
            -2.7033445835113525,
            16.447669982910156,
            0.2030213326215744
        ],
        "speed": 16.66835084235762,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.54037857055664,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.7685546875,
                3398.059814453125,
                370.1688537597656
            ],
            "velocity": [
                -0.3685452938079834,
                2.2918031215667725,
                0.01988731324672699
            ],
            "speed_kmh": 8.356795535457266,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.733582496643066,
                "transform": {
                    "location": {
                        "x": 963.5366821289062,
                        "y": 3423.036865234375,
                        "z": 370.3785705566406
                    },
                    "rotation": {
                        "roll": -0.05722035467624664,
                        "pitch": -0.8028545379638672,
                        "yaw": -80.61149597167969
                    }
                },
                "velocity": {
                    "x": 1.1299983263015747,
                    "y": -6.63669490814209,
                    "z": -0.13607804477214813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.988190650939941,
                "transform": {
                    "location": {
                        "x": 960.5361328125,
                        "y": 3421.218017578125,
                        "z": 370.3518371582031
                    },
                    "rotation": {
                        "roll": -0.008666968904435635,
                        "pitch": -0.4194009006023407,
                        "yaw": -80.65019226074219
                    }
                },
                "velocity": {
                    "x": 1.174000859260559,
                    "y": -6.887950897216797,
                    "z": -0.11253837496042252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.4846801757812,
                        "y": 3272.53076171875,
                        "z": 368.24530029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.952979564666748,
                "transform": {
                    "location": {
                        "x": 970.1219482421875,
                        "y": 3382.638671875,
                        "z": 370.00604248046875
                    },
                    "rotation": {
                        "roll": -6.104861677158624e-05,
                        "pitch": -0.6397701501846313,
                        "yaw": -80.74232482910156
                    }
                },
                "velocity": {
                    "x": 1.2780202627182007,
                    "y": -7.849119186401367,
                    "z": -0.08875247091054916
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.388653755187988,
                "transform": {
                    "location": {
                        "x": 967.0402221679688,
                        "y": 3381.342529296875,
                        "z": 370.0074768066406
                    },
                    "rotation": {
                        "roll": -0.00015258899657055736,
                        "pitch": -0.39636269211769104,
                        "yaw": -80.73008728027344
                    }
                },
                "velocity": {
                    "x": 1.3498927354812622,
                    "y": -8.278810501098633,
                    "z": -0.09267500042915344
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.563413619995117,
                "transform": {
                    "location": {
                        "x": 975.2836303710938,
                        "y": 3306.521240234375,
                        "z": 368.9488220214844
                    },
                    "rotation": {
                        "roll": -0.004333456512540579,
                        "pitch": 1.0412895679473877,
                        "yaw": 96.83247375488281
                    }
                },
                "velocity": {
                    "x": -1.1449341773986816,
                    "y": 9.493062973022461,
                    "z": 0.17251011729240417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072173118591309,
                "transform": {
                    "location": {
                        "x": 976.8063354492188,
                        "y": 3341.173583984375,
                        "z": 369.4987487792969
                    },
                    "rotation": {
                        "roll": -0.0001526012347312644,
                        "pitch": -0.8265348076820374,
                        "yaw": -80.86131286621094
                    }
                },
                "velocity": {
                    "x": 1.2819665670394897,
                    "y": -7.968894004821777,
                    "z": -0.1151595264673233
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.510209083557129,
                "transform": {
                    "location": {
                        "x": 972.3239135742188,
                        "y": 3326.80419921875,
                        "z": 369.286865234375
                    },
                    "rotation": {
                        "roll": -0.006927534006536007,
                        "pitch": 0.9074315428733826,
                        "yaw": 99.03736877441406
                    }
                },
                "velocity": {
                    "x": -1.3378338813781738,
                    "y": 8.403304100036621,
                    "z": 0.13541904091835022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083614349365234,
                "transform": {
                    "location": {
                        "x": 982.93896484375,
                        "y": 3298.90673828125,
                        "z": 368.77740478515625
                    },
                    "rotation": {
                        "roll": 0.003348147263750434,
                        "pitch": -1.0918875932693481,
                        "yaw": -83.77758026123047
                    }
                },
                "velocity": {
                    "x": 0.86671382188797,
                    "y": -8.035548210144043,
                    "z": -0.15358728170394897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05907154083252,
                "transform": {
                    "location": {
                        "x": 979.731689453125,
                        "y": 3298.357666015625,
                        "z": 368.7734375
                    },
                    "rotation": {
                        "roll": 0.0049512009136378765,
                        "pitch": -1.1015318632125854,
                        "yaw": -83.81184387207031
                    }
                },
                "velocity": {
                    "x": 0.8608677983283997,
                    "y": -8.011465072631836,
                    "z": -0.154805988073349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4682006835938,
                        "y": 3430.40771484375,
                        "z": 370.42218017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0703125,
                        "y": 3445.30810546875,
                        "z": 370.5166320800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.4354248046875,
                        "y": 3287.504638671875,
                        "z": 368.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.973669052124023,
                "transform": {
                    "location": {
                        "x": 969.396240234375,
                        "y": 3345.044921875,
                        "z": 369.5654296875
                    },
                    "rotation": {
                        "roll": 0.0003324852732475847,
                        "pitch": 0.9653652310371399,
                        "yaw": 99.1375503540039
                    }
                },
                "velocity": {
                    "x": -1.426791787147522,
                    "y": 8.858560562133789,
                    "z": 0.12999562919139862
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992725372314453,
                "transform": {
                    "location": {
                        "x": 966.4697265625,
                        "y": 3363.232666015625,
                        "z": 369.8079528808594
                    },
                    "rotation": {
                        "roll": 0.0006433386006392539,
                        "pitch": 0.6914405226707458,
                        "yaw": 99.14095306396484
                    }
                },
                "velocity": {
                    "x": -1.269695520401001,
                    "y": 7.890645503997803,
                    "z": 0.09613609313964844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046459197998047,
                "transform": {
                    "location": {
                        "x": 973.60107421875,
                        "y": 3340.63525390625,
                        "z": 369.4899597167969
                    },
                    "rotation": {
                        "roll": -0.00042727895197458565,
                        "pitch": -0.8343144059181213,
                        "yaw": -80.84793090820312
                    }
                },
                "velocity": {
                    "x": 1.2796365022659302,
                    "y": -7.943215370178223,
                    "z": -0.11562196165323257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.8447318077087402,
                "transform": {
                    "location": {
                        "x": 955.266845703125,
                        "y": 3407.39501953125,
                        "z": 370.24951171875
                    },
                    "rotation": {
                        "roll": 4.381093094707467e-05,
                        "pitch": 0.5007143020629883,
                        "yaw": 99.14460754394531
                    }
                },
                "velocity": {
                    "x": -0.45209890604019165,
                    "y": 2.8084945678710938,
                    "z": 0.02155170403420925
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.3213322162628174,
                "transform": {
                    "location": {
                        "x": 956.7685546875,
                        "y": 3398.059814453125,
                        "z": 370.1688537597656
                    },
                    "rotation": {
                        "roll": -0.0007018964388407767,
                        "pitch": 0.10434479266405106,
                        "yaw": 99.13542938232422
                    }
                },
                "velocity": {
                    "x": -0.3685452938079834,
                    "y": 2.2918031215667725,
                    "z": 0.01988731324672699
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09248481690883636,
        "expert_target_speed": 10.0,
        "target_point": [
            34.83895019166103,
            -0.2589877999170991
        ],
        "target_point_next": [
            85.83862928161356,
            -0.42250447059009133
        ]
    },
    "195": {
        "acceleration": [
            0.1853179931640625,
            -2.6301956176757812,
            -0.00888824462890625
        ],
        "angular_velocity": [
            -0.21115563809871674,
            0.06049206107854843,
            0.9197165966033936
        ],
        "forward_vector": [
            -0.1677253395318985,
            0.9857999682426453,
            0.008160976693034172
        ],
        "right_vector": [
            -0.9858306050300598,
            -0.1677401065826416,
            0.0011536431265994906
        ],
        "location": [
            963.2748413085938,
            3362.1865234375,
            369.79486083984375
        ],
        "rotation": [
            -0.06610109657049179,
            0.467594712972641,
            99.65591430664062
        ],
        "velocity": [
            -2.670363664627075,
            15.783020973205566,
            0.19267240166664124
        ],
        "speed": 16.007329356954187,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.0345344543457,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.6774291992188,
                3398.626708984375,
                370.17388916015625
            ],
            "velocity": [
                -0.3607238829135895,
                2.240953207015991,
                0.020201386883854866
            ],
            "speed_kmh": 8.171604380374715,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.956049919128418,
                "transform": {
                    "location": {
                        "x": 963.8265991210938,
                        "y": 3421.3466796875,
                        "z": 370.3522033691406
                    },
                    "rotation": {
                        "roll": -0.04925534129142761,
                        "pitch": -0.5451651811599731,
                        "yaw": -80.27342987060547
                    }
                },
                "velocity": {
                    "x": 1.191123127937317,
                    "y": -6.852877140045166,
                    "z": -0.07699304074048996
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.770803928375244,
                "transform": {
                    "location": {
                        "x": 960.8244018554688,
                        "y": 3419.52392578125,
                        "z": 370.33404541015625
                    },
                    "rotation": {
                        "roll": -0.00448607187718153,
                        "pitch": -0.3923943340778351,
                        "yaw": -80.24864959716797
                    }
                },
                "velocity": {
                    "x": 1.1450011730194092,
                    "y": -6.6731133460998535,
                    "z": -0.048132579773664474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.349365234375,
                        "y": 3274.959228515625,
                        "z": 368.29876708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.999251365661621,
                "transform": {
                    "location": {
                        "x": 970.4395141601562,
                        "y": 3380.688720703125,
                        "z": 369.9842224121094
                    },
                    "rotation": {
                        "roll": 0.0006200370262376964,
                        "pitch": -0.628691554069519,
                        "yaw": -80.75408935546875
                    }
                },
                "velocity": {
                    "x": 1.2809391021728516,
                    "y": -7.895532608032227,
                    "z": -0.08824387192726135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.175239562988281,
                "transform": {
                    "location": {
                        "x": 967.3770751953125,
                        "y": 3379.271484375,
                        "z": 369.9842529296875
                    },
                    "rotation": {
                        "roll": 0.004738220013678074,
                        "pitch": -0.5962823033332825,
                        "yaw": -80.86546325683594
                    }
                },
                "velocity": {
                    "x": 1.307196021080017,
                    "y": -8.069555282592773,
                    "z": -0.08981934934854507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.857983589172363,
                "transform": {
                    "location": {
                        "x": 974.9963989257812,
                        "y": 3308.764892578125,
                        "z": 368.98876953125
                    },
                    "rotation": {
                        "roll": 0.009591273963451385,
                        "pitch": 1.075331211090088,
                        "yaw": 97.30461120605469
                    }
                },
                "velocity": {
                    "x": -1.161708950996399,
                    "y": 8.780089378356934,
                    "z": 0.15600085258483887
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.104228019714355,
                "transform": {
                    "location": {
                        "x": 977.1275024414062,
                        "y": 3339.177001953125,
                        "z": 369.4693908691406
                    },
                    "rotation": {
                        "roll": 0.0009844007436186075,
                        "pitch": -0.8428657650947571,
                        "yaw": -80.86174011230469
                    }
                },
                "velocity": {
                    "x": 1.2870254516601562,
                    "y": -8.00046157836914,
                    "z": -0.12119654566049576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.004996299743652,
                "transform": {
                    "location": {
                        "x": 971.979736328125,
                        "y": 3328.9619140625,
                        "z": 369.3214416503906
                    },
                    "rotation": {
                        "roll": -0.003906241385266185,
                        "pitch": 0.9591497778892517,
                        "yaw": 99.0631103515625
                    }
                },
                "velocity": {
                    "x": -1.4208643436431885,
                    "y": 8.891045570373535,
                    "z": 0.14289449155330658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032541275024414,
                "transform": {
                    "location": {
                        "x": 983.1551513671875,
                        "y": 3296.904541015625,
                        "z": 368.7386169433594
                    },
                    "rotation": {
                        "roll": -0.004272445570677519,
                        "pitch": -1.1109029054641724,
                        "yaw": -83.85745239257812
                    }
                },
                "velocity": {
                    "x": 0.8570622801780701,
                    "y": -7.98519229888916,
                    "z": -0.15450996160507202
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06013298034668,
                "transform": {
                    "location": {
                        "x": 979.9459228515625,
                        "y": 3296.3544921875,
                        "z": 368.7344970703125
                    },
                    "rotation": {
                        "roll": 0.001977395499125123,
                        "pitch": -1.1173095703125,
                        "yaw": -83.91191864013672
                    }
                },
                "velocity": {
                    "x": 0.8133314847946167,
                    "y": -8.017475128173828,
                    "z": -0.1559782773256302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1453857421875,
                        "y": 3432.413330078125,
                        "z": 370.4349060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7435913085938,
                        "y": 3447.337646484375,
                        "z": 370.52435302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.243408203125,
                        "y": 3289.779052734375,
                        "z": 368.6192932128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.238129615783691,
                "transform": {
                    "location": {
                        "x": 969.029052734375,
                        "y": 3347.324951171875,
                        "z": 369.59765625
                    },
                    "rotation": {
                        "roll": 3.471512900432572e-05,
                        "pitch": 0.8583908081054688,
                        "yaw": 99.1653823852539
                    }
                },
                "velocity": {
                    "x": -1.468382716178894,
                    "y": 9.119793891906738,
                    "z": 0.12745656073093414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05418872833252,
                "transform": {
                    "location": {
                        "x": 966.1509399414062,
                        "y": 3365.213134765625,
                        "z": 369.8319396972656
                    },
                    "rotation": {
                        "roll": 0.0007229038164950907,
                        "pitch": 0.6809766292572021,
                        "yaw": 99.14772033691406
                    }
                },
                "velocity": {
                    "x": -1.280549168586731,
                    "y": 7.951165199279785,
                    "z": 0.0954832062125206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023612022399902,
                "transform": {
                    "location": {
                        "x": 973.9203491210938,
                        "y": 3338.653076171875,
                        "z": 369.4607849121094
                    },
                    "rotation": {
                        "roll": 0.0005461024702526629,
                        "pitch": -0.8555562496185303,
                        "yaw": -80.84960174560547
                    }
                },
                "velocity": {
                    "x": 1.2747485637664795,
                    "y": -7.920793056488037,
                    "z": -0.12002185732126236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.038727045059204,
                "transform": {
                    "location": {
                        "x": 955.1498413085938,
                        "y": 3408.122314453125,
                        "z": 370.25506591796875
                    },
                    "rotation": {
                        "roll": -6.10207425779663e-05,
                        "pitch": 0.5301046371459961,
                        "yaw": 99.14395141601562
                    }
                },
                "velocity": {
                    "x": -0.4827461540699005,
                    "y": 3.0000598430633545,
                    "z": 0.021414441987872124
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.269890069961548,
                "transform": {
                    "location": {
                        "x": 956.6774291992188,
                        "y": 3398.626708984375,
                        "z": 370.17388916015625
                    },
                    "rotation": {
                        "roll": 0.0016512813745066524,
                        "pitch": 0.19922977685928345,
                        "yaw": 99.13622283935547
                    }
                },
                "velocity": {
                    "x": -0.3607238829135895,
                    "y": 2.240953207015991,
                    "z": 0.020201386883854866
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12982088327407837,
        "expert_target_speed": 10.0,
        "target_point": [
            30.75690188364294,
            -0.44614661636549613
        ],
        "target_point_next": [
            81.75479552023597,
            -0.9031472842795374
        ]
    },
    "200": {
        "acceleration": [
            0.49422740936279297,
            -2.4793243408203125,
            -0.027406811714172363
        ],
        "angular_velocity": [
            -0.19077159464359283,
            -0.2801665663719177,
            -0.5165473222732544
        ],
        "forward_vector": [
            -0.1679888814687729,
            0.9857619404792786,
            0.007279570214450359
        ],
        "right_vector": [
            -0.9857872128486633,
            -0.16799762845039368,
            0.0006013253587298095
        ],
        "location": [
            962.6193237304688,
            3366.048583984375,
            369.8416748046875
        ],
        "rotation": [
            -0.03445432335138321,
            0.41709232330322266,
            99.6711654663086
        ],
        "velocity": [
            -2.57121205329895,
            15.149114608764648,
            0.1807100623846054
        ],
        "speed": 15.365767304385301,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.68562698364258,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.5870971679688,
                3399.18798828125,
                370.1787109375
            ],
            "velocity": [
                -0.37429311871528625,
                2.3268983364105225,
                0.02116570435464382
            ],
            "speed_kmh": 8.484856483817541,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.029388904571533,
                "transform": {
                    "location": {
                        "x": 964.110595703125,
                        "y": 3419.694580078125,
                        "z": 370.3369445800781
                    },
                    "rotation": {
                        "roll": 0.0037070808466523886,
                        "pitch": -0.6086108088493347,
                        "yaw": -80.26774597167969
                    }
                },
                "velocity": {
                    "x": 1.0066196918487549,
                    "y": -5.944570064544678,
                    "z": -0.04830534756183624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.990647792816162,
                "transform": {
                    "location": {
                        "x": 961.1138305664062,
                        "y": 3417.8271484375,
                        "z": 370.3224792480469
                    },
                    "rotation": {
                        "roll": -0.0031433328986167908,
                        "pitch": -0.38738781213760376,
                        "yaw": -80.20207214355469
                    }
                },
                "velocity": {
                    "x": 1.1745012998580933,
                    "y": -6.891120910644531,
                    "z": -0.04646001383662224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.2012329101562,
                        "y": 3277.38671875,
                        "z": 368.3526611328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.157306671142578,
                "transform": {
                    "location": {
                        "x": 970.7646484375,
                        "y": 3378.68115234375,
                        "z": 369.9619140625
                    },
                    "rotation": {
                        "roll": 0.00021126808132976294,
                        "pitch": -0.6228039264678955,
                        "yaw": -80.80274200439453
                    }
                },
                "velocity": {
                    "x": 1.3021160364151,
                    "y": -8.05222225189209,
                    "z": -0.08869410306215286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.86686897277832,
                "transform": {
                    "location": {
                        "x": 967.6925659179688,
                        "y": 3377.313720703125,
                        "z": 369.96234130859375
                    },
                    "rotation": {
                        "roll": 0.008769234642386436,
                        "pitch": -0.65865558385849,
                        "yaw": -81.02887725830078
                    }
                },
                "velocity": {
                    "x": 1.2465879917144775,
                    "y": -7.766975402832031,
                    "z": -0.08797292411327362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.419896125793457,
                "transform": {
                    "location": {
                        "x": 974.6981811523438,
                        "y": 3311.01953125,
                        "z": 369.02960205078125
                    },
                    "rotation": {
                        "roll": 0.00011234029079787433,
                        "pitch": 0.9579886198043823,
                        "yaw": 97.55619812011719
                    }
                },
                "velocity": {
                    "x": -1.2475624084472656,
                    "y": 9.335494995117188,
                    "z": 0.16297928988933563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06905746459961,
                "transform": {
                    "location": {
                        "x": 977.4485473632812,
                        "y": 3337.18212890625,
                        "z": 369.4391174316406
                    },
                    "rotation": {
                        "roll": 0.0007430872647091746,
                        "pitch": -0.8957861065864563,
                        "yaw": -80.85865020751953
                    }
                },
                "velocity": {
                    "x": 1.2818199396133423,
                    "y": -7.965643882751465,
                    "z": -0.12310508638620377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.054015159606934,
                "transform": {
                    "location": {
                        "x": 971.6206665039062,
                        "y": 3331.204833984375,
                        "z": 369.35687255859375
                    },
                    "rotation": {
                        "roll": -0.0010680450359359384,
                        "pitch": 0.9088180661201477,
                        "yaw": 99.11296081542969
                    }
                },
                "velocity": {
                    "x": -1.431233525276184,
                    "y": 8.939085006713867,
                    "z": 0.13972292840480804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.2340698242188,
                        "y": 3296.109375,
                        "z": 368.7232666015625
                    },
                    "rotation": {
                        "roll": 0.019271889701485634,
                        "pitch": -1.124904751777649,
                        "yaw": -84.13707733154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.1290893554688,
                        "y": 3294.306884765625,
                        "z": 368.6976013183594
                    },
                    "rotation": {
                        "roll": -5.3371792319012457e-08,
                        "pitch": -1.1600323915481567,
                        "yaw": -84.63041687011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.397681713104248,
                "transform": {
                    "location": {
                        "x": 951.8346557617188,
                        "y": 3434.333740234375,
                        "z": 370.4465026855469
                    },
                    "rotation": {
                        "roll": 0.011750437319278717,
                        "pitch": 0.5348584055900574,
                        "yaw": 99.22294616699219
                    }
                },
                "velocity": {
                    "x": -1.0771830081939697,
                    "y": 6.306146144866943,
                    "z": 0.050273455679416656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4126586914062,
                        "y": 3449.39404296875,
                        "z": 370.533203125
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.0427856445312,
                        "y": 3292.0263671875,
                        "z": 368.66552734375
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.007335662841797,
                "transform": {
                    "location": {
                        "x": 968.6864013671875,
                        "y": 3349.45458984375,
                        "z": 369.6266174316406
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": 0.6288008689880371,
                        "yaw": 99.12389373779297
                    }
                },
                "velocity": {
                    "x": -1.2714064121246338,
                    "y": 7.9050469398498535,
                    "z": 0.10575023293495178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.993250846862793,
                "transform": {
                    "location": {
                        "x": 965.8321533203125,
                        "y": 3367.193115234375,
                        "z": 369.85565185546875
                    },
                    "rotation": {
                        "roll": -0.00051883514970541,
                        "pitch": 0.6586760878562927,
                        "yaw": 99.14521789550781
                    }
                },
                "velocity": {
                    "x": -1.2702453136444092,
                    "y": 7.89110803604126,
                    "z": 0.09460832178592682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.045636177062988,
                "transform": {
                    "location": {
                        "x": 974.2394409179688,
                        "y": 3336.670166015625,
                        "z": 369.4306640625
                    },
                    "rotation": {
                        "roll": 0.0009761971305124462,
                        "pitch": -0.9000481367111206,
                        "yaw": -80.85852813720703
                    }
                },
                "velocity": {
                    "x": 1.2780604362487793,
                    "y": -7.942544460296631,
                    "z": -0.12167913466691971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.138455629348755,
                "transform": {
                    "location": {
                        "x": 955.0262451171875,
                        "y": 3408.89013671875,
                        "z": 370.26092529296875
                    },
                    "rotation": {
                        "roll": 0.001684530288912356,
                        "pitch": 0.5869454145431519,
                        "yaw": 99.14466857910156
                    }
                },
                "velocity": {
                    "x": -0.49906179308891296,
                    "y": 3.0984444618225098,
                    "z": 0.021993445232510567
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.3569045066833496,
                "transform": {
                    "location": {
                        "x": 956.5870971679688,
                        "y": 3399.18798828125,
                        "z": 370.1787109375
                    },
                    "rotation": {
                        "roll": 1.1405916666262783e-05,
                        "pitch": 0.1418835073709488,
                        "yaw": 99.13636779785156
                    }
                },
                "velocity": {
                    "x": -0.37429311871528625,
                    "y": 2.3268983364105225,
                    "z": 0.02116570435464382
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1571710854768753,
        "expert_target_speed": 10.0,
        "target_point": [
            26.83948616083489,
            -0.4517256198567905
        ],
        "target_point_next": [
            77.8372565078836,
            -0.9222833840151061
        ]
    },
    "205": {
        "acceleration": [
            0.6488132476806641,
            -2.3550796508789062,
            -0.035584867000579834
        ],
        "angular_velocity": [
            0.058365125209093094,
            -0.24298639595508575,
            -1.0935566425323486
        ],
        "forward_vector": [
            -0.16441181302070618,
            0.9863666892051697,
            0.0070411572232842445
        ],
        "right_vector": [
            -0.9863916039466858,
            -0.16441233456134796,
            -0.0005113467923365533
        ],
        "location": [
            961.994873046875,
            3369.757080078125,
            369.8851623535156
        ],
        "rotation": [
            0.02929874137043953,
            0.4034319221973419,
            99.46330261230469
        ],
        "velocity": [
            -2.42234468460083,
            14.548541069030762,
            0.16915449500083923
        ],
        "speed": 14.748823716089655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.543855667114258,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.4888305664062,
                3399.799072265625,
                370.1839904785156
            ],
            "velocity": [
                -0.4108445644378662,
                2.5531423091888428,
                0.022251643240451813
            ],
            "speed_kmh": 9.309897936804587,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3936638832092285,
                "transform": {
                    "location": {
                        "x": 964.3416748046875,
                        "y": 3418.326416015625,
                        "z": 370.326904296875
                    },
                    "rotation": {
                        "roll": 0.006121428683400154,
                        "pitch": -0.7216094732284546,
                        "yaw": -80.27970123291016
                    }
                },
                "velocity": {
                    "x": 0.8959898352622986,
                    "y": -5.318577289581299,
                    "z": -0.03933750465512276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.254391670227051,
                "transform": {
                    "location": {
                        "x": 961.3917846679688,
                        "y": 3416.19873046875,
                        "z": 370.3116455078125
                    },
                    "rotation": {
                        "roll": -0.003753683064132929,
                        "pitch": -0.40628013014793396,
                        "yaw": -80.28044128417969
                    }
                },
                "velocity": {
                    "x": 1.048213243484497,
                    "y": -6.165780067443848,
                    "z": -0.04266824945807457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.0408325195312,
                        "y": 3279.81396484375,
                        "z": 368.40643310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.958804130554199,
                "transform": {
                    "location": {
                        "x": 971.0853881835938,
                        "y": 3376.697998046875,
                        "z": 369.9396667480469
                    },
                    "rotation": {
                        "roll": -0.0004272612859494984,
                        "pitch": -0.6517912745475769,
                        "yaw": -80.81632232666016
                    }
                },
                "velocity": {
                    "x": 1.2722910642623901,
                    "y": -7.85592794418335,
                    "z": -0.09075628221035004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.197880744934082,
                "transform": {
                    "location": {
                        "x": 968.01171875,
                        "y": 3375.322021484375,
                        "z": 369.9396667480469
                    },
                    "rotation": {
                        "roll": 0.005583622958511114,
                        "pitch": -0.6358632445335388,
                        "yaw": -81.03544616699219
                    }
                },
                "velocity": {
                    "x": 1.2958636283874512,
                    "y": -8.09428596496582,
                    "z": -0.0923660546541214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.350066184997559,
                "transform": {
                    "location": {
                        "x": 974.3690185546875,
                        "y": 3313.392333984375,
                        "z": 369.07061767578125
                    },
                    "rotation": {
                        "roll": 0.014763263054192066,
                        "pitch": 0.9672845005989075,
                        "yaw": 97.943115234375
                    }
                },
                "velocity": {
                    "x": -1.3322739601135254,
                    "y": 9.253307342529297,
                    "z": 0.1584194153547287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.100507736206055,
                "transform": {
                    "location": {
                        "x": 977.7697143554688,
                        "y": 3335.186767578125,
                        "z": 369.407958984375
                    },
                    "rotation": {
                        "roll": -0.0005188921350054443,
                        "pitch": -0.904023289680481,
                        "yaw": -80.85318756103516
                    }
                },
                "velocity": {
                    "x": 1.2874778509140015,
                    "y": -7.996547698974609,
                    "z": -0.1259249597787857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.393365859985352,
                "transform": {
                    "location": {
                        "x": 971.2703857421875,
                        "y": 3333.389404296875,
                        "z": 369.39080810546875
                    },
                    "rotation": {
                        "roll": -0.00344847165979445,
                        "pitch": 0.8125397562980652,
                        "yaw": 99.10072326660156
                    }
                },
                "velocity": {
                    "x": -1.3296171426773071,
                    "y": 8.286357879638672,
                    "z": 0.13030190765857697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.2340698242188,
                        "y": 3296.109375,
                        "z": 368.7232666015625
                    },
                    "rotation": {
                        "roll": 0.019271889701485634,
                        "pitch": -1.124904751777649,
                        "yaw": -84.13707733154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101049,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.2991943359375,
                        "y": 3292.230224609375,
                        "z": 368.66229248046875
                    },
                    "rotation": {
                        "roll": -5.3371792319012457e-08,
                        "pitch": -1.1600323915481567,
                        "yaw": -84.63041687011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.292689800262451,
                "transform": {
                    "location": {
                        "x": 951.5706176757812,
                        "y": 3435.8974609375,
                        "z": 370.45904541015625
                    },
                    "rotation": {
                        "roll": 0.007573842070996761,
                        "pitch": 0.3915747106075287,
                        "yaw": 99.50505065917969
                    }
                },
                "velocity": {
                    "x": -1.061731219291687,
                    "y": 6.202341079711914,
                    "z": 0.04044807329773903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.081787109375,
                        "y": 3451.4501953125,
                        "z": 370.5433044433594
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.8073120117188,
                        "y": 3294.408935546875,
                        "z": 368.71331787109375
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.376547813415527,
                "transform": {
                    "location": {
                        "x": 968.3856811523438,
                        "y": 3351.32421875,
                        "z": 369.6514892578125
                    },
                    "rotation": {
                        "roll": -0.0002441683900542557,
                        "pitch": 0.652105450630188,
                        "yaw": 99.15074920654297
                    }
                },
                "velocity": {
                    "x": -1.1704143285751343,
                    "y": 7.282440662384033,
                    "z": 0.0982179045677185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052799224853516,
                "transform": {
                    "location": {
                        "x": 965.5134887695312,
                        "y": 3369.173095703125,
                        "z": 369.87884521484375
                    },
                    "rotation": {
                        "roll": -0.00018309308507014066,
                        "pitch": 0.6565450429916382,
                        "yaw": 99.14126586914062
                    }
                },
                "velocity": {
                    "x": -1.2791666984558105,
                    "y": 7.950018882751465,
                    "z": 0.09224254637956619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025965690612793,
                "transform": {
                    "location": {
                        "x": 974.5584106445312,
                        "y": 3334.68701171875,
                        "z": 369.3995361328125
                    },
                    "rotation": {
                        "roll": 0.000547390547581017,
                        "pitch": -0.9051775932312012,
                        "yaw": -80.86260223388672
                    }
                },
                "velocity": {
                    "x": 1.27437424659729,
                    "y": -7.923178672790527,
                    "z": -0.12386894971132278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.06030011177063,
                "transform": {
                    "location": {
                        "x": 954.8990478515625,
                        "y": 3409.68017578125,
                        "z": 370.2669372558594
                    },
                    "rotation": {
                        "roll": 0.00018440229177940637,
                        "pitch": 0.7027512788772583,
                        "yaw": 99.14387512207031
                    }
                },
                "velocity": {
                    "x": -0.4863297641277313,
                    "y": 3.0213329792022705,
                    "z": 0.021590614691376686
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.586082696914673,
                "transform": {
                    "location": {
                        "x": 956.4888305664062,
                        "y": 3399.799072265625,
                        "z": 370.1839904785156
                    },
                    "rotation": {
                        "roll": 0.0004000214103143662,
                        "pitch": 0.04944373667240143,
                        "yaw": 99.13807678222656
                    }
                },
                "velocity": {
                    "x": -0.4108445644378662,
                    "y": 2.5531423091888428,
                    "z": 0.022251643240451813
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.16389255225658417,
        "expert_target_speed": 10.0,
        "target_point": [
            23.08025103857248,
            -0.36057873928605044
        ],
        "target_point_next": [
            74.07939280796616,
            -0.6461374285528318
        ]
    },
    "210": {
        "acceleration": [
            1.181182861328125,
            -5.508975982666016,
            -0.056278109550476074
        ],
        "angular_velocity": [
            -1.0313886404037476,
            -0.3010713458061218,
            -1.1651146411895752
        ],
        "forward_vector": [
            -0.15946732461452484,
            0.9871785044670105,
            0.006983818951994181
        ],
        "right_vector": [
            -0.9872032403945923,
            -0.15946237742900848,
            -0.0012648046249523759
        ],
        "location": [
            961.4072265625,
            3373.336181640625,
            369.9269104003906
        ],
        "rotation": [
            0.07246975600719452,
            0.40014660358428955,
            99.17620849609375
        ],
        "velocity": [
            -2.240621566772461,
            13.865992546081543,
            0.16292868554592133
        ],
        "speed": 14.045858261191261,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.59319305419922,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.3814697265625,
                3400.466552734375,
                370.18975830078125
            ],
            "velocity": [
                -0.4468785524368286,
                2.778670072555542,
                0.023205194622278214
            ],
            "speed_kmh": 10.132095142055519,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.156876087188721,
                "transform": {
                    "location": {
                        "x": 964.5723876953125,
                        "y": 3416.957763671875,
                        "z": 370.31591796875
                    },
                    "rotation": {
                        "roll": 0.004920331761240959,
                        "pitch": -0.3909600079059601,
                        "yaw": -80.4670639038086
                    }
                },
                "velocity": {
                    "x": 1.0162125825881958,
                    "y": -6.072288513183594,
                    "z": -0.0417976975440979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.5866007804870605,
                "transform": {
                    "location": {
                        "x": 961.6568603515625,
                        "y": 3414.637451171875,
                        "z": 370.30035400390625
                    },
                    "rotation": {
                        "roll": -0.002807609736919403,
                        "pitch": -0.40072035789489746,
                        "yaw": -80.37559509277344
                    }
                },
                "velocity": {
                    "x": 1.087758183479309,
                    "y": -6.495991230010986,
                    "z": -0.046785056591033936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.8204345703125,
                        "y": 3282.942626953125,
                        "z": 368.4749450683594
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.108304977416992,
                "transform": {
                    "location": {
                        "x": 971.4057006835938,
                        "y": 3374.7158203125,
                        "z": 369.9166564941406
                    },
                    "rotation": {
                        "roll": -9.154667350230739e-05,
                        "pitch": -0.6635118722915649,
                        "yaw": -80.82221984863281
                    }
                },
                "velocity": {
                    "x": 1.2909959554672241,
                    "y": -8.004322052001953,
                    "z": -0.0936281755566597
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.981646537780762,
                "transform": {
                    "location": {
                        "x": 968.3314819335938,
                        "y": 3373.32421875,
                        "z": 369.9163513183594
                    },
                    "rotation": {
                        "roll": 0.0030592859257012606,
                        "pitch": -0.6796516180038452,
                        "yaw": -81.06485748291016
                    }
                },
                "velocity": {
                    "x": 1.26157546043396,
                    "y": -7.880773544311523,
                    "z": -0.09231646358966827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.068086624145508,
                "transform": {
                    "location": {
                        "x": 974.0462036132812,
                        "y": 3315.6357421875,
                        "z": 369.1086120605469
                    },
                    "rotation": {
                        "roll": 0.001630945596843958,
                        "pitch": 0.9789504408836365,
                        "yaw": 98.2214584350586
                    }
                },
                "velocity": {
                    "x": -1.3052990436553955,
                    "y": 8.972383499145508,
                    "z": 0.15072420239448547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072405815124512,
                "transform": {
                    "location": {
                        "x": 978.0910034179688,
                        "y": 3333.191162109375,
                        "z": 369.3764343261719
                    },
                    "rotation": {
                        "roll": -3.0526116461260244e-05,
                        "pitch": -0.893217921257019,
                        "yaw": -80.8556900024414
                    }
                },
                "velocity": {
                    "x": 1.2826159000396729,
                    "y": -7.96885347366333,
                    "z": -0.12653474509716034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.192826271057129,
                "transform": {
                    "location": {
                        "x": 970.9646606445312,
                        "y": 3335.2919921875,
                        "z": 369.4205017089844
                    },
                    "rotation": {
                        "roll": 0.00023534029605798423,
                        "pitch": 0.7271077632904053,
                        "yaw": 99.14057159423828
                    }
                },
                "velocity": {
                    "x": -1.1403988599777222,
                    "y": 7.10097599029541,
                    "z": 0.11126535385847092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.3385620117188,
                        "y": 3294.8642578125,
                        "z": 368.7019958496094
                    },
                    "rotation": {
                        "roll": -5.3371792319012457e-08,
                        "pitch": -1.1600323915481567,
                        "yaw": -84.63041687011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.344895362854004,
                "transform": {
                    "location": {
                        "x": 951.3047485351562,
                        "y": 3437.454345703125,
                        "z": 370.4690246582031
                    },
                    "rotation": {
                        "roll": 0.004601838067173958,
                        "pitch": 0.3345836400985718,
                        "yaw": 99.64686584472656
                    }
                },
                "velocity": {
                    "x": -1.0740939378738403,
                    "y": 6.253208637237549,
                    "z": 0.03734360635280609
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7509155273438,
                        "y": 3453.506591796875,
                        "z": 370.553466796875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.4524536132812,
                        "y": 3297.810302734375,
                        "z": 368.7804260253906
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.073747634887695,
                "transform": {
                    "location": {
                        "x": 968.0814819335938,
                        "y": 3353.216796875,
                        "z": 369.6770935058594
                    },
                    "rotation": {
                        "roll": -0.0010681002167984843,
                        "pitch": 0.8203125,
                        "yaw": 99.1233901977539
                    }
                },
                "velocity": {
                    "x": -1.2818036079406738,
                    "y": 7.970642566680908,
                    "z": 0.10596956312656403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.417732238769531,
                "transform": {
                    "location": {
                        "x": 965.1886596679688,
                        "y": 3371.1904296875,
                        "z": 369.9027404785156
                    },
                    "rotation": {
                        "roll": 0.00012351105397101492,
                        "pitch": 0.6252764463424683,
                        "yaw": 99.14639282226562
                    }
                },
                "velocity": {
                    "x": -1.3379777669906616,
                    "y": 8.31015396118164,
                    "z": 0.09682313352823257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043087005615234,
                "transform": {
                    "location": {
                        "x": 974.8775024414062,
                        "y": 3332.704345703125,
                        "z": 369.36834716796875
                    },
                    "rotation": {
                        "roll": 0.00021821956033818424,
                        "pitch": -0.9019127488136292,
                        "yaw": -80.85887908935547
                    }
                },
                "velocity": {
                    "x": 1.2776267528533936,
                    "y": -7.940002918243408,
                    "z": -0.1235724613070488
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1784861087799072,
                "transform": {
                    "location": {
                        "x": 954.7759399414062,
                        "y": 3410.445556640625,
                        "z": 370.27252197265625
                    },
                    "rotation": {
                        "roll": 0.0005568511551246047,
                        "pitch": 0.601698637008667,
                        "yaw": 99.14305114746094
                    }
                },
                "velocity": {
                    "x": -0.5047199726104736,
                    "y": 3.13808012008667,
                    "z": 0.02200542390346527
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.8144707679748535,
                "transform": {
                    "location": {
                        "x": 956.3814697265625,
                        "y": 3400.466552734375,
                        "z": 370.18975830078125
                    },
                    "rotation": {
                        "roll": 0.00033424075809307396,
                        "pitch": 0.035359885543584824,
                        "yaw": 99.13819122314453
                    }
                },
                "velocity": {
                    "x": -0.4468785524368286,
                    "y": 2.778670072555542,
                    "z": 0.023205194622278214
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1515170931816101,
        "expert_target_speed": 10.0,
        "target_point": [
            19.454757028361517,
            -0.25429056526364047
        ],
        "target_point_next": [
            70.45468941853007,
            -0.2843101916284354
        ]
    },
    "215": {
        "acceleration": [
            0.9137225151062012,
            -3.4865951538085938,
            -0.02980649471282959
        ],
        "angular_velocity": [
            -0.2519606351852417,
            -0.05385551229119301,
            -1.5397074222564697
        ],
        "forward_vector": [
            -0.1537650227546692,
            0.9880980253219604,
            0.004310713615268469
        ],
        "right_vector": [
            -0.9881067872047424,
            -0.15375860035419464,
            -0.0017845163820311427
        ],
        "location": [
            960.8790893554688,
            3376.664306640625,
            369.9656066894531
        ],
        "rotation": [
            0.10224626213312149,
            0.24698646366596222,
            98.84526062011719
        ],
        "velocity": [
            -1.9956268072128296,
            12.87333869934082,
            0.14633452892303467
        ],
        "speed": 13.027101581764551,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.957204818725586,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.2649536132812,
                3401.190185546875,
                370.1960144042969
            ],
            "velocity": [
                -0.4834006130695343,
                3.001500368118286,
                0.02503880485892296
            ],
            "speed_kmh": 10.945011005177449,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 958.1759643554688,
                        "y": 3456.3056640625,
                        "z": 370.9449462890625
                    },
                    "rotation": {
                        "roll": 2.6680726961103574e-08,
                        "pitch": -0.27160927653312683,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.966196060180664,
                "transform": {
                    "location": {
                        "x": 964.8714599609375,
                        "y": 3415.164306640625,
                        "z": 370.30133056640625
                    },
                    "rotation": {
                        "roll": 0.018317757174372673,
                        "pitch": 0.145223468542099,
                        "yaw": -80.54198455810547
                    }
                },
                "velocity": {
                    "x": 1.29813814163208,
                    "y": -7.859507083892822,
                    "z": -0.05717776343226433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.566535949707031,
                "transform": {
                    "location": {
                        "x": 961.9481201171875,
                        "y": 3412.895263671875,
                        "z": 370.28759765625
                    },
                    "rotation": {
                        "roll": -0.002227775054052472,
                        "pitch": -0.3947712481021881,
                        "yaw": -80.55072784423828
                    }
                },
                "velocity": {
                    "x": 1.2348408699035645,
                    "y": -7.464894771575928,
                    "z": -0.05457868427038193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.6443481445312,
                        "y": 3285.18310546875,
                        "z": 368.5230407714844
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029486656188965,
                "transform": {
                    "location": {
                        "x": 971.7275390625,
                        "y": 3372.7216796875,
                        "z": 369.8932800292969
                    },
                    "rotation": {
                        "roll": 2.676226904441137e-05,
                        "pitch": -0.6651237607002258,
                        "yaw": -80.8308334350586
                    }
                },
                "velocity": {
                    "x": 1.279474139213562,
                    "y": -7.926355838775635,
                    "z": -0.09211168438196182
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08687686920166,
                "transform": {
                    "location": {
                        "x": 968.6486206054688,
                        "y": 3371.345458984375,
                        "z": 369.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0006353036733344197,
                        "pitch": -0.6643109917640686,
                        "yaw": -81.03850555419922
                    }
                },
                "velocity": {
                    "x": 1.2814931869506836,
                    "y": -7.984155654907227,
                    "z": -0.09280090779066086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.2459716796875,
                "transform": {
                    "location": {
                        "x": 973.7060546875,
                        "y": 3317.93212890625,
                        "z": 369.1471252441406
                    },
                    "rotation": {
                        "roll": 0.010851421393454075,
                        "pitch": 0.9202381372451782,
                        "yaw": 98.45626831054688
                    }
                },
                "velocity": {
                    "x": -1.3979036808013916,
                    "y": 9.138442039489746,
                    "z": 0.15075621008872986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.101198196411133,
                "transform": {
                    "location": {
                        "x": 978.4122314453125,
                        "y": 3331.1953125,
                        "z": 369.3451232910156
                    },
                    "rotation": {
                        "roll": 0.0011256769066676497,
                        "pitch": -0.8923026919364929,
                        "yaw": -80.85761260986328
                    }
                },
                "velocity": {
                    "x": 1.285693645477295,
                    "y": -7.997524261474609,
                    "z": -0.12654781341552734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.294082164764404,
                "transform": {
                    "location": {
                        "x": 970.682373046875,
                        "y": 3337.0498046875,
                        "z": 369.447998046875
                    },
                    "rotation": {
                        "roll": -0.0009155056322924793,
                        "pitch": 0.8480430841445923,
                        "yaw": 99.10955047607422
                    }
                },
                "velocity": {
                    "x": -1.1569148302078247,
                    "y": 7.200937271118164,
                    "z": 0.10810787230730057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.3544921875,
                        "y": 3453.3828125,
                        "z": 370.7492370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.162235736846924,
                "transform": {
                    "location": {
                        "x": 951.0392456054688,
                        "y": 3439.00244140625,
                        "z": 370.47802734375
                    },
                    "rotation": {
                        "roll": 0.003245222382247448,
                        "pitch": 0.3357993960380554,
                        "yaw": 99.7096176147461
                    }
                },
                "velocity": {
                    "x": -1.0432953834533691,
                    "y": 6.0731730461120605,
                    "z": 0.035429324954748154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.419921875,
                        "y": 3455.56298828125,
                        "z": 370.5631103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.1710205078125,
                        "y": 3300.3837890625,
                        "z": 368.8302917480469
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.943034172058105,
                "transform": {
                    "location": {
                        "x": 967.7396850585938,
                        "y": 3355.3408203125,
                        "z": 369.7053527832031
                    },
                    "rotation": {
                        "roll": -0.0007018566830083728,
                        "pitch": 0.8728298544883728,
                        "yaw": 99.16112518310547
                    }
                },
                "velocity": {
                    "x": -1.4211868047714233,
                    "y": 8.828643798828125,
                    "z": 0.11456668376922607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.291607856750488,
                "transform": {
                    "location": {
                        "x": 964.8363647460938,
                        "y": 3373.378662109375,
                        "z": 369.92864990234375
                    },
                    "rotation": {
                        "roll": 0.000255104765528813,
                        "pitch": 0.5837284326553345,
                        "yaw": 99.14697265625
                    }
                },
                "velocity": {
                    "x": -1.4769281148910522,
                    "y": 9.172837257385254,
                    "z": 0.10816791653633118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028607368469238,
                "transform": {
                    "location": {
                        "x": 975.1965942382812,
                        "y": 3330.720947265625,
                        "z": 369.3372497558594
                    },
                    "rotation": {
                        "roll": -0.0003662874223664403,
                        "pitch": -0.900451123714447,
                        "yaw": -80.85871887207031
                    }
                },
                "velocity": {
                    "x": 1.2753509283065796,
                    "y": -7.9257097244262695,
                    "z": -0.12306864559650421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.154273748397827,
                "transform": {
                    "location": {
                        "x": 954.6499633789062,
                        "y": 3411.2275390625,
                        "z": 370.2784423828125
                    },
                    "rotation": {
                        "roll": 0.002019408391788602,
                        "pitch": 0.6429051756858826,
                        "yaw": 99.14344787597656
                    }
                },
                "velocity": {
                    "x": -0.5012809038162231,
                    "y": 3.114112138748169,
                    "z": 0.02157730981707573
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.040280818939209,
                "transform": {
                    "location": {
                        "x": 956.2649536132812,
                        "y": 3401.190185546875,
                        "z": 370.1960144042969
                    },
                    "rotation": {
                        "roll": 0.0007581394165754318,
                        "pitch": 0.03363185003399849,
                        "yaw": 99.1403579711914
                    }
                },
                "velocity": {
                    "x": -0.4834006130695343,
                    "y": 3.001500368118286,
                    "z": 0.02503880485892296
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12756864726543427,
        "expert_target_speed": 10.0,
        "target_point": [
            16.08614706532591,
            -0.15202660415692115
        ],
        "target_point_next": [
            67.0854022609555,
            0.11250027685446007
        ]
    },
    "220": {
        "acceleration": [
            0.9306764602661133,
            -3.144550323486328,
            -0.01995682716369629
        ],
        "angular_velocity": [
            0.11004114151000977,
            -0.08194784075021744,
            -1.835631012916565
        ],
        "forward_vector": [
            -0.14657099545001984,
            0.9891901612281799,
            0.00445114029571414
        ],
        "right_vector": [
            -0.9891990423202515,
            -0.14656275510787964,
            -0.002126523060724139
        ],
        "location": [
            960.407958984375,
            3379.775634765625,
            370.0000305175781
        ],
        "rotation": [
            0.12184209376573563,
            0.25503242015838623,
            98.4283447265625
        ],
        "velocity": [
            -1.7723379135131836,
            12.062216758728027,
            0.13358667492866516
        ],
        "speed": 12.19172895098212,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.59528160095215,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.1406860351562,
                3401.96337890625,
                370.2027587890625
            ],
            "velocity": [
                -0.5033191442489624,
                3.1309218406677246,
                0.02613849565386772
            ],
            "speed_kmh": 11.416419622965588,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.4954223632812,
                        "y": 3454.319580078125,
                        "z": 370.5905456542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.32127571105957,
                "transform": {
                    "location": {
                        "x": 965.2098999023438,
                        "y": 3413.109375,
                        "z": 370.28717041015625
                    },
                    "rotation": {
                        "roll": 0.016897177323698997,
                        "pitch": -0.07311717420816422,
                        "yaw": -80.6703109741211
                    }
                },
                "velocity": {
                    "x": 1.3466311693191528,
                    "y": -8.211363792419434,
                    "z": -0.06093645840883255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638775825500488,
                "transform": {
                    "location": {
                        "x": 962.2731323242188,
                        "y": 3410.93017578125,
                        "z": 370.2728576660156
                    },
                    "rotation": {
                        "roll": -0.0013122529489919543,
                        "pitch": -0.3846762180328369,
                        "yaw": -80.67155456542969
                    }
                },
                "velocity": {
                    "x": 1.4011696577072144,
                    "y": -8.524141311645508,
                    "z": -0.06459136307239532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.442626953125,
                        "y": 3287.607666015625,
                        "z": 368.5742492675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067111015319824,
                "transform": {
                    "location": {
                        "x": 972.0475463867188,
                        "y": 3370.738037109375,
                        "z": 369.8700256347656
                    },
                    "rotation": {
                        "roll": 0.0009153069113381207,
                        "pitch": -0.6646115183830261,
                        "yaw": -80.83924865722656
                    }
                },
                "velocity": {
                    "x": 1.2842227220535278,
                    "y": -7.96370267868042,
                    "z": -0.09215696156024933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04529857635498,
                "transform": {
                    "location": {
                        "x": 968.968505859375,
                        "y": 3369.3505859375,
                        "z": 369.8697814941406
                    },
                    "rotation": {
                        "roll": 0.0019142625387758017,
                        "pitch": -0.6647617816925049,
                        "yaw": -81.05133056640625
                    }
                },
                "velocity": {
                    "x": 1.2729687690734863,
                    "y": -7.9434123039245605,
                    "z": -0.09260609745979309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.41317081451416,
                "transform": {
                    "location": {
                        "x": 973.3759765625,
                        "y": 3320.09033203125,
                        "z": 369.1820373535156
                    },
                    "rotation": {
                        "roll": 0.0003696854691952467,
                        "pitch": 0.9871193766593933,
                        "yaw": 98.72335815429688
                    }
                },
                "velocity": {
                    "x": -1.284921646118164,
                    "y": 8.31336498260498,
                    "z": 0.13556766510009766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071725845336914,
                "transform": {
                    "location": {
                        "x": 978.733154296875,
                        "y": 3329.199951171875,
                        "z": 369.3133239746094
                    },
                    "rotation": {
                        "roll": -0.0004273143713362515,
                        "pitch": -0.9111949801445007,
                        "yaw": -80.86356353759766
                    }
                },
                "velocity": {
                    "x": 1.2814689874649048,
                    "y": -7.968343257904053,
                    "z": -0.12690886855125427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.325411796569824,
                "transform": {
                    "location": {
                        "x": 970.372802734375,
                        "y": 3338.975341796875,
                        "z": 369.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0011329525150358677,
                        "pitch": 0.9480780363082886,
                        "yaw": 99.15379333496094
                    }
                },
                "velocity": {
                    "x": -1.3219810724258423,
                    "y": 8.218843460083008,
                    "z": 0.12436563521623611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6849975585938,
                        "y": 3451.32958984375,
                        "z": 370.6168518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.024227619171143,
                "transform": {
                    "location": {
                        "x": 950.7899780273438,
                        "y": 3440.477783203125,
                        "z": 370.48663330078125
                    },
                    "rotation": {
                        "roll": -0.0026855545584112406,
                        "pitch": 0.3484625816345215,
                        "yaw": 99.6084976196289
                    }
                },
                "velocity": {
                    "x": -0.9886701107025146,
                    "y": 5.942448616027832,
                    "z": 0.0339510515332222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0889892578125,
                        "y": 3457.619384765625,
                        "z": 370.5728454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.9182739257812,
                        "y": 3302.575927734375,
                        "z": 368.8719482421875
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.397403717041016,
                "transform": {
                    "location": {
                        "x": 967.3751831054688,
                        "y": 3357.604248046875,
                        "z": 369.7344055175781
                    },
                    "rotation": {
                        "roll": -0.00039669478428550065,
                        "pitch": 0.781291663646698,
                        "yaw": 99.14077758789062
                    }
                },
                "velocity": {
                    "x": -1.4947429895401,
                    "y": 9.277016639709473,
                    "z": 0.11795593053102493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.095036506652832,
                "transform": {
                    "location": {
                        "x": 964.450927734375,
                        "y": 3375.7744140625,
                        "z": 369.95654296875
                    },
                    "rotation": {
                        "roll": 0.00010507257684366778,
                        "pitch": 0.5623635649681091,
                        "yaw": 99.14131927490234
                    }
                },
                "velocity": {
                    "x": -1.6036605834960938,
                    "y": 9.966219902038574,
                    "z": 0.11182401329278946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04304027557373,
                "transform": {
                    "location": {
                        "x": 975.515625,
                        "y": 3328.7373046875,
                        "z": 369.30584716796875
                    },
                    "rotation": {
                        "roll": -0.0007934176246635616,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.8627700805664
                    }
                },
                "velocity": {
                    "x": 1.2769933938980103,
                    "y": -7.940000057220459,
                    "z": -0.12718819081783295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.158019781112671,
                "transform": {
                    "location": {
                        "x": 954.5242919921875,
                        "y": 3412.0087890625,
                        "z": 370.28424072265625
                    },
                    "rotation": {
                        "roll": 0.003805828746408224,
                        "pitch": 0.6428846716880798,
                        "yaw": 99.14390563964844
                    }
                },
                "velocity": {
                    "x": -0.5020924806594849,
                    "y": 3.1177732944488525,
                    "z": 0.02192874811589718
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1712276935577393,
                "transform": {
                    "location": {
                        "x": 956.1406860351562,
                        "y": 3401.96337890625,
                        "z": 370.2027587890625
                    },
                    "rotation": {
                        "roll": 0.0020943484269082546,
                        "pitch": 0.07767290621995926,
                        "yaw": 99.13925170898438
                    }
                },
                "velocity": {
                    "x": -0.5033191442489624,
                    "y": 3.1309218406677246,
                    "z": 0.02613849565386772
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07722584158182144,
        "expert_target_speed": 10.0,
        "target_point": [
            12.9400471027544,
            -0.044973887538175106
        ],
        "target_point_next": [
            63.9360271773507,
            0.5906527411577027
        ]
    },
    "225": {
        "acceleration": [
            0.8136105537414551,
            -2.6672744750976562,
            -0.014283955097198486
        ],
        "angular_velocity": [
            0.1527705192565918,
            -0.012727770023047924,
            -2.137234687805176
        ],
        "forward_vector": [
            -0.13758225739002228,
            0.9904778599739075,
            0.004976490046828985
        ],
        "right_vector": [
            -0.9904889464378357,
            -0.13757194578647614,
            -0.0023583394940942526
        ],
        "location": [
            959.9920043945312,
            3382.6943359375,
            370.0320739746094
        ],
        "rotation": [
            0.13512469828128815,
            0.2851330637931824,
            97.90806579589844
        ],
        "velocity": [
            -1.5552749633789062,
            11.328803062438965,
            0.1252884715795517
        ],
        "speed": 11.43506270377385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.439464569091797,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                956.0153198242188,
                3402.742431640625,
                370.2095947265625
            ],
            "velocity": [
                -0.5019407868385315,
                3.119961738586426,
                0.025667982175946236
            ],
            "speed_kmh": 11.376663388340809,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.8264770507812,
                        "y": 3452.26220703125,
                        "z": 370.55810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.804765224456787,
                "transform": {
                    "location": {
                        "x": 965.5338134765625,
                        "y": 3411.134033203125,
                        "z": 370.27386474609375
                    },
                    "rotation": {
                        "roll": 0.009439353831112385,
                        "pitch": -0.4568713307380676,
                        "yaw": -80.67503356933594
                    }
                },
                "velocity": {
                    "x": 1.2614681720733643,
                    "y": -7.701920032501221,
                    "z": -0.059075962752103806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.362101554870605,
                "transform": {
                    "location": {
                        "x": 962.6190185546875,
                        "y": 3408.8212890625,
                        "z": 370.25738525390625
                    },
                    "rotation": {
                        "roll": -6.103311534388922e-05,
                        "pitch": -0.42078059911727905,
                        "yaw": -80.7523422241211
                    }
                },
                "velocity": {
                    "x": 1.3450160026550293,
                    "y": -8.252983093261719,
                    "z": -0.06272637844085693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.222412109375,
                        "y": 3290.0966796875,
                        "z": 368.62603759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038714408874512,
                "transform": {
                    "location": {
                        "x": 972.3680419921875,
                        "y": 3368.75,
                        "z": 369.84674072265625
                    },
                    "rotation": {
                        "roll": -0.00036621338222175837,
                        "pitch": -0.6636689305305481,
                        "yaw": -80.84374237060547
                    }
                },
                "velocity": {
                    "x": 1.2790383100509644,
                    "y": -7.9357829093933105,
                    "z": -0.09134553372859955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.069945335388184,
                "transform": {
                    "location": {
                        "x": 969.2874755859375,
                        "y": 3367.36376953125,
                        "z": 369.8464660644531
                    },
                    "rotation": {
                        "roll": 0.0005090972408652306,
                        "pitch": -0.6691604256629944,
                        "yaw": -81.02662658691406
                    }
                },
                "velocity": {
                    "x": 1.2805736064910889,
                    "y": -7.967150688171387,
                    "z": -0.0930527001619339
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.839030265808105,
                "transform": {
                    "location": {
                        "x": 973.0479736328125,
                        "y": 3322.20556640625,
                        "z": 369.21710205078125
                    },
                    "rotation": {
                        "roll": 0.0026101158000528812,
                        "pitch": 0.8924051523208618,
                        "yaw": 98.80830383300781
                    }
                },
                "velocity": {
                    "x": -1.3740146160125732,
                    "y": 8.730452537536621,
                    "z": 0.14052151143550873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.101964950561523,
                "transform": {
                    "location": {
                        "x": 979.05419921875,
                        "y": 3327.204345703125,
                        "z": 369.28143310546875
                    },
                    "rotation": {
                        "roll": 0.0005362406955100596,
                        "pitch": -0.9316104054450989,
                        "yaw": -80.8611068725586
                    }
                },
                "velocity": {
                    "x": 1.286737322807312,
                    "y": -7.998095989227295,
                    "z": -0.12883360683918
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.534717559814453,
                "transform": {
                    "location": {
                        "x": 970.0173950195312,
                        "y": 3341.184814453125,
                        "z": 369.509521484375
                    },
                    "rotation": {
                        "roll": -3.0473705919575877e-05,
                        "pitch": 1.0018247365951538,
                        "yaw": 99.134521484375
                    }
                },
                "velocity": {
                    "x": -1.5148683786392212,
                    "y": 9.412623405456543,
                    "z": 0.13617219030857086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.46730375289917,
                "transform": {
                    "location": {
                        "x": 955.9824829101562,
                        "y": 3449.52392578125,
                        "z": 370.5440979003906
                    },
                    "rotation": {
                        "roll": -0.017700234428048134,
                        "pitch": -0.4719523787498474,
                        "yaw": -80.60160064697266
                    }
                },
                "velocity": {
                    "x": 1.086437463760376,
                    "y": -6.37532377243042,
                    "z": 0.03027118556201458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.752413749694824,
                "transform": {
                    "location": {
                        "x": 950.5284423828125,
                        "y": 3442.045166015625,
                        "z": 370.4964294433594
                    },
                    "rotation": {
                        "roll": 0.0010035015875473619,
                        "pitch": 0.2650796175003052,
                        "yaw": 99.48188018798828
                    }
                },
                "velocity": {
                    "x": -1.1070667505264282,
                    "y": 6.660930156707764,
                    "z": 0.03872743621468544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7579956054688,
                        "y": 3459.675537109375,
                        "z": 370.5821838378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.6616821289062,
                        "y": 3304.6884765625,
                        "z": 368.9111328125
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.300942420959473,
                "transform": {
                    "location": {
                        "x": 966.984375,
                        "y": 3360.0322265625,
                        "z": 369.7642822265625
                    },
                    "rotation": {
                        "roll": -0.0003662270319182426,
                        "pitch": 0.827620804309845,
                        "yaw": 99.15717315673828
                    }
                },
                "velocity": {
                    "x": -1.6381815671920776,
                    "y": 10.169092178344727,
                    "z": 0.12379295378923416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.892973899841309,
                "transform": {
                    "location": {
                        "x": 964.03271484375,
                        "y": 3378.375,
                        "z": 369.9857482910156
                    },
                    "rotation": {
                        "roll": 0.0004020918859168887,
                        "pitch": 0.5403157472610474,
                        "yaw": 99.13697814941406
                    }
                },
                "velocity": {
                    "x": -1.7296733856201172,
                    "y": 10.75411319732666,
                    "z": 0.11903398483991623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027767181396484,
                "transform": {
                    "location": {
                        "x": 975.8346557617188,
                        "y": 3326.7548828125,
                        "z": 369.2740173339844
                    },
                    "rotation": {
                        "roll": -0.0019226347794756293,
                        "pitch": -0.9362481236457825,
                        "yaw": -80.85796356201172
                    }
                },
                "velocity": {
                    "x": 1.2752454280853271,
                    "y": -7.924798965454102,
                    "z": -0.12792806327342987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1634738445281982,
                "transform": {
                    "location": {
                        "x": 954.3986206054688,
                        "y": 3412.7890625,
                        "z": 370.2900695800781
                    },
                    "rotation": {
                        "roll": 0.0003458531282376498,
                        "pitch": 0.6382538080215454,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -0.5023383498191833,
                    "y": 3.123258352279663,
                    "z": 0.021928900852799416
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.160184383392334,
                "transform": {
                    "location": {
                        "x": 956.0153198242188,
                        "y": 3402.742431640625,
                        "z": 370.2095947265625
                    },
                    "rotation": {
                        "roll": -0.00015259263454936445,
                        "pitch": 0.1617252081632614,
                        "yaw": 99.13875579833984
                    }
                },
                "velocity": {
                    "x": -0.5019407868385315,
                    "y": 3.119961738586426,
                    "z": 0.025667982175946236
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03202620893716812,
        "expert_target_speed": 10.0,
        "target_point": [
            9.991748647945062,
            0.062101813895420355
        ],
        "target_point_next": [
            60.97985413467971,
            1.1607845949333822
        ]
    },
    "230": {
        "acceleration": [
            1.604294776916504,
            -9.478912353515625,
            -0.12403681874275208
        ],
        "angular_velocity": [
            -1.773766040802002,
            -0.17087356746196747,
            -2.072504997253418
        ],
        "forward_vector": [
            -0.12855185568332672,
            0.9916889667510986,
            0.005239581689238548
        ],
        "right_vector": [
            -0.9917014241218567,
            -0.12854121625423431,
            -0.0023190847132354975
        ],
        "location": [
            959.6245727539062,
            3385.4541015625,
            370.06146240234375
        ],
        "rotation": [
            0.1328757107257843,
            0.3002072870731354,
            97.38601684570312
        ],
        "velocity": [
            -1.3513885736465454,
            10.563980102539062,
            0.10851308703422546
        ],
        "speed": 10.650066980250578,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.448015213012695,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.8901977539062,
                3403.51953125,
                370.2162170410156
            ],
            "velocity": [
                -0.4970964193344116,
                3.0897793769836426,
                0.025102129206061363
            ],
            "speed_kmh": 11.266603369609317,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.908418655395508,
                "transform": {
                    "location": {
                        "x": 959.114501953125,
                        "y": 3450.55029296875,
                        "z": 370.5340576171875
                    },
                    "rotation": {
                        "roll": -0.040618885308504105,
                        "pitch": -0.45555993914604187,
                        "yaw": -80.44152069091797
                    }
                },
                "velocity": {
                    "x": 1.1793930530548096,
                    "y": -6.8067193031311035,
                    "z": -0.06204580143094063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.10740852355957,
                "transform": {
                    "location": {
                        "x": 965.8524169921875,
                        "y": 3409.18115234375,
                        "z": 370.25885009765625
                    },
                    "rotation": {
                        "roll": 0.012867999263107777,
                        "pitch": -0.38049614429473877,
                        "yaw": -80.75794982910156
                    }
                },
                "velocity": {
                    "x": 1.2991727590560913,
                    "y": -8.002406120300293,
                    "z": -0.06093951687216759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.05676555633545,
                "transform": {
                    "location": {
                        "x": 962.9476928710938,
                        "y": 3406.802001953125,
                        "z": 370.2424011230469
                    },
                    "rotation": {
                        "roll": 0.00026506424183025956,
                        "pitch": -0.4328359067440033,
                        "yaw": -80.79969024658203
                    }
                },
                "velocity": {
                    "x": 1.2911105155944824,
                    "y": -7.9524149894714355,
                    "z": -0.06002109497785568
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.9889526367188,
                        "y": 3292.584228515625,
                        "z": 368.6767883300781
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075968742370605,
                "transform": {
                    "location": {
                        "x": 972.6885986328125,
                        "y": 3366.76123046875,
                        "z": 369.8232727050781
                    },
                    "rotation": {
                        "roll": 0.0005525363958440721,
                        "pitch": -0.6733677983283997,
                        "yaw": -80.84611511230469
                    }
                },
                "velocity": {
                    "x": 1.2832201719284058,
                    "y": -7.972790241241455,
                    "z": -0.09611786901950836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034357070922852,
                "transform": {
                    "location": {
                        "x": 969.6071166992188,
                        "y": 3365.376220703125,
                        "z": 369.82275390625
                    },
                    "rotation": {
                        "roll": 0.0013795304112136364,
                        "pitch": -0.6867959499359131,
                        "yaw": -81.0216293334961
                    }
                },
                "velocity": {
                    "x": 1.2741584777832031,
                    "y": -7.93210506439209,
                    "z": -0.09546729177236557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.624351501464844,
                "transform": {
                    "location": {
                        "x": 972.688720703125,
                        "y": 3324.487060546875,
                        "z": 369.2545166015625
                    },
                    "rotation": {
                        "roll": -0.0013732825173065066,
                        "pitch": 0.8406050205230713,
                        "yaw": 98.96111297607422
                    }
                },
                "velocity": {
                    "x": -1.5042506456375122,
                    "y": 9.504825592041016,
                    "z": 0.15379281342029572
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07155704498291,
                "transform": {
                    "location": {
                        "x": 979.3729248046875,
                        "y": 3325.2080078125,
                        "z": 369.2490539550781
                    },
                    "rotation": {
                        "roll": 0.015324737876653671,
                        "pitch": -0.9274918437004089,
                        "yaw": -80.94343566894531
                    }
                },
                "velocity": {
                    "x": 1.2611398696899414,
                    "y": -7.971357822418213,
                    "z": -0.1304403394460678
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.478907585144043,
                "transform": {
                    "location": {
                        "x": 969.6170043945312,
                        "y": 3343.67333984375,
                        "z": 369.5455322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.987030565738678,
                        "yaw": 99.15499877929688
                    }
                },
                "velocity": {
                    "x": -1.6648306846618652,
                    "y": 10.34472370147705,
                    "z": 0.15011489391326904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.254292964935303,
                "transform": {
                    "location": {
                        "x": 956.2481079101562,
                        "y": 3447.955810546875,
                        "z": 370.5491027832031
                    },
                    "rotation": {
                        "roll": -0.006317143328487873,
                        "pitch": -0.3422539234161377,
                        "yaw": -80.3973617553711
                    }
                },
                "velocity": {
                    "x": 1.0536432266235352,
                    "y": -6.1649017333984375,
                    "z": -0.001423644949682057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.77402925491333,
                "transform": {
                    "location": {
                        "x": 950.2352905273438,
                        "y": 3443.8095703125,
                        "z": 370.5066833496094
                    },
                    "rotation": {
                        "roll": 1.330031045654323e-05,
                        "pitch": 0.24264928698539734,
                        "yaw": 99.4591293334961
                    }
                },
                "velocity": {
                    "x": -1.272466778755188,
                    "y": 7.669069766998291,
                    "z": 0.04158616065979004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4270629882812,
                        "y": 3461.732177734375,
                        "z": 370.5911560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.2941284179688,
                        "y": 3307.61279296875,
                        "z": 368.964599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.747090339660645,
                "transform": {
                    "location": {
                        "x": 966.562255859375,
                        "y": 3362.653564453125,
                        "z": 369.7962341308594
                    },
                    "rotation": {
                        "roll": 2.1026151443948038e-05,
                        "pitch": 0.7858610153198242,
                        "yaw": 99.1377944946289
                    }
                },
                "velocity": {
                    "x": -1.7086100578308105,
                    "y": 10.609598159790039,
                    "z": 0.1304837018251419
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.997522354125977,
                "transform": {
                    "location": {
                        "x": 963.5961303710938,
                        "y": 3381.087646484375,
                        "z": 370.0153503417969
                    },
                    "rotation": {
                        "roll": -0.0001525669649709016,
                        "pitch": 0.5977712869644165,
                        "yaw": 99.1417236328125
                    }
                },
                "velocity": {
                    "x": -1.747104287147522,
                    "y": 10.857208251953125,
                    "z": 0.11894980818033218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043501853942871,
                "transform": {
                    "location": {
                        "x": 976.1505126953125,
                        "y": 3324.771240234375,
                        "z": 369.24176025390625
                    },
                    "rotation": {
                        "roll": 0.022003550082445145,
                        "pitch": -0.9340829849243164,
                        "yaw": -80.96971893310547
                    }
                },
                "velocity": {
                    "x": 1.2544690370559692,
                    "y": -7.944032192230225,
                    "z": -0.128774493932724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.163151264190674,
                "transform": {
                    "location": {
                        "x": 954.2731323242188,
                        "y": 3413.5693359375,
                        "z": 370.2956237792969
                    },
                    "rotation": {
                        "roll": -0.0034484853968024254,
                        "pitch": 0.617913544178009,
                        "yaw": 99.1419448852539
                    }
                },
                "velocity": {
                    "x": -0.502344012260437,
                    "y": 3.1229357719421387,
                    "z": 0.021196937188506126
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1296119689941406,
                "transform": {
                    "location": {
                        "x": 955.8901977539062,
                        "y": 3403.51953125,
                        "z": 370.2162170410156
                    },
                    "rotation": {
                        "roll": 0.0002539322304073721,
                        "pitch": 0.18214064836502075,
                        "yaw": 99.14103698730469
                    }
                },
                "velocity": {
                    "x": -0.4970964193344116,
                    "y": 3.0897793769836426,
                    "z": 0.025102129206061363
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02731374464929104,
        "expert_target_speed": 10.0,
        "target_point": [
            58.182645412917566,
            1.7067365500932858
        ],
        "target_point_next": [
            109.15886616715046,
            3.26990916287267
        ]
    },
    "235": {
        "acceleration": [
            0.5661940574645996,
            -5.621681213378906,
            -0.060909390449523926
        ],
        "angular_velocity": [
            -0.3171585500240326,
            0.49834588170051575,
            -0.034234922379255295
        ],
        "forward_vector": [
            -0.12296520918607712,
            0.9924108386039734,
            -0.0004767178907059133
        ],
        "right_vector": [
            -0.9924101829528809,
            -0.12296570837497711,
            -0.0012161193881183863
        ],
        "location": [
            959.3240966796875,
            3387.845458984375,
            370.0865783691406
        ],
        "rotation": [
            0.06967853754758835,
            -0.027313925325870514,
            97.06326293945312
        ],
        "velocity": [
            -1.1038234233856201,
            8.866003036499023,
            0.08588431775569916
        ],
        "speed": 8.934452193236284,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.818931579589844,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.767333984375,
                3404.283447265625,
                370.2223815917969
            ],
            "velocity": [
                -0.48677587509155273,
                3.0253078937530518,
                0.024845847859978676
            ],
            "speed_kmh": 11.031551329377068,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.70015811920166,
                "transform": {
                    "location": {
                        "x": 959.4019165039062,
                        "y": 3448.873779296875,
                        "z": 370.5223388671875
                    },
                    "rotation": {
                        "roll": -0.004913312382996082,
                        "pitch": -0.33780065178871155,
                        "yaw": -80.3114242553711
                    }
                },
                "velocity": {
                    "x": 1.125189185142517,
                    "y": -6.604886531829834,
                    "z": -0.03921649232506752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.078361511230469,
                "transform": {
                    "location": {
                        "x": 966.1788940429688,
                        "y": 3407.169921875,
                        "z": 370.2439270019531
                    },
                    "rotation": {
                        "roll": 0.005516296252608299,
                        "pitch": -0.39611679315567017,
                        "yaw": -80.76594543457031
                    }
                },
                "velocity": {
                    "x": 1.2942147254943848,
                    "y": -7.97378396987915,
                    "z": -0.060781363397836685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.920475006103516,
                "transform": {
                    "location": {
                        "x": 963.2508544921875,
                        "y": 3404.9326171875,
                        "z": 370.2278747558594
                    },
                    "rotation": {
                        "roll": 5.435002822196111e-05,
                        "pitch": -0.49179407954216003,
                        "yaw": -80.81388854980469
                    }
                },
                "velocity": {
                    "x": 1.1055760383605957,
                    "y": -6.831352233886719,
                    "z": -0.05743627995252609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.7210693359375,
                        "y": 3295.287353515625,
                        "z": 368.7310485839844
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027978897094727,
                "transform": {
                    "location": {
                        "x": 973.0083618164062,
                        "y": 3364.77490234375,
                        "z": 369.79931640625
                    },
                    "rotation": {
                        "roll": 0.0009923188481479883,
                        "pitch": -0.6985780596733093,
                        "yaw": -80.85394287109375
                    }
                },
                "velocity": {
                    "x": 1.2743899822235107,
                    "y": -7.925593852996826,
                    "z": -0.09664908796548843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087336540222168,
                "transform": {
                    "location": {
                        "x": 969.9268798828125,
                        "y": 3363.3857421875,
                        "z": 369.7984924316406
                    },
                    "rotation": {
                        "roll": 0.0028785797767341137,
                        "pitch": -0.70120769739151,
                        "yaw": -81.01802062988281
                    }
                },
                "velocity": {
                    "x": 1.2835670709609985,
                    "y": -7.984233379364014,
                    "z": -0.0974126011133194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.324238777160645,
                "transform": {
                    "location": {
                        "x": 972.2965698242188,
                        "y": 3326.96484375,
                        "z": 369.294677734375
                    },
                    "rotation": {
                        "roll": -0.0007018503965809941,
                        "pitch": 0.8387676477432251,
                        "yaw": 98.98282623291016
                    }
                },
                "velocity": {
                    "x": -1.622079849243164,
                    "y": 10.194679260253906,
                    "z": 0.1651545614004135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.101278305053711,
                "transform": {
                    "location": {
                        "x": 979.6884765625,
                        "y": 3323.211181640625,
                        "z": 369.2165832519531
                    },
                    "rotation": {
                        "roll": 0.00843327958136797,
                        "pitch": -0.921747624874115,
                        "yaw": -81.04928588867188
                    }
                },
                "velocity": {
                    "x": 1.256798505783081,
                    "y": -8.002134323120117,
                    "z": -0.1304474025964737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.299225807189941,
                "transform": {
                    "location": {
                        "x": 969.2009887695312,
                        "y": 3346.25732421875,
                        "z": 369.5826721191406
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": 0.8353252410888672,
                        "yaw": 99.13533782958984
                    }
                },
                "velocity": {
                    "x": -1.6371766328811646,
                    "y": 10.167264938354492,
                    "z": 0.1429009735584259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.192838191986084,
                "transform": {
                    "location": {
                        "x": 956.5154418945312,
                        "y": 3446.3896484375,
                        "z": 370.5442810058594
                    },
                    "rotation": {
                        "roll": -0.00595090351998806,
                        "pitch": -0.31228989362716675,
                        "yaw": -80.31919860839844
                    }
                },
                "velocity": {
                    "x": 1.0450314283370972,
                    "y": -6.1039605140686035,
                    "z": -0.028591599315404892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.571244239807129,
                "transform": {
                    "location": {
                        "x": 949.8887939453125,
                        "y": 3445.9140625,
                        "z": 370.5181884765625
                    },
                    "rotation": {
                        "roll": -0.0031127925030887127,
                        "pitch": 0.20843003690242767,
                        "yaw": 99.3338394165039
                    }
                },
                "velocity": {
                    "x": -1.3809489011764526,
                    "y": 8.459149360656738,
                    "z": 0.044773299247026443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1077880859375,
                        "y": 3463.716064453125,
                        "z": 370.59979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.8988037109375,
                        "y": 3310.599365234375,
                        "z": 369.0179138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.450176239013672,
                "transform": {
                    "location": {
                        "x": 966.1404418945312,
                        "y": 3365.273681640625,
                        "z": 369.82806396484375
                    },
                    "rotation": {
                        "roll": 0.0011633201502263546,
                        "pitch": 0.673401951789856,
                        "yaw": 99.15069580078125
                    }
                },
                "velocity": {
                    "x": -1.6599787473678589,
                    "y": 10.31673812866211,
                    "z": 0.12475366145372391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.7697114944458,
                "transform": {
                    "location": {
                        "x": 963.1640625,
                        "y": 3383.7744140625,
                        "z": 370.0447082519531
                    },
                    "rotation": {
                        "roll": -0.0001525415718788281,
                        "pitch": 0.6419011354446411,
                        "yaw": 99.13728332519531
                    }
                },
                "velocity": {
                    "x": -1.7101902961730957,
                    "y": 10.632389068603516,
                    "z": 0.11929404735565186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028251647949219,
                "transform": {
                    "location": {
                        "x": 976.4633178710938,
                        "y": 3322.787109375,
                        "z": 369.20953369140625
                    },
                    "rotation": {
                        "roll": 0.01644757203757763,
                        "pitch": -0.9335570335388184,
                        "yaw": -81.0513687133789
                    }
                },
                "velocity": {
                    "x": 1.2457116842269897,
                    "y": -7.929986953735352,
                    "z": -0.12781882286071777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623787879943848,
                "transform": {
                    "location": {
                        "x": 954.1474609375,
                        "y": 3414.349365234375,
                        "z": 370.30108642578125
                    },
                    "rotation": {
                        "roll": 0.0004853971186093986,
                        "pitch": 0.6022860407829285,
                        "yaw": 99.14208984375
                    }
                },
                "velocity": {
                    "x": -0.5024383664131165,
                    "y": 3.122135639190674,
                    "z": 0.021541748195886612
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0643198490142822,
                "transform": {
                    "location": {
                        "x": 955.767333984375,
                        "y": 3404.283447265625,
                        "z": 370.2223815917969
                    },
                    "rotation": {
                        "roll": 0.002385365078225732,
                        "pitch": 0.15118622779846191,
                        "yaw": 99.14069366455078
                    }
                },
                "velocity": {
                    "x": -0.48677587509155273,
                    "y": 3.0253078937530518,
                    "z": 0.024845847859978676
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31519460678100586,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09197326749563217,
        "expert_target_speed": 8.9369517986918,
        "target_point": [
            55.761949655777045,
            2.030342624981599
        ],
        "target_point_next": [
            106.72855525557938,
            3.880668173588422
        ]
    },
    "240": {
        "acceleration": [
            0.31242847442626953,
            -3.727588653564453,
            -0.0391639769077301
        ],
        "angular_velocity": [
            0.40905267000198364,
            0.24343684315681458,
            1.1012789011001587
        ],
        "forward_vector": [
            -0.12666645646095276,
            0.9919453263282776,
            0.00041103363037109375
        ],
        "right_vector": [
            -0.9919453263282776,
            -0.1266665905714035,
            0.0003126550873275846
        ],
        "location": [
            959.0606689453125,
            3389.91455078125,
            370.10650634765625
        ],
        "rotation": [
            -0.017913818359375,
            0.02355049178004265,
            97.2770004272461
        ],
        "velocity": [
            -1.007237195968628,
            7.763033866882324,
            0.07568782567977905
        ],
        "speed": 7.828104597366126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.500051498413086,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.6466064453125,
                3405.033447265625,
                370.2279968261719
            ],
            "velocity": [
                -0.4852469861507416,
                3.015277624130249,
                0.021429652348160744
            ],
            "speed_kmh": 10.994934575303626,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.790002346038818,
                "transform": {
                    "location": {
                        "x": 959.6688842773438,
                        "y": 3447.3037109375,
                        "z": 370.5135803222656
                    },
                    "rotation": {
                        "roll": -0.0012207248946651816,
                        "pitch": -0.4758045971393585,
                        "yaw": -80.33769226074219
                    }
                },
                "velocity": {
                    "x": 0.9694691300392151,
                    "y": -5.70817756652832,
                    "z": -0.03111860156059265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.948347091674805,
                "transform": {
                    "location": {
                        "x": 966.4978637695312,
                        "y": 3405.20263671875,
                        "z": 370.2286376953125
                    },
                    "rotation": {
                        "roll": 0.005036442074924707,
                        "pitch": -0.5000039935112,
                        "yaw": -80.81147766113281
                    }
                },
                "velocity": {
                    "x": 1.268030047416687,
                    "y": -7.8462815284729,
                    "z": -0.06470473855733871
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0278520584106445,
                "transform": {
                    "location": {
                        "x": 963.5249633789062,
                        "y": 3403.23681640625,
                        "z": 370.21380615234375
                    },
                    "rotation": {
                        "roll": 0.000347019056789577,
                        "pitch": -0.5041772127151489,
                        "yaw": -80.82970428466797
                    }
                },
                "velocity": {
                    "x": 1.1202874183654785,
                    "y": -6.937736511230469,
                    "z": -0.05891506001353264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3834228515625,
                        "y": 3298.46875,
                        "z": 368.7933654785156
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081733703613281,
                "transform": {
                    "location": {
                        "x": 973.3284912109375,
                        "y": 3362.7861328125,
                        "z": 369.7748718261719
                    },
                    "rotation": {
                        "roll": 0.00029612131766043603,
                        "pitch": -0.6979359984397888,
                        "yaw": -80.85740661621094
                    }
                },
                "velocity": {
                    "x": 1.284090280532837,
                    "y": -7.978452205657959,
                    "z": -0.09916768223047256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022804260253906,
                "transform": {
                    "location": {
                        "x": 970.2465209960938,
                        "y": 3361.398681640625,
                        "z": 369.7740783691406
                    },
                    "rotation": {
                        "roll": -0.0002441441174596548,
                        "pitch": -0.7003743648529053,
                        "yaw": -81.0207748413086
                    }
                },
                "velocity": {
                    "x": 1.275160789489746,
                    "y": -7.920223236083984,
                    "z": -0.09703612327575684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.692419052124023,
                "transform": {
                    "location": {
                        "x": 971.9004516601562,
                        "y": 3329.451171875,
                        "z": 369.3335876464844
                    },
                    "rotation": {
                        "roll": 0.0022410776000469923,
                        "pitch": 0.9301692843437195,
                        "yaw": 99.07870483398438
                    }
                },
                "velocity": {
                    "x": -1.5310404300689697,
                    "y": 9.569536209106445,
                    "z": 0.1512264460325241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 979.9884643554688,
                        "y": 3321.187744140625,
                        "z": 369.18316650390625
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.757970809936523,
                "transform": {
                    "location": {
                        "x": 968.8042602539062,
                        "y": 3348.722412109375,
                        "z": 369.6169128417969
                    },
                    "rotation": {
                        "roll": 3.476717756711878e-05,
                        "pitch": 0.69820237159729,
                        "yaw": 99.15055084228516
                    }
                },
                "velocity": {
                    "x": -1.549702525138855,
                    "y": 9.63323974609375,
                    "z": 0.13078761100769043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.075433254241943,
                "transform": {
                    "location": {
                        "x": 956.7400512695312,
                        "y": 3445.073974609375,
                        "z": 370.5382385253906
                    },
                    "rotation": {
                        "roll": -0.0041503882966935635,
                        "pitch": -0.3999963402748108,
                        "yaw": -80.27257537841797
                    }
                },
                "velocity": {
                    "x": 0.8584325909614563,
                    "y": -5.002233982086182,
                    "z": -0.027781270444393158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.339808940887451,
                "transform": {
                    "location": {
                        "x": 949.5676879882812,
                        "y": 3447.87939453125,
                        "z": 370.5270080566406
                    },
                    "rotation": {
                        "roll": -0.0009765780996531248,
                        "pitch": 0.3769102990627289,
                        "yaw": 99.28096008300781
                    }
                },
                "velocity": {
                    "x": -1.1813884973526,
                    "y": 7.244014263153076,
                    "z": 0.03706471249461174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8301391601562,
                        "y": 3465.441162109375,
                        "z": 370.6070556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.5477294921875,
                        "y": 3313.109375,
                        "z": 369.0615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.184027671813965,
                "transform": {
                    "location": {
                        "x": 965.7322387695312,
                        "y": 3367.811279296875,
                        "z": 369.8582763671875
                    },
                    "rotation": {
                        "roll": 0.0006675312179140747,
                        "pitch": 0.6300029754638672,
                        "yaw": 99.1257553100586
                    }
                },
                "velocity": {
                    "x": -1.617439866065979,
                    "y": 10.05408000946045,
                    "z": 0.11739427596330643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.65452766418457,
                "transform": {
                    "location": {
                        "x": 962.739501953125,
                        "y": 3386.411865234375,
                        "z": 370.0727233886719
                    },
                    "rotation": {
                        "roll": 0.0013406811049208045,
                        "pitch": 0.5848758816719055,
                        "yaw": 99.1452865600586
                    }
                },
                "velocity": {
                    "x": -1.695494294166565,
                    "y": 10.51821517944336,
                    "z": 0.10678578913211823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.7673950195312,
                        "y": 3320.7861328125,
                        "z": 369.1773986816406
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162431478500366,
                "transform": {
                    "location": {
                        "x": 954.0218505859375,
                        "y": 3415.129638671875,
                        "z": 370.306396484375
                    },
                    "rotation": {
                        "roll": -9.159901674138382e-05,
                        "pitch": 0.605981171131134,
                        "yaw": 99.1423110961914
                    }
                },
                "velocity": {
                    "x": -0.5025466680526733,
                    "y": 3.1221675872802734,
                    "z": 0.022120647132396698
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0541486740112305,
                "transform": {
                    "location": {
                        "x": 955.6466064453125,
                        "y": 3405.033447265625,
                        "z": 370.2279968261719
                    },
                    "rotation": {
                        "roll": 0.0006851551006548107,
                        "pitch": 0.1307229846715927,
                        "yaw": 99.14102172851562
                    }
                },
                "velocity": {
                    "x": -0.4852469861507416,
                    "y": 3.015277624130249,
                    "z": 0.021429652348160744
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13236236572265625,
        "expert_target_speed": 8.123784399545977,
        "target_point": [
            53.683342410205476,
            1.8230855099649341
        ],
        "target_point_next": [
            104.65649605111372,
            3.483265892330955
        ]
    },
    "245": {
        "acceleration": [
            0.14165639877319336,
            -0.4855537414550781,
            -0.013798922300338745
        ],
        "angular_velocity": [
            1.219973087310791,
            0.07591410726308823,
            -0.15288841724395752
        ],
        "forward_vector": [
            -0.1286100149154663,
            0.9916907548904419,
            0.002991314046084881
        ],
        "right_vector": [
            -0.991694986820221,
            -0.12861132621765137,
            0.0002519339323043823
        ],
        "location": [
            958.8235473632812,
            3391.74462890625,
            370.1238708496094
        ],
        "rotation": [
            -0.014434815384447575,
            0.17138992249965668,
            97.38931274414062
        ],
        "velocity": [
            -0.919928252696991,
            7.129288673400879,
            0.0700884610414505
        ],
        "speed": 7.188395160172554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.449426651000977,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.5215454101562,
                3405.811279296875,
                370.23370361328125
            ],
            "velocity": [
                -0.5048361420631409,
                3.1373283863067627,
                0.021453065797686577
            ],
            "speed_kmh": 11.439930647336721,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.81702184677124,
                "transform": {
                    "location": {
                        "x": 959.9071655273438,
                        "y": 3445.900146484375,
                        "z": 370.50579833984375
                    },
                    "rotation": {
                        "roll": -0.002227779245004058,
                        "pitch": -0.35873517394065857,
                        "yaw": -80.35768127441406
                    }
                },
                "velocity": {
                    "x": 0.97329181432724,
                    "y": -5.734934329986572,
                    "z": -0.031186474487185478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.088383674621582,
                "transform": {
                    "location": {
                        "x": 966.8180541992188,
                        "y": 3403.221435546875,
                        "z": 370.21197509765625
                    },
                    "rotation": {
                        "roll": 0.001494182855822146,
                        "pitch": -0.4797046482563019,
                        "yaw": -80.80387115478516
                    }
                },
                "velocity": {
                    "x": 1.290536880493164,
                    "y": -7.98446798324585,
                    "z": -0.06884491443634033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.7625732421875,
                "transform": {
                    "location": {
                        "x": 963.8212890625,
                        "y": 3401.401123046875,
                        "z": 370.1975402832031
                    },
                    "rotation": {
                        "roll": 0.0012691238662227988,
                        "pitch": -0.4702175259590149,
                        "yaw": -80.83794403076172
                    }
                },
                "velocity": {
                    "x": 1.2363567352294922,
                    "y": -7.663193702697754,
                    "z": -0.06654747575521469
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.116455078125,
                        "y": 3300.88671875,
                        "z": 368.8401184082031
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024605751037598,
                "transform": {
                    "location": {
                        "x": 973.6482543945312,
                        "y": 3360.799072265625,
                        "z": 369.75042724609375
                    },
                    "rotation": {
                        "roll": 0.0019734567031264305,
                        "pitch": -0.6963514089584351,
                        "yaw": -80.85722351074219
                    }
                },
                "velocity": {
                    "x": 1.2749948501586914,
                    "y": -7.922056674957275,
                    "z": -0.09848429262638092
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.091958999633789,
                "transform": {
                    "location": {
                        "x": 970.5664672851562,
                        "y": 3359.4091796875,
                        "z": 369.7496643066406
                    },
                    "rotation": {
                        "roll": 0.0010611324105411768,
                        "pitch": -0.6973554491996765,
                        "yaw": -81.0135269165039
                    }
                },
                "velocity": {
                    "x": 1.2840996980667114,
                    "y": -7.988809585571289,
                    "z": -0.0990055575966835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.114029884338379,
                "transform": {
                    "location": {
                        "x": 971.5322265625,
                        "y": 3331.75341796875,
                        "z": 369.3695983886719
                    },
                    "rotation": {
                        "roll": -3.0526491173077375e-05,
                        "pitch": 0.9371907114982605,
                        "yaw": 99.06745910644531
                    }
                },
                "velocity": {
                    "x": -1.4388041496276855,
                    "y": 8.998637199401855,
                    "z": 0.14109040796756744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.2680053710938,
                        "y": 3319.123291015625,
                        "z": 369.14801025390625
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.753341674804688,
                "transform": {
                    "location": {
                        "x": 968.4191284179688,
                        "y": 3351.1181640625,
                        "z": 369.64892578125
                    },
                    "rotation": {
                        "roll": 4.440000338945538e-05,
                        "pitch": 0.7472704648971558,
                        "yaw": 99.12593078613281
                    }
                },
                "velocity": {
                    "x": -1.5490106344223022,
                    "y": 9.628713607788086,
                    "z": 0.12690021097660065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.49594783782959,
                "transform": {
                    "location": {
                        "x": 956.956787109375,
                        "y": 3443.79052734375,
                        "z": 370.53033447265625
                    },
                    "rotation": {
                        "roll": 0.0032719378359615803,
                        "pitch": -0.3190585970878601,
                        "yaw": -80.40837097167969
                    }
                },
                "velocity": {
                    "x": 0.9005320072174072,
                    "y": -5.421586990356445,
                    "z": -0.029657339677214622
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.661134243011475,
                "transform": {
                    "location": {
                        "x": 949.298095703125,
                        "y": 3449.532470703125,
                        "z": 370.5350646972656
                    },
                    "rotation": {
                        "roll": -0.0010681432904675603,
                        "pitch": 0.44724759459495544,
                        "yaw": 99.26509094238281
                    }
                },
                "velocity": {
                    "x": -0.9063680768013,
                    "y": 5.5880303382873535,
                    "z": 0.029239539057016373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5872192382812,
                        "y": 3466.94970703125,
                        "z": 370.6134033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.2149047851562,
                        "y": 3315.4345703125,
                        "z": 369.1013488769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.195147514343262,
                "transform": {
                    "location": {
                        "x": 965.327392578125,
                        "y": 3370.32763671875,
                        "z": 369.8876953125
                    },
                    "rotation": {
                        "roll": -6.104886415414512e-05,
                        "pitch": 0.660144567489624,
                        "yaw": 99.14937591552734
                    }
                },
                "velocity": {
                    "x": -1.6187341213226318,
                    "y": 10.065126419067383,
                    "z": 0.11813924461603165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.452445030212402,
                "transform": {
                    "location": {
                        "x": 962.3196411132812,
                        "y": 3389.019287109375,
                        "z": 370.0987854003906
                    },
                    "rotation": {
                        "roll": 0.00013092733570374548,
                        "pitch": 0.5706008076667786,
                        "yaw": 99.14849090576172
                    }
                },
                "velocity": {
                    "x": -1.6617509126663208,
                    "y": 10.319005966186523,
                    "z": 0.10149821639060974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.0450439453125,
                        "y": 3318.721435546875,
                        "z": 369.1457824707031
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625051498413086,
                "transform": {
                    "location": {
                        "x": 953.896240234375,
                        "y": 3415.909912109375,
                        "z": 370.3117370605469
                    },
                    "rotation": {
                        "roll": -3.055080014746636e-05,
                        "pitch": 0.6067802906036377,
                        "yaw": 99.14192962646484
                    }
                },
                "velocity": {
                    "x": -0.5026148557662964,
                    "y": 3.122237205505371,
                    "z": 0.021252525970339775
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1777586936950684,
                "transform": {
                    "location": {
                        "x": 955.5215454101562,
                        "y": 3405.811279296875,
                        "z": 370.23370361328125
                    },
                    "rotation": {
                        "roll": 0.0002631908282637596,
                        "pitch": 0.04823479428887367,
                        "yaw": 99.14068603515625
                    }
                },
                "velocity": {
                    "x": -0.5048361420631409,
                    "y": 3.1373283863067627,
                    "z": 0.021453065797686577
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18875962495803833,
        "expert_target_speed": 0,
        "target_point": [
            51.84143825690847,
            1.7180259216613694
        ],
        "target_point_next": [
            102.81774948911185,
            3.2782451880357684
        ]
    },
    "250": {
        "acceleration": [
            0.7769954204559326,
            -5.287237167358398,
            -0.09200707077980042
        ],
        "angular_velocity": [
            -0.20880596339702606,
            0.14287306368350983,
            -4.089264869689941
        ],
        "forward_vector": [
            -0.12609609961509705,
            0.9920168519020081,
            -0.0014940493274480104
        ],
        "right_vector": [
            -0.9920179843902588,
            -0.12609641253948212,
            -0.00011123902368126437
        ],
        "location": [
            958.6356201171875,
            3393.2275390625,
            370.1393737792969
        ],
        "rotation": [
            0.006373533513396978,
            -0.08560275286436081,
            97.24406433105469
        ],
        "velocity": [
            -0.6329039335250854,
            5.11836576461792,
            0.04835762828588486
        ],
        "speed": 5.1573477184968155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.751689910888672,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.3959350585938,
                3406.591796875,
                370.2395324707031
            ],
            "velocity": [
                -0.5049612522125244,
                3.136406898498535,
                0.023501882329583168
            ],
            "speed_kmh": 11.436779277053974,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.377765655517578,
                "transform": {
                    "location": {
                        "x": 960.1681518554688,
                        "y": 3444.3466796875,
                        "z": 370.49725341796875
                    },
                    "rotation": {
                        "roll": 0.011207462288439274,
                        "pitch": -0.073055699467659,
                        "yaw": -80.45708465576172
                    }
                },
                "velocity": {
                    "x": 1.2108968496322632,
                    "y": -7.277607440948486,
                    "z": -0.039805736392736435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018797874450684,
                "transform": {
                    "location": {
                        "x": 967.1392822265625,
                        "y": 3401.231689453125,
                        "z": 370.1946716308594
                    },
                    "rotation": {
                        "roll": 0.0015297281788662076,
                        "pitch": -0.5046621561050415,
                        "yaw": -80.84683227539062
                    }
                },
                "velocity": {
                    "x": 1.2758376598358154,
                    "y": -7.9163498878479,
                    "z": -0.06897725909948349
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.796204566955566,
                "transform": {
                    "location": {
                        "x": 964.1512451171875,
                        "y": 3399.35498046875,
                        "z": 370.17962646484375
                    },
                    "rotation": {
                        "roll": 0.0007443272625096142,
                        "pitch": -0.45437148213386536,
                        "yaw": -80.83622741699219
                    }
                },
                "velocity": {
                    "x": 1.3996621370315552,
                    "y": -8.683802604675293,
                    "z": -0.0757683664560318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.9205932617188,
                        "y": 3302.54150390625,
                        "z": 368.87115478515625
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081855773925781,
                "transform": {
                    "location": {
                        "x": 973.9680786132812,
                        "y": 3358.810791015625,
                        "z": 369.7259826660156
                    },
                    "rotation": {
                        "roll": 0.002268590498715639,
                        "pitch": -0.6960098743438721,
                        "yaw": -80.86170196533203
                    }
                },
                "velocity": {
                    "x": 1.2833576202392578,
                    "y": -7.978703022003174,
                    "z": -0.09838138520717621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023754119873047,
                "transform": {
                    "location": {
                        "x": 970.8860473632812,
                        "y": 3357.421142578125,
                        "z": 369.72491455078125
                    },
                    "rotation": {
                        "roll": 0.0008848980651237071,
                        "pitch": -0.7130102515220642,
                        "yaw": -81.02812957763672
                    }
                },
                "velocity": {
                    "x": 1.2739289999008179,
                    "y": -7.921336650848389,
                    "z": -0.10082606971263885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.454489707946777,
                "transform": {
                    "location": {
                        "x": 971.1666259765625,
                        "y": 3334.034912109375,
                        "z": 369.4058837890625
                    },
                    "rotation": {
                        "roll": -0.0008239581366069615,
                        "pitch": 0.8621269464492798,
                        "yaw": 99.12842559814453
                    }
                },
                "velocity": {
                    "x": -1.501050353050232,
                    "y": 9.333442687988281,
                    "z": 0.14519686996936798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.5530395507812,
                        "y": 3317.059326171875,
                        "z": 369.1130065917969
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.770097732543945,
                "transform": {
                    "location": {
                        "x": 968.0291137695312,
                        "y": 3353.541259765625,
                        "z": 369.6812744140625
                    },
                    "rotation": {
                        "roll": -0.0010680854320526123,
                        "pitch": 0.7631369829177856,
                        "yaw": 99.15760803222656
                    }
                },
                "velocity": {
                    "x": -1.5523630380630493,
                    "y": 9.645105361938477,
                    "z": 0.13007676601409912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.330085754394531,
                "transform": {
                    "location": {
                        "x": 957.2073974609375,
                        "y": 3442.282470703125,
                        "z": 370.5201721191406
                    },
                    "rotation": {
                        "roll": 0.0019822102040052414,
                        "pitch": -0.16339176893234253,
                        "yaw": -80.41400146484375
                    }
                },
                "velocity": {
                    "x": 1.200792670249939,
                    "y": -7.230933666229248,
                    "z": -0.043061017990112305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.176839828491211,
                "transform": {
                    "location": {
                        "x": 949.0868530273438,
                        "y": 3450.8349609375,
                        "z": 370.54241943359375
                    },
                    "rotation": {
                        "roll": 0.00026131377671845257,
                        "pitch": 0.378023624420166,
                        "yaw": 99.23117065429688
                    }
                },
                "velocity": {
                    "x": -0.8274380564689636,
                    "y": 5.110220432281494,
                    "z": 0.025772131979465485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.3765258789062,
                        "y": 3468.260009765625,
                        "z": 370.618896484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.8722534179688,
                        "y": 3317.709716796875,
                        "z": 369.1392517089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.849794387817383,
                "transform": {
                    "location": {
                        "x": 964.928466796875,
                        "y": 3372.80712890625,
                        "z": 369.9166564941406
                    },
                    "rotation": {
                        "roll": 0.0006783367716707289,
                        "pitch": 0.6250237226486206,
                        "yaw": 99.12885284423828
                    }
                },
                "velocity": {
                    "x": -1.5640134811401367,
                    "y": 9.724159240722656,
                    "z": 0.11421262472867966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.05260181427002,
                "transform": {
                    "location": {
                        "x": 961.9126586914062,
                        "y": 3391.549072265625,
                        "z": 370.1234436035156
                    },
                    "rotation": {
                        "roll": -0.0009765284485183656,
                        "pitch": 0.5889945030212402,
                        "yaw": 99.14019775390625
                    }
                },
                "velocity": {
                    "x": -1.594990611076355,
                    "y": 9.924768447875977,
                    "z": 0.09888350963592529
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101063,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.3282470703125,
                        "y": 3316.657470703125,
                        "z": 369.1136169433594
                    },
                    "rotation": {
                        "roll": 5.3368157892919044e-08,
                        "pitch": -0.9480233788490295,
                        "yaw": -81.55522918701172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625287532806396,
                "transform": {
                    "location": {
                        "x": 953.7706909179688,
                        "y": 3416.690185546875,
                        "z": 370.3171081542969
                    },
                    "rotation": {
                        "roll": 0.0010316830594092607,
                        "pitch": 0.6060699820518494,
                        "yaw": 99.1408920288086
                    }
                },
                "velocity": {
                    "x": -0.5025612115859985,
                    "y": 3.12227201461792,
                    "z": 0.020930137485265732
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1768832206726074,
                "transform": {
                    "location": {
                        "x": 955.3959350585938,
                        "y": 3406.591796875,
                        "z": 370.2395324707031
                    },
                    "rotation": {
                        "roll": 0.0004238925175741315,
                        "pitch": 0.09736434370279312,
                        "yaw": 99.1409912109375
                    }
                },
                "velocity": {
                    "x": -0.5049612522125244,
                    "y": 3.136406898498535,
                    "z": 0.023501882329583168
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2609268128871918,
        "expert_target_speed": 0,
        "target_point": [
            50.34214447107568,
            1.850042890825021
        ],
        "target_point_next": [
            101.31433537377026,
            3.5395237521814327
        ]
    },
    "255": {
        "acceleration": [
            0.6103980541229248,
            -2.9224681854248047,
            -0.004187971353530884
        ],
        "angular_velocity": [
            0.6528459191322327,
            -0.048893705010414124,
            -1.5489344596862793
        ],
        "forward_vector": [
            -0.12098748981952667,
            0.9926537871360779,
            -0.0007227658061310649
        ],
        "right_vector": [
            -0.9926538467407227,
            -0.12098783254623413,
            -0.0004526321718003601
        ],
        "location": [
            958.5011596679688,
            3394.3515625,
            370.1491394042969
        ],
        "rotation": [
            0.025933921337127686,
            -0.04141143336892128,
            96.9490966796875
        ],
        "velocity": [
            -0.4512961506843567,
            4.013613224029541,
            0.03670463338494301
        ],
        "speed": 4.038905709189969,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.416447639465332,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.2702026367188,
                3407.372802734375,
                370.24542236328125
            ],
            "velocity": [
                -0.5036992430686951,
                3.1299967765808105,
                0.023083876818418503
            ],
            "speed_kmh": 11.413263685755798,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.428240776062012,
                "transform": {
                    "location": {
                        "x": 960.5032348632812,
                        "y": 3442.325439453125,
                        "z": 370.4855041503906
                    },
                    "rotation": {
                        "roll": 0.007243395317345858,
                        "pitch": -0.09411317110061646,
                        "yaw": -80.5733413696289
                    }
                },
                "velocity": {
                    "x": 1.374871850013733,
                    "y": -8.315202713012695,
                    "z": -0.04867442324757576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017672538757324,
                "transform": {
                    "location": {
                        "x": 967.4576416015625,
                        "y": 3399.256103515625,
                        "z": 370.177490234375
                    },
                    "rotation": {
                        "roll": 0.0009573575225658715,
                        "pitch": -0.505092442035675,
                        "yaw": -80.83097839355469
                    }
                },
                "velocity": {
                    "x": 1.2754004001617432,
                    "y": -7.915287494659424,
                    "z": -0.06814845651388168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.235573768615723,
                "transform": {
                    "location": {
                        "x": 964.4898071289062,
                        "y": 3397.25927734375,
                        "z": 370.161865234375
                    },
                    "rotation": {
                        "roll": 0.002216079505160451,
                        "pitch": -0.49731287360191345,
                        "yaw": -80.97827911376953
                    }
                },
                "velocity": {
                    "x": 1.3064196109771729,
                    "y": -8.130976676940918,
                    "z": -0.07175133377313614
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.6284790039062,
                        "y": 3304.956787109375,
                        "z": 368.9161376953125
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0288667678833,
                "transform": {
                    "location": {
                        "x": 974.2880249023438,
                        "y": 3356.822998046875,
                        "z": 369.70074462890625
                    },
                    "rotation": {
                        "roll": 0.00023616770340595394,
                        "pitch": -0.7315678596496582,
                        "yaw": -80.85893249511719
                    }
                },
                "velocity": {
                    "x": 1.2754286527633667,
                    "y": -7.9262261390686035,
                    "z": -0.10453479737043381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09066104888916,
                "transform": {
                    "location": {
                        "x": 971.2063598632812,
                        "y": 3355.43310546875,
                        "z": 369.69940185546875
                    },
                    "rotation": {
                        "roll": 0.0012946749338880181,
                        "pitch": -0.7603707909584045,
                        "yaw": -80.99176788330078
                    }
                },
                "velocity": {
                    "x": 1.2854828834533691,
                    "y": -7.9872145652771,
                    "z": -0.1035604253411293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.019929885864258,
                "transform": {
                    "location": {
                        "x": 970.7808227539062,
                        "y": 3336.436279296875,
                        "z": 369.44378662109375
                    },
                    "rotation": {
                        "roll": -0.0019531839061528444,
                        "pitch": 0.8270812034606934,
                        "yaw": 99.10664367675781
                    }
                },
                "velocity": {
                    "x": -1.5855224132537842,
                    "y": 9.892477989196777,
                    "z": 0.15487220883369446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.52800178527832,
                "transform": {
                    "location": {
                        "x": 967.649169921875,
                        "y": 3355.902099609375,
                        "z": 369.7124938964844
                    },
                    "rotation": {
                        "roll": -0.00033571902895346284,
                        "pitch": 0.7119242548942566,
                        "yaw": 99.13106536865234
                    }
                },
                "velocity": {
                    "x": -1.5141617059707642,
                    "y": 9.406133651733398,
                    "z": 0.12156900018453598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.469864845275879,
                "transform": {
                    "location": {
                        "x": 957.5407104492188,
                        "y": 3440.2822265625,
                        "z": 370.5086669921875
                    },
                    "rotation": {
                        "roll": 0.00011101114796474576,
                        "pitch": -0.18439461290836334,
                        "yaw": -80.54927062988281
                    }
                },
                "velocity": {
                    "x": 1.3850550651550293,
                    "y": -8.355708122253418,
                    "z": -0.048712968826293945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.704260349273682,
                "transform": {
                    "location": {
                        "x": 948.870361328125,
                        "y": 3452.1689453125,
                        "z": 370.55029296875
                    },
                    "rotation": {
                        "roll": -0.0003356963279657066,
                        "pitch": 0.25154903531074524,
                        "yaw": 99.19082641601562
                    }
                },
                "velocity": {
                    "x": -0.9126005172729492,
                    "y": 5.630710124969482,
                    "z": 0.02914859727025032
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2249145507812,
                        "y": 3469.2021484375,
                        "z": 370.6228332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.505126953125,
                        "y": 3320.09619140625,
                        "z": 369.1786193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.456384658813477,
                "transform": {
                    "location": {
                        "x": 964.5462036132812,
                        "y": 3375.182373046875,
                        "z": 369.94427490234375
                    },
                    "rotation": {
                        "roll": 0.001028800499625504,
                        "pitch": 0.6014527678489685,
                        "yaw": 99.15168762207031
                    }
                },
                "velocity": {
                    "x": -1.5018287897109985,
                    "y": 9.33575439453125,
                    "z": 0.1067814826965332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.799216270446777,
                "transform": {
                    "location": {
                        "x": 961.518798828125,
                        "y": 3393.997314453125,
                        "z": 370.1476745605469
                    },
                    "rotation": {
                        "roll": 5.93136646784842e-05,
                        "pitch": 0.583687424659729,
                        "yaw": 99.1379623413086
                    }
                },
                "velocity": {
                    "x": -1.5561938285827637,
                    "y": 9.674433708190918,
                    "z": 0.0907406210899353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162419557571411,
                "transform": {
                    "location": {
                        "x": 953.6450805664062,
                        "y": 3417.470458984375,
                        "z": 370.3224182128906
                    },
                    "rotation": {
                        "roll": -0.001464783912524581,
                        "pitch": 0.605851411819458,
                        "yaw": 99.1416244506836
                    }
                },
                "velocity": {
                    "x": -0.5022703409194946,
                    "y": 3.1222047805786133,
                    "z": 0.02143469825387001
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.170351028442383,
                "transform": {
                    "location": {
                        "x": 955.2702026367188,
                        "y": 3407.372802734375,
                        "z": 370.24542236328125
                    },
                    "rotation": {
                        "roll": -0.00042724108789116144,
                        "pitch": 0.11099056899547577,
                        "yaw": 99.14141845703125
                    }
                },
                "velocity": {
                    "x": -0.5036992430686951,
                    "y": 3.1299967765808105,
                    "z": 0.023083876818418503
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3091346025466919,
        "expert_target_speed": 0,
        "target_point": [
            49.199918115742484,
            2.111719010716813
        ],
        "target_point_next": [
            100.16273537899228,
            4.0636021000021785
        ]
    },
    "260": {
        "acceleration": [
            0.18554747104644775,
            -0.4242897033691406,
            -0.01168861985206604
        ],
        "angular_velocity": [
            0.9347023963928223,
            0.1814851313829422,
            -2.337937831878662
        ],
        "forward_vector": [
            -0.111280657351017,
            0.9937825202941895,
            0.003602616023272276
        ],
        "right_vector": [
            -0.9937889575958252,
            -0.1112784743309021,
            -0.0008033760823309422
        ],
        "location": [
            958.4005737304688,
            3395.314208984375,
            370.156982421875
        ],
        "rotation": [
            0.04603036120533943,
            0.20641513168811798,
            96.38919067382812
        ],
        "velocity": [
            -0.3604294955730438,
            3.765071392059326,
            0.03481608256697655
        ],
        "speed": 3.782283967205872,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.246594429016113,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.14453125,
                3408.154052734375,
                370.2512512207031
            ],
            "velocity": [
                -0.5023969411849976,
                3.126131296157837,
                0.022689074277877808
            ],
            "speed_kmh": 11.398770202263819,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.844326972961426,
                "transform": {
                    "location": {
                        "x": 960.8329467773438,
                        "y": 3440.32763671875,
                        "z": 370.4736328125
                    },
                    "rotation": {
                        "roll": 0.004864582326263189,
                        "pitch": -0.36828377842903137,
                        "yaw": -80.64617156982422
                    }
                },
                "velocity": {
                    "x": 1.2749369144439697,
                    "y": -7.739893436431885,
                    "z": -0.04528067633509636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.051185607910156,
                "transform": {
                    "location": {
                        "x": 967.7774658203125,
                        "y": 3397.271240234375,
                        "z": 370.1601867675781
                    },
                    "rotation": {
                        "roll": 0.0018677245825529099,
                        "pitch": -0.48949915170669556,
                        "yaw": -80.86371612548828
                    }
                },
                "velocity": {
                    "x": 1.2801339626312256,
                    "y": -7.948465824127197,
                    "z": -0.06884970515966415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.093460083007812,
                "transform": {
                    "location": {
                        "x": 964.8128051757812,
                        "y": 3395.25341796875,
                        "z": 370.14361572265625
                    },
                    "rotation": {
                        "roll": 0.0026878779754042625,
                        "pitch": -0.5380002856254578,
                        "yaw": -81.09856414794922
                    }
                },
                "velocity": {
                    "x": 1.2808916568756104,
                    "y": -7.991097450256348,
                    "z": -0.07600613683462143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.323486328125,
                        "y": 3307.369873046875,
                        "z": 368.96014404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080096244812012,
                "transform": {
                    "location": {
                        "x": 974.6078491210938,
                        "y": 3354.83544921875,
                        "z": 369.6746520996094
                    },
                    "rotation": {
                        "roll": -0.00015259899373631924,
                        "pitch": -0.7659578323364258,
                        "yaw": -80.85907745361328
                    }
                },
                "velocity": {
                    "x": 1.283490538597107,
                    "y": -7.976772785186768,
                    "z": -0.10815361142158508
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024022102355957,
                "transform": {
                    "location": {
                        "x": 971.5260620117188,
                        "y": 3353.444580078125,
                        "z": 369.6727600097656
                    },
                    "rotation": {
                        "roll": 0.0017146108439192176,
                        "pitch": -0.7663813233375549,
                        "yaw": -81.02957916259766
                    }
                },
                "velocity": {
                    "x": 1.2732309103012085,
                    "y": -7.921629428863525,
                    "z": -0.10769494622945786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.35681438446045,
                "transform": {
                    "location": {
                        "x": 970.39404296875,
                        "y": 3338.84521484375,
                        "z": 369.4793701171875
                    },
                    "rotation": {
                        "roll": -0.00021362841653171927,
                        "pitch": 0.8752545714378357,
                        "yaw": 99.1412582397461
                    }
                },
                "velocity": {
                    "x": -1.4860023260116577,
                    "y": 9.237044334411621,
                    "z": 0.13702665269374847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.213176727294922,
                "transform": {
                    "location": {
                        "x": 967.2725830078125,
                        "y": 3358.241455078125,
                        "z": 369.74224853515625
                    },
                    "rotation": {
                        "roll": 7.56438312237151e-05,
                        "pitch": 0.6473038196563721,
                        "yaw": 99.15914916992188
                    }
                },
                "velocity": {
                    "x": -1.4649453163146973,
                    "y": 9.095280647277832,
                    "z": 0.11148206144571304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.916460990905762,
                "transform": {
                    "location": {
                        "x": 957.8741455078125,
                        "y": 3438.2587890625,
                        "z": 370.49810791015625
                    },
                    "rotation": {
                        "roll": 0.0029370735865086317,
                        "pitch": -0.3418509364128113,
                        "yaw": -80.64390563964844
                    }
                },
                "velocity": {
                    "x": 1.2765307426452637,
                    "y": -7.8127264976501465,
                    "z": -0.04609689489006996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.000101566314697,
                "transform": {
                    "location": {
                        "x": 948.6224975585938,
                        "y": 3453.7001953125,
                        "z": 370.55853271484375
                    },
                    "rotation": {
                        "roll": 0.000283280445728451,
                        "pitch": 0.15572147071361542,
                        "yaw": 99.15872955322266
                    }
                },
                "velocity": {
                    "x": -1.117061734199524,
                    "y": 6.910323143005371,
                    "z": 0.03207165747880936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1061401367188,
                        "y": 3469.9384765625,
                        "z": 370.6258850097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.122314453125,
                        "y": 3322.52392578125,
                        "z": 369.21826171875
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.202776908874512,
                "transform": {
                    "location": {
                        "x": 964.17578125,
                        "y": 3377.4873046875,
                        "z": 369.9705505371094
                    },
                    "rotation": {
                        "roll": -0.0005493253702297807,
                        "pitch": 0.5862282514572144,
                        "yaw": 99.11945343017578
                    }
                },
                "velocity": {
                    "x": -1.460763692855835,
                    "y": 9.085536003112793,
                    "z": 0.10151907056570053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.963113784790039,
                "transform": {
                    "location": {
                        "x": 961.141845703125,
                        "y": 3396.33984375,
                        "z": 370.1688232421875
                    },
                    "rotation": {
                        "roll": -0.00024413774372078478,
                        "pitch": 0.5648156404495239,
                        "yaw": 99.14183807373047
                    }
                },
                "velocity": {
                    "x": -1.4239898920059204,
                    "y": 8.848921775817871,
                    "z": 0.07901300489902496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625914573669434,
                "transform": {
                    "location": {
                        "x": 953.5194091796875,
                        "y": 3418.2509765625,
                        "z": 370.3277587890625
                    },
                    "rotation": {
                        "roll": 0.00024117788416333497,
                        "pitch": 0.6065685749053955,
                        "yaw": 99.14179229736328
                    }
                },
                "velocity": {
                    "x": -0.5027452111244202,
                    "y": 3.1223037242889404,
                    "z": 0.021267594769597054
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1663248538970947,
                "transform": {
                    "location": {
                        "x": 955.14453125,
                        "y": 3408.154052734375,
                        "z": 370.2512512207031
                    },
                    "rotation": {
                        "roll": -0.0016784622566774487,
                        "pitch": 0.11615419387817383,
                        "yaw": 99.14163208007812
                    }
                },
                "velocity": {
                    "x": -0.5023969411849976,
                    "y": 3.126131296157837,
                    "z": 0.022689074277877808
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.387317955493927,
        "expert_target_speed": 0,
        "target_point": [
            48.209074573205356,
            2.599524080823306
        ],
        "target_point_next": [
            99.15038668715877,
            5.0492814382797295
        ]
    },
    "265": {
        "acceleration": [
            0.256882905960083,
            -0.36661624908447266,
            -0.009309574961662292
        ],
        "angular_velocity": [
            0.4049430787563324,
            0.0008638277649879456,
            -1.5858724117279053
        ],
        "forward_vector": [
            -0.10487880557775497,
            0.9944676756858826,
            0.005881394259631634
        ],
        "right_vector": [
            -0.9944849014282227,
            -0.10488007217645645,
            -9.261443483410403e-05
        ],
        "location": [
            958.3095092773438,
            3396.23046875,
            370.1647033691406
        ],
        "rotation": [
            0.0053065079264342785,
            0.33698102831840515,
            96.0202865600586
        ],
        "velocity": [
            -0.337509423494339,
            3.5751304626464844,
            0.031796894967556
        ],
        "speed": 3.5910263763846606,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.124409675598145,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                955.018798828125,
                3408.935302734375,
                370.2570495605469
            ],
            "velocity": [
                -0.5031672716140747,
                3.1242823600769043,
                0.02202986739575863
            ],
            "speed_kmh": 11.392622409859937,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05749797821045,
                "transform": {
                    "location": {
                        "x": 961.1510009765625,
                        "y": 3438.3828125,
                        "z": 370.46221923828125
                    },
                    "rotation": {
                        "roll": 0.007713184226304293,
                        "pitch": -0.3108828663825989,
                        "yaw": -80.70521545410156
                    }
                },
                "velocity": {
                    "x": 1.2962169647216797,
                    "y": -7.95242166519165,
                    "z": -0.045703060925006866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020674705505371,
                "transform": {
                    "location": {
                        "x": 968.0966796875,
                        "y": 3395.28857421875,
                        "z": 370.14202880859375
                    },
                    "rotation": {
                        "roll": 0.00013234101061243564,
                        "pitch": -0.5499804615974426,
                        "yaw": -80.83677673339844
                    }
                },
                "velocity": {
                    "x": 1.2753432989120483,
                    "y": -7.918283939361572,
                    "z": -0.07414326816797256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.809898376464844,
                "transform": {
                    "location": {
                        "x": 965.103515625,
                        "y": 3393.438720703125,
                        "z": 370.1268005371094
                    },
                    "rotation": {
                        "roll": 0.0024978264700621367,
                        "pitch": -0.6032695770263672,
                        "yaw": -81.06316375732422
                    }
                },
                "velocity": {
                    "x": 1.0783450603485107,
                    "y": -6.723642826080322,
                    "z": -0.06721954792737961
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.0059814453125,
                        "y": 3309.78173828125,
                        "z": 369.0033264160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028599739074707,
                "transform": {
                    "location": {
                        "x": 974.9276123046875,
                        "y": 3352.84814453125,
                        "z": 369.6478576660156
                    },
                    "rotation": {
                        "roll": 0.0014692337717860937,
                        "pitch": -0.7607942223548889,
                        "yaw": -80.85911560058594
                    }
                },
                "velocity": {
                    "x": 1.275365948677063,
                    "y": -7.925924301147461,
                    "z": -0.10760751366615295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09021282196045,
                "transform": {
                    "location": {
                        "x": 971.8462524414062,
                        "y": 3351.455810546875,
                        "z": 369.6460876464844
                    },
                    "rotation": {
                        "roll": -0.0003051710082218051,
                        "pitch": -0.7619895339012146,
                        "yaw": -80.99771881103516
                    }
                },
                "velocity": {
                    "x": 1.2879164218902588,
                    "y": -7.9863200187683105,
                    "z": -0.10730188339948654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.615047454833984,
                "transform": {
                    "location": {
                        "x": 970.040283203125,
                        "y": 3341.04296875,
                        "z": 369.5113525390625
                    },
                    "rotation": {
                        "roll": 9.486024646321312e-05,
                        "pitch": 0.8858003616333008,
                        "yaw": 99.11971282958984
                    }
                },
                "velocity": {
                    "x": -1.3682934045791626,
                    "y": 8.504799842834473,
                    "z": 0.12325628101825714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.7003173828125,
                "transform": {
                    "location": {
                        "x": 966.920654296875,
                        "y": 3360.427490234375,
                        "z": 369.76885986328125
                    },
                    "rotation": {
                        "roll": 0.0015030510257929564,
                        "pitch": 0.6245661377906799,
                        "yaw": 99.13020324707031
                    }
                },
                "velocity": {
                    "x": -1.3830255270004272,
                    "y": 8.58905029296875,
                    "z": 0.10476212948560715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.95534610748291,
                "transform": {
                    "location": {
                        "x": 958.1906127929688,
                        "y": 3436.3232421875,
                        "z": 370.4865417480469
                    },
                    "rotation": {
                        "roll": 0.0011813503224402666,
                        "pitch": -0.3423768877983093,
                        "yaw": -80.74232482910156
                    }
                },
                "velocity": {
                    "x": 1.2781881093978882,
                    "y": -7.851836204528809,
                    "z": -0.04931676387786865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.45314359664917,
                "transform": {
                    "location": {
                        "x": 948.3246459960938,
                        "y": 3455.546142578125,
                        "z": 370.56689453125
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.19144336879253387,
                        "yaw": 99.16337585449219
                    }
                },
                "velocity": {
                    "x": -1.1869590282440186,
                    "y": 7.357943058013916,
                    "z": 0.03399668633937836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9904174804688,
                        "y": 3470.655517578125,
                        "z": 370.62884521484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.76513671875,
                        "y": 3324.74365234375,
                        "z": 369.2543029785156
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.296605110168457,
                "transform": {
                    "location": {
                        "x": 963.8292236328125,
                        "y": 3379.64208984375,
                        "z": 369.9941711425781
                    },
                    "rotation": {
                        "roll": -0.0019225880969315767,
                        "pitch": 0.5115743279457092,
                        "yaw": 99.15032196044922
                    }
                },
                "velocity": {
                    "x": -1.3180691003799438,
                    "y": 8.190727233886719,
                    "z": 0.0913357138633728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.980116844177246,
                "transform": {
                    "location": {
                        "x": 960.8143310546875,
                        "y": 3398.374267578125,
                        "z": 370.1856994628906
                    },
                    "rotation": {
                        "roll": 0.0005561104626394808,
                        "pitch": 0.6613125205039978,
                        "yaw": 99.15792846679688
                    }
                },
                "velocity": {
                    "x": -1.1109763383865356,
                    "y": 6.890890121459961,
                    "z": 0.05829092860221863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624755859375,
                "transform": {
                    "location": {
                        "x": 953.3938598632812,
                        "y": 3419.03125,
                        "z": 370.3331604003906
                    },
                    "rotation": {
                        "roll": 0.0009397371904924512,
                        "pitch": 0.6066232323646545,
                        "yaw": 99.13996887207031
                    }
                },
                "velocity": {
                    "x": -0.5023291110992432,
                    "y": 3.122253894805908,
                    "z": 0.021172866225242615
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1646173000335693,
                "transform": {
                    "location": {
                        "x": 955.018798828125,
                        "y": 3408.935302734375,
                        "z": 370.2570495605469
                    },
                    "rotation": {
                        "roll": 0.0011790036223828793,
                        "pitch": 0.11381826549768448,
                        "yaw": 99.1426773071289
                    }
                },
                "velocity": {
                    "x": -0.5031672716140747,
                    "y": 3.1242823600769043,
                    "z": 0.02202986739575863
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2540653347969055,
        "expert_target_speed": 0,
        "target_point": [
            47.27058111834191,
            2.915398140857345
        ],
        "target_point_next": [
            98.19506473182602,
            5.693087774639004
        ]
    },
    "270": {
        "acceleration": [
            -0.09492099285125732,
            4.248313903808594,
            0.043585002422332764
        ],
        "angular_velocity": [
            1.409995198249817,
            0.05311156064271927,
            -3.2208011150360107
        ],
        "forward_vector": [
            -0.09344416111707687,
            0.9955713748931885,
            0.010287699289619923
        ],
        "right_vector": [
            -0.9956245422363281,
            -0.09343982487916946,
            -0.0009023667080327868
        ],
        "location": [
            958.2285766601562,
            3397.186767578125,
            370.17205810546875
        ],
        "rotation": [
            0.05170454829931259,
            0.5894521474838257,
            95.362060546875
        ],
        "velocity": [
            -0.31624650955200195,
            4.2344207763671875,
            0.03579812869429588
        ],
        "speed": 4.246213744753544,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.966487884521484,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.8930053710938,
                3409.716552734375,
                370.2629089355469
            ],
            "velocity": [
                -0.5028930306434631,
                3.1245062351226807,
                0.02153264917433262
            ],
            "speed_kmh": 11.393248848360892,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.129846572875977,
                "transform": {
                    "location": {
                        "x": 961.4786376953125,
                        "y": 3436.36865234375,
                        "z": 370.4500732421875
                    },
                    "rotation": {
                        "roll": 0.0032274508848786354,
                        "pitch": -0.32931071519851685,
                        "yaw": -80.7732925415039
                    }
                },
                "velocity": {
                    "x": 1.3034887313842773,
                    "y": -8.024519920349121,
                    "z": -0.04901806637644768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03400993347168,
                "transform": {
                    "location": {
                        "x": 968.4158325195312,
                        "y": 3393.308349609375,
                        "z": 370.12298583984375
                    },
                    "rotation": {
                        "roll": 0.0006381209823302925,
                        "pitch": -0.5732987523078918,
                        "yaw": -80.8622055053711
                    }
                },
                "velocity": {
                    "x": 1.2766190767288208,
                    "y": -7.931528568267822,
                    "z": -0.08006247133016586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.061927318572998,
                "transform": {
                    "location": {
                        "x": 965.3733520507812,
                        "y": 3391.748046875,
                        "z": 370.1094970703125
                    },
                    "rotation": {
                        "roll": 0.0002793842286337167,
                        "pitch": -0.5628963708877563,
                        "yaw": -80.89727020263672
                    }
                },
                "velocity": {
                    "x": 1.120666265487671,
                    "y": -6.972100734710693,
                    "z": -0.06882402300834656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.6663818359375,
                        "y": 3312.258056640625,
                        "z": 369.046630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081372261047363,
                "transform": {
                    "location": {
                        "x": 975.24755859375,
                        "y": 3350.859619140625,
                        "z": 369.62115478515625
                    },
                    "rotation": {
                        "roll": 0.0011787915136665106,
                        "pitch": -0.7601317167282104,
                        "yaw": -80.86067199707031
                    }
                },
                "velocity": {
                    "x": 1.2819252014160156,
                    "y": -7.978324890136719,
                    "z": -0.10761181265115738
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025261878967285,
                "transform": {
                    "location": {
                        "x": 972.1661376953125,
                        "y": 3349.467529296875,
                        "z": 369.6194152832031
                    },
                    "rotation": {
                        "roll": 0.0015741781098768115,
                        "pitch": -0.7633624076843262,
                        "yaw": -81.02727508544922
                    }
                },
                "velocity": {
                    "x": 1.2730051279067993,
                    "y": -7.922944068908691,
                    "z": -0.10604152083396912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.033345222473145,
                "transform": {
                    "location": {
                        "x": 969.6925659179688,
                        "y": 3343.20458984375,
                        "z": 369.54339599609375
                    },
                    "rotation": {
                        "roll": 0.0010118460049852729,
                        "pitch": 0.796352207660675,
                        "yaw": 99.15635681152344
                    }
                },
                "velocity": {
                    "x": -1.4346262216567993,
                    "y": 8.917765617370605,
                    "z": 0.12894530594348907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.200172424316406,
                "transform": {
                    "location": {
                        "x": 966.5636596679688,
                        "y": 3362.645263671875,
                        "z": 369.7961120605469
                    },
                    "rotation": {
                        "roll": 0.0011591487564146519,
                        "pitch": 0.7441217303276062,
                        "yaw": 99.15815734863281
                    }
                },
                "velocity": {
                    "x": -1.4614248275756836,
                    "y": 9.08267879486084,
                    "z": 0.111167773604393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.162027359008789,
                "transform": {
                    "location": {
                        "x": 958.5167846679688,
                        "y": 3434.317626953125,
                        "z": 370.47393798828125
                    },
                    "rotation": {
                        "roll": 0.0008670632960274816,
                        "pitch": -0.350614070892334,
                        "yaw": -80.75144958496094
                    }
                },
                "velocity": {
                    "x": 1.307090163230896,
                    "y": -8.056528091430664,
                    "z": -0.05057226121425629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.231055736541748,
                "transform": {
                    "location": {
                        "x": 948.05078125,
                        "y": 3457.243896484375,
                        "z": 370.5733642578125
                    },
                    "rotation": {
                        "roll": 0.000447532074758783,
                        "pitch": 0.3422265946865082,
                        "yaw": 99.16325378417969
                    }
                },
                "velocity": {
                    "x": -0.9923368096351624,
                    "y": 6.151467323303223,
                    "z": 0.027823476120829582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8714599609375,
                        "y": 3471.394287109375,
                        "z": 370.6319885253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.419189453125,
                        "y": 3326.894287109375,
                        "z": 369.28912353515625
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.556565284729004,
                "transform": {
                    "location": {
                        "x": 963.4989624023438,
                        "y": 3381.694580078125,
                        "z": 370.0172119140625
                    },
                    "rotation": {
                        "roll": -3.052426836802624e-05,
                        "pitch": 0.6331380009651184,
                        "yaw": 99.12869262695312
                    }
                },
                "velocity": {
                    "x": -1.3583091497421265,
                    "y": 8.447549819946289,
                    "z": 0.09329787641763687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.106382846832275,
                "transform": {
                    "location": {
                        "x": 960.5633544921875,
                        "y": 3399.931884765625,
                        "z": 370.1995544433594
                    },
                    "rotation": {
                        "roll": 0.0002096128446282819,
                        "pitch": 0.5979898571968079,
                        "yaw": 99.12540435791016
                    }
                },
                "velocity": {
                    "x": -0.9690622687339783,
                    "y": 6.028771877288818,
                    "z": 0.052318770438432693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627354621887207,
                "transform": {
                    "location": {
                        "x": 953.2682495117188,
                        "y": 3419.811279296875,
                        "z": 370.3385009765625
                    },
                    "rotation": {
                        "roll": 0.0031571639701724052,
                        "pitch": 0.6050454378128052,
                        "yaw": 99.14048767089844
                    }
                },
                "velocity": {
                    "x": -0.5027891993522644,
                    "y": 3.1224441528320312,
                    "z": 0.021018313243985176
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1647911071777344,
                "transform": {
                    "location": {
                        "x": 954.8930053710938,
                        "y": 3409.716552734375,
                        "z": 370.2629089355469
                    },
                    "rotation": {
                        "roll": 0.0008804024546407163,
                        "pitch": 0.11521845310926437,
                        "yaw": 99.14180755615234
                    }
                },
                "velocity": {
                    "x": -0.5028930306434631,
                    "y": 3.1245062351226807,
                    "z": 0.02153264917433262
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9041137695312,
                        "y": 3476.6357421875,
                        "z": 370.9490661621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9766845703125,
                        "y": 3474.37158203125,
                        "z": 370.6896667480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06837207078933716,
        "expert_target_speed": 0,
        "target_point": [
            46.27429101113915,
            3.4670571551866667
        ],
        "target_point_next": [
            97.16350263406981,
            6.829605504015101
        ]
    },
    "275": {
        "acceleration": [
            0.04197835922241211,
            4.135198593139648,
            -0.004588291049003601
        ],
        "angular_velocity": [
            0.5879796147346497,
            -0.07804646342992783,
            -5.128077507019043
        ],
        "forward_vector": [
            -0.07756020128726959,
            0.996873676776886,
            0.0150772575289011
        ],
        "right_vector": [
            -0.9969877004623413,
            -0.07755014300346375,
            -0.0012514542322605848
        ],
        "location": [
            958.1444091796875,
            3398.394287109375,
            370.1815185546875
        ],
        "rotation": [
            0.0717112198472023,
            0.8638959527015686,
            94.44884490966797
        ],
        "velocity": [
            -0.3233788311481476,
            5.350532531738281,
            0.04700126498937607
        ],
        "speed": 5.360295909893819,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.566118240356445,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.767333984375,
                3410.497802734375,
                370.26873779296875
            ],
            "velocity": [
                -0.502776563167572,
                3.1247735023498535,
                0.02196720987558365
            ],
            "speed_kmh": 11.394142902479079,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.950741291046143,
                "transform": {
                    "location": {
                        "x": 961.7991943359375,
                        "y": 3434.39306640625,
                        "z": 370.43780517578125
                    },
                    "rotation": {
                        "roll": 0.0029374121222645044,
                        "pitch": -0.3971276581287384,
                        "yaw": -80.77880096435547
                    }
                },
                "velocity": {
                    "x": 1.2707656621932983,
                    "y": -7.84837007522583,
                    "z": -0.050325822085142136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03647518157959,
                "transform": {
                    "location": {
                        "x": 968.7352294921875,
                        "y": 3391.32421875,
                        "z": 370.1031188964844
                    },
                    "rotation": {
                        "roll": -0.00012206895189592615,
                        "pitch": -0.5684493184089661,
                        "yaw": -80.83616638183594
                    }
                },
                "velocity": {
                    "x": 1.2779160737991333,
                    "y": -7.933820724487305,
                    "z": -0.07967910915613174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.768519878387451,
                "transform": {
                    "location": {
                        "x": 965.6710815429688,
                        "y": 3389.8955078125,
                        "z": 370.0909423828125
                    },
                    "rotation": {
                        "roll": -0.0001220683116116561,
                        "pitch": -0.5368938446044922,
                        "yaw": -80.85972595214844
                    }
                },
                "velocity": {
                    "x": 1.235066533088684,
                    "y": -7.669339656829834,
                    "z": -0.07573498785495758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.323486328125,
                        "y": 3314.666748046875,
                        "z": 369.08807373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028905868530273,
                "transform": {
                    "location": {
                        "x": 975.5673828125,
                        "y": 3348.871826171875,
                        "z": 369.5944519042969
                    },
                    "rotation": {
                        "roll": 0.00022469581745099276,
                        "pitch": -0.7635126709938049,
                        "yaw": -80.85924530029297
                    }
                },
                "velocity": {
                    "x": 1.2753512859344482,
                    "y": -7.926211357116699,
                    "z": -0.10948710888624191
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090239524841309,
                "transform": {
                    "location": {
                        "x": 972.486083984375,
                        "y": 3347.478759765625,
                        "z": 369.5920715332031
                    },
                    "rotation": {
                        "roll": 0.0017482161056250334,
                        "pitch": -0.7942826747894287,
                        "yaw": -81.00755310058594
                    }
                },
                "velocity": {
                    "x": 1.2859442234039307,
                    "y": -7.986603260040283,
                    "z": -0.11176606267690659
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.835686683654785,
                "transform": {
                    "location": {
                        "x": 969.3173828125,
                        "y": 3345.53515625,
                        "z": 369.57763671875
                    },
                    "rotation": {
                        "roll": 0.0008380497456528246,
                        "pitch": 0.7456585168838501,
                        "yaw": 99.127197265625
                    }
                },
                "velocity": {
                    "x": -1.5605140924453735,
                    "y": 9.710060119628906,
                    "z": 0.1423126757144928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.465655326843262,
                "transform": {
                    "location": {
                        "x": 966.2137451171875,
                        "y": 3364.8203125,
                        "z": 369.8225402832031
                    },
                    "rotation": {
                        "roll": -0.00115970557089895,
                        "pitch": 0.6183916330337524,
                        "yaw": 99.12650299072266
                    }
                },
                "velocity": {
                    "x": -1.3450208902359009,
                    "y": 8.357514381408691,
                    "z": 0.10090570151805878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.939030170440674,
                "transform": {
                    "location": {
                        "x": 958.8381958007812,
                        "y": 3432.33544921875,
                        "z": 370.46136474609375
                    },
                    "rotation": {
                        "roll": 0.0020373633597046137,
                        "pitch": -0.38568025827407837,
                        "yaw": -80.81327819824219
                    }
                },
                "velocity": {
                    "x": 1.2669557332992554,
                    "y": -7.837104320526123,
                    "z": -0.05310289189219475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.45456600189209,
                "transform": {
                    "location": {
                        "x": 947.8577270507812,
                        "y": 3458.4404296875,
                        "z": 370.5765686035156
                    },
                    "rotation": {
                        "roll": 0.0001262851437786594,
                        "pitch": 0.5899916887283325,
                        "yaw": 99.16572570800781
                    }
                },
                "velocity": {
                    "x": -0.3908747434616089,
                    "y": 2.4232239723205566,
                    "z": 0.009820299223065376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7177734375,
                        "y": 3472.349853515625,
                        "z": 370.63604736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.0477905273438,
                        "y": 3329.2001953125,
                        "z": 369.3263854980469
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.209644317626953,
                "transform": {
                    "location": {
                        "x": 963.1588745117188,
                        "y": 3383.807373046875,
                        "z": 370.04052734375
                    },
                    "rotation": {
                        "roll": -0.00030516021070070565,
                        "pitch": 0.590217113494873,
                        "yaw": 99.16085052490234
                    }
                },
                "velocity": {
                    "x": -1.3056628704071045,
                    "y": 8.104641914367676,
                    "z": 0.090993233025074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.547598838806152,
                "transform": {
                    "location": {
                        "x": 960.3150024414062,
                        "y": 3401.4775390625,
                        "z": 370.21405029296875
                    },
                    "rotation": {
                        "roll": 0.000749478000216186,
                        "pitch": 0.4664267599582672,
                        "yaw": 99.16036224365234
                    }
                },
                "velocity": {
                    "x": -1.0397682189941406,
                    "y": 6.4642791748046875,
                    "z": 0.05501971021294594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162609338760376,
                "transform": {
                    "location": {
                        "x": 953.1426391601562,
                        "y": 3420.591552734375,
                        "z": 370.3438720703125
                    },
                    "rotation": {
                        "roll": 0.0006217950722202659,
                        "pitch": 0.603187620639801,
                        "yaw": 99.13900756835938
                    }
                },
                "velocity": {
                    "x": -0.5018144845962524,
                    "y": 3.122469186782837,
                    "z": 0.02160325087606907
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650397777557373,
                "transform": {
                    "location": {
                        "x": 954.767333984375,
                        "y": 3410.497802734375,
                        "z": 370.26873779296875
                    },
                    "rotation": {
                        "roll": 0.0002366825210629031,
                        "pitch": 0.1146652102470398,
                        "yaw": 99.14239501953125
                    }
                },
                "velocity": {
                    "x": -0.502776563167572,
                    "y": 3.1247735023498535,
                    "z": 0.02196720987558365
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2308959960938,
                        "y": 3474.605224609375,
                        "z": 370.68450927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.3076171875,
                        "y": 3472.314208984375,
                        "z": 370.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6287794709205627,
        "expert_target_speed": 0,
        "target_point": [
            45.00274599358707,
            4.213881850500137
        ],
        "target_point_next": [
            95.83190211999262,
            8.387067501668753
        ]
    },
    "280": {
        "acceleration": [
            -0.3127467632293701,
            -2.1200084686279297,
            -0.010870769619941711
        ],
        "angular_velocity": [
            -1.3169984817504883,
            0.4610549211502075,
            0.5665252804756165
        ],
        "forward_vector": [
            -0.06899233162403107,
            0.9975625276565552,
            0.01044325903058052
        ],
        "right_vector": [
            -0.9976163506507874,
            -0.06900250166654587,
            0.0006167543469928205
        ],
        "location": [
            958.0595092773438,
            3399.69482421875,
            370.19354248046875
        ],
        "rotation": [
            -0.0353393517434597,
            0.5983655452728271,
            93.95632934570312
        ],
        "velocity": [
            -0.3485073149204254,
            5.0205979347229,
            0.043638743460178375
        ],
        "speed": 5.032679303382731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.078204154968262,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.6416015625,
                3411.279052734375,
                370.2745666503906
            ],
            "velocity": [
                -0.5026490092277527,
                3.1249401569366455,
                0.022150592878460884
            ],
            "speed_kmh": 11.394666895939672,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.087169647216797,
                "transform": {
                    "location": {
                        "x": 962.1193237304688,
                        "y": 3432.4140625,
                        "z": 370.42486572265625
                    },
                    "rotation": {
                        "roll": 0.0020084879361093044,
                        "pitch": -0.35717105865478516,
                        "yaw": -80.82383728027344
                    }
                },
                "velocity": {
                    "x": 1.2898848056793213,
                    "y": -7.98346471786499,
                    "z": -0.052842434495687485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026395797729492,
                "transform": {
                    "location": {
                        "x": 969.05419921875,
                        "y": 3389.342529296875,
                        "z": 370.0834655761719
                    },
                    "rotation": {
                        "roll": 0.0014365187380462885,
                        "pitch": -0.5712223649024963,
                        "yaw": -80.87303161621094
                    }
                },
                "velocity": {
                    "x": 1.274990439414978,
                    "y": -7.924081802368164,
                    "z": -0.07973982393741608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.830609321594238,
                "transform": {
                    "location": {
                        "x": 966.0060424804688,
                        "y": 3387.81591796875,
                        "z": 370.0702209472656
                    },
                    "rotation": {
                        "roll": 0.0008585585746914148,
                        "pitch": -0.5236432552337646,
                        "yaw": -80.87865447998047
                    }
                },
                "velocity": {
                    "x": 1.403505563735962,
                    "y": -8.717940330505371,
                    "z": -0.08570181578397751
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.9677124023438,
                        "y": 3317.072998046875,
                        "z": 369.1285705566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081015586853027,
                "transform": {
                    "location": {
                        "x": 975.8870239257812,
                        "y": 3346.884033203125,
                        "z": 369.56658935546875
                    },
                    "rotation": {
                        "roll": -0.0007019263575784862,
                        "pitch": -0.8153947591781616,
                        "yaw": -80.86560821533203
                    }
                },
                "velocity": {
                    "x": 1.2827208042144775,
                    "y": -7.977755069732666,
                    "z": -0.11343712359666824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02680778503418,
                "transform": {
                    "location": {
                        "x": 972.80615234375,
                        "y": 3345.490478515625,
                        "z": 369.56402587890625
                    },
                    "rotation": {
                        "roll": 0.0032092200126498938,
                        "pitch": -0.8322994709014893,
                        "yaw": -81.01836395263672
                    }
                },
                "velocity": {
                    "x": 1.273658037185669,
                    "y": -7.924282073974609,
                    "z": -0.11485901474952698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.768869400024414,
                "transform": {
                    "location": {
                        "x": 968.9202270507812,
                        "y": 3348.005859375,
                        "z": 369.6117858886719
                    },
                    "rotation": {
                        "roll": -0.0005188199575059116,
                        "pitch": 0.7607942223548889,
                        "yaw": 99.1521224975586
                    }
                },
                "velocity": {
                    "x": -1.5509954690933228,
                    "y": 9.644065856933594,
                    "z": 0.131234809756279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.776235580444336,
                "transform": {
                    "location": {
                        "x": 965.8755493164062,
                        "y": 3366.921875,
                        "z": 369.84783935546875
                    },
                    "rotation": {
                        "roll": -0.0004272375663276762,
                        "pitch": 0.6856826543807983,
                        "yaw": 99.1563491821289
                    }
                },
                "velocity": {
                    "x": -1.3941069841384888,
                    "y": 8.664188385009766,
                    "z": 0.10303691774606705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.056199073791504,
                "transform": {
                    "location": {
                        "x": 959.1565551757812,
                        "y": 3430.365966796875,
                        "z": 370.4482421875
                    },
                    "rotation": {
                        "roll": 0.001787878223694861,
                        "pitch": -0.3651077449321747,
                        "yaw": -80.80272674560547
                    }
                },
                "velocity": {
                    "x": 1.2856791019439697,
                    "y": -7.9527764320373535,
                    "z": -0.052043020725250244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6549723744392395,
                "transform": {
                    "location": {
                        "x": 947.8301391601562,
                        "y": 3458.612060546875,
                        "z": 370.578125
                    },
                    "rotation": {
                        "roll": -0.0004272499354556203,
                        "pitch": 0.4999629855155945,
                        "yaw": 99.17384338378906
                    }
                },
                "velocity": {
                    "x": -0.10271140933036804,
                    "y": 0.6468642950057983,
                    "z": 0.0023951816838234663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5310668945312,
                        "y": 3473.513916015625,
                        "z": 370.6409606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.736138820648193,
                "transform": {
                    "location": {
                        "x": 971.6735229492188,
                        "y": 3331.52294921875,
                        "z": 369.36279296875
                    },
                    "rotation": {
                        "roll": -0.004791282583028078,
                        "pitch": 0.5875874757766724,
                        "yaw": 99.17814636230469
                    }
                },
                "velocity": {
                    "x": -1.241592288017273,
                    "y": 7.635018348693848,
                    "z": 0.11307647824287415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.0255818367004395,
                "transform": {
                    "location": {
                        "x": 962.8587036132812,
                        "y": 3385.67138671875,
                        "z": 370.0601501464844
                    },
                    "rotation": {
                        "roll": -0.0009155251318588853,
                        "pitch": 0.43476200103759766,
                        "yaw": 99.13184356689453
                    }
                },
                "velocity": {
                    "x": -1.1172239780426025,
                    "y": 6.935787200927734,
                    "z": 0.07393638789653778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9950947761535645,
                "transform": {
                    "location": {
                        "x": 960.0361328125,
                        "y": 3403.2060546875,
                        "z": 370.2299499511719
                    },
                    "rotation": {
                        "roll": 0.0007589789456687868,
                        "pitch": 0.3507370352745056,
                        "yaw": 99.09642791748047
                    }
                },
                "velocity": {
                    "x": -1.2704342603683472,
                    "y": 7.893217086791992,
                    "z": 0.0682782530784607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627063751220703,
                "transform": {
                    "location": {
                        "x": 953.01708984375,
                        "y": 3421.371826171875,
                        "z": 370.34918212890625
                    },
                    "rotation": {
                        "roll": 0.0045782155357301235,
                        "pitch": 0.6043146252632141,
                        "yaw": 99.13980865478516
                    }
                },
                "velocity": {
                    "x": -0.5021825432777405,
                    "y": 3.122509479522705,
                    "z": 0.021401891484856606
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651852130889893,
                "transform": {
                    "location": {
                        "x": 954.6416015625,
                        "y": 3411.279052734375,
                        "z": 370.2745666503906
                    },
                    "rotation": {
                        "roll": -0.0006713875336572528,
                        "pitch": 0.11434418708086014,
                        "yaw": 99.14177703857422
                    }
                },
                "velocity": {
                    "x": -0.5026490092277527,
                    "y": 3.1249401569366455,
                    "z": 0.022150592878460884
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.5618286132812,
                        "y": 3472.5478515625,
                        "z": 370.6544189453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6387939453125,
                        "y": 3470.257080078125,
                        "z": 370.62847900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.002140760421753,
        "expert_target_speed": 0,
        "target_point": [
            43.66156373371301,
            4.605618205454942
        ],
        "target_point_next": [
            94.45296775801226,
            9.215593068946806
        ]
    },
    "285": {
        "acceleration": [
            -0.0458979606628418,
            -3.7743663787841797,
            -0.03332220017910004
        ],
        "angular_velocity": [
            -1.0233405828475952,
            -0.23971012234687805,
            7.603216648101807
        ],
        "forward_vector": [
            -0.09540046006441116,
            0.9954197406768799,
            0.0061879949644207954
        ],
        "right_vector": [
            -0.9954225420951843,
            -0.09543278068304062,
            0.005155758000910282
        ],
        "location": [
            957.9337768554688,
            3400.87548828125,
            370.20428466796875
        ],
        "rotation": [
            -0.2954101264476776,
            0.35454827547073364,
            95.47447204589844
        ],
        "velocity": [
            -0.6015213131904602,
            4.3323516845703125,
            0.03809994459152222
        ],
        "speed": 4.373911179827684,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.695621490478516,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.5159301757812,
                3412.060302734375,
                370.2803955078125
            ],
            "velocity": [
                -0.5026560425758362,
                3.12489652633667,
                0.02230132929980755
            ],
            "speed_kmh": 11.394519654540877,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044967651367188,
                "transform": {
                    "location": {
                        "x": 962.4414672851562,
                        "y": 3430.419677734375,
                        "z": 370.4118347167969
                    },
                    "rotation": {
                        "roll": 0.0017212308011949062,
                        "pitch": -0.37402796745300293,
                        "yaw": -80.81344604492188
                    }
                },
                "velocity": {
                    "x": 1.2823470830917358,
                    "y": -7.94193696975708,
                    "z": -0.0521998330950737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03644847869873,
                "transform": {
                    "location": {
                        "x": 969.373046875,
                        "y": 3387.35986328125,
                        "z": 370.0636901855469
                    },
                    "rotation": {
                        "roll": -0.0008850603480823338,
                        "pitch": -0.5712565183639526,
                        "yaw": -80.84642028808594
                    }
                },
                "velocity": {
                    "x": 1.2763270139694214,
                    "y": -7.934022426605225,
                    "z": -0.08240578323602676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.277440071105957,
                "transform": {
                    "location": {
                        "x": 966.3446044921875,
                        "y": 3385.7138671875,
                        "z": 370.04913330078125
                    },
                    "rotation": {
                        "roll": 0.0002451534091960639,
                        "pitch": -0.6055918335914612,
                        "yaw": -80.8911361694336
                    }
                },
                "velocity": {
                    "x": 1.3152897357940674,
                    "y": -8.171792030334473,
                    "z": -0.08853889256715775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.7153930664062,
                        "y": 3318.72021484375,
                        "z": 369.15576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029370307922363,
                "transform": {
                    "location": {
                        "x": 976.2066040039062,
                        "y": 3344.896240234375,
                        "z": 369.5378112792969
                    },
                    "rotation": {
                        "roll": 0.00012343653361313045,
                        "pitch": -0.8278188705444336,
                        "yaw": -80.86602020263672
                    }
                },
                "velocity": {
                    "x": 1.2744837999343872,
                    "y": -7.9267497062683105,
                    "z": -0.11452260613441467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090182304382324,
                "transform": {
                    "location": {
                        "x": 973.1259765625,
                        "y": 3343.50146484375,
                        "z": 369.5349426269531
                    },
                    "rotation": {
                        "roll": 0.0015980039024725556,
                        "pitch": -0.8274568915367126,
                        "yaw": -81.01152801513672
                    }
                },
                "velocity": {
                    "x": 1.284964919090271,
                    "y": -7.98663854598999,
                    "z": -0.11623174697160721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.768831253051758,
                "transform": {
                    "location": {
                        "x": 968.5567016601562,
                        "y": 3350.263916015625,
                        "z": 369.6415100097656
                    },
                    "rotation": {
                        "roll": -0.0021362360566854477,
                        "pitch": 0.8369303345680237,
                        "yaw": 99.1150131225586
                    }
                },
                "velocity": {
                    "x": -1.3922011852264404,
                    "y": 8.656842231750488,
                    "z": 0.11515193432569504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.424542427062988,
                "transform": {
                    "location": {
                        "x": 965.526611328125,
                        "y": 3369.08935546875,
                        "z": 369.8731689453125
                    },
                    "rotation": {
                        "roll": 0.0001069148420356214,
                        "pitch": 0.6259799599647522,
                        "yaw": 99.1340560913086
                    }
                },
                "velocity": {
                    "x": -1.3387136459350586,
                    "y": 8.316923141479492,
                    "z": 0.09769231826066971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053690910339355,
                "transform": {
                    "location": {
                        "x": 959.4788818359375,
                        "y": 3428.3720703125,
                        "z": 370.435302734375
                    },
                    "rotation": {
                        "roll": 0.0009357017697766423,
                        "pitch": -0.36798325181007385,
                        "yaw": -80.83677673339844
                    }
                },
                "velocity": {
                    "x": 1.281632661819458,
                    "y": -7.950887680053711,
                    "z": -0.05223458260297775
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6083502769470215,
                "transform": {
                    "location": {
                        "x": 947.7826538085938,
                        "y": 3458.90625,
                        "z": 370.5819396972656
                    },
                    "rotation": {
                        "roll": -0.0003662110539153218,
                        "pitch": 0.19978302717208862,
                        "yaw": 99.16246795654297
                    }
                },
                "velocity": {
                    "x": -0.25595352053642273,
                    "y": 1.5878410339355469,
                    "z": 0.006294955965131521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3546142578125,
                        "y": 3474.609619140625,
                        "z": 370.6455383300781
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.888524532318115,
                "transform": {
                    "location": {
                        "x": 971.3507080078125,
                        "y": 3333.451904296875,
                        "z": 369.3919372558594
                    },
                    "rotation": {
                        "roll": -0.01379398349672556,
                        "pitch": 0.7856902480125427,
                        "yaw": 99.54830932617188
                    }
                },
                "velocity": {
                    "x": -1.3198069334030151,
                    "y": 7.776413440704346,
                    "z": 0.11966829001903534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.195690155029297,
                "transform": {
                    "location": {
                        "x": 962.5807495117188,
                        "y": 3387.3974609375,
                        "z": 370.07818603515625
                    },
                    "rotation": {
                        "roll": 0.0002080098638543859,
                        "pitch": 0.541060209274292,
                        "yaw": 99.16522216796875
                    }
                },
                "velocity": {
                    "x": -1.1435518264770508,
                    "y": 7.1039018630981445,
                    "z": 0.06942487508058548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.254493713378906,
                "transform": {
                    "location": {
                        "x": 959.7066040039062,
                        "y": 3405.2568359375,
                        "z": 370.245849609375
                    },
                    "rotation": {
                        "roll": -0.0008545129676349461,
                        "pitch": 0.38135677576065063,
                        "yaw": 99.11473846435547
                    }
                },
                "velocity": {
                    "x": -1.3080523014068604,
                    "y": 8.14995002746582,
                    "z": 0.06317191570997238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162466049194336,
                "transform": {
                    "location": {
                        "x": 952.8915405273438,
                        "y": 3422.152099609375,
                        "z": 370.3545227050781
                    },
                    "rotation": {
                        "roll": -0.0001221231505041942,
                        "pitch": 0.6072037816047668,
                        "yaw": 99.1401596069336
                    }
                },
                "velocity": {
                    "x": -0.502539336681366,
                    "y": 3.1222102642059326,
                    "z": 0.021219491958618164
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165144443511963,
                "transform": {
                    "location": {
                        "x": 954.5159301757812,
                        "y": 3412.060302734375,
                        "z": 370.2803955078125
                    },
                    "rotation": {
                        "roll": 0.0034344145096838474,
                        "pitch": 0.11553264409303665,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": -0.5026560425758362,
                    "y": 3.12489652633667,
                    "z": 0.02230132929980755
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8930053710938,
                        "y": 3470.490478515625,
                        "z": 370.6242370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.835722923278809,
                "transform": {
                    "location": {
                        "x": 952.9390258789062,
                        "y": 3468.39990234375,
                        "z": 370.6088562011719
                    },
                    "rotation": {
                        "roll": -0.0032348427921533585,
                        "pitch": -0.289483904838562,
                        "yaw": -80.80958557128906
                    }
                },
                "velocity": {
                    "x": 1.1159297227859497,
                    "y": -6.743831157684326,
                    "z": -0.05049152299761772
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.999048113822937,
        "expert_target_speed": 0,
        "target_point": [
            42.58098139571986,
            3.434751140048225
        ],
        "target_point_next": [
            93.47668987845115,
            6.6974875747702605
        ]
    },
    "290": {
        "acceleration": [
            0.2979034185409546,
            0.8377695083618164,
            0.004089772701263428
        ],
        "angular_velocity": [
            0.8684453368186951,
            -0.47916993498802185,
            0.07304102182388306
        ],
        "forward_vector": [
            -0.10612765699625015,
            0.9943408966064453,
            0.004813413601368666
        ],
        "right_vector": [
            -0.9943520426750183,
            -0.10613120347261429,
            0.0004868202086072415
        ],
        "location": [
            957.8167114257812,
            3401.87060546875,
            370.2132263183594
        ],
        "rotation": [
            -0.02789306640625,
            0.275789350271225,
            96.09220886230469
        ],
        "velocity": [
            -0.416460245847702,
            3.8925817012786865,
            0.03341095894575119
        ],
        "speed": 3.9147964745949695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.493843078613281,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.39013671875,
                3412.841552734375,
                370.28619384765625
            ],
            "velocity": [
                -0.5028442144393921,
                3.1247951984405518,
                0.02335701882839203
            ],
            "speed_kmh": 11.394294528811784,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019749641418457,
                "transform": {
                    "location": {
                        "x": 962.7606201171875,
                        "y": 3428.441162109375,
                        "z": 370.39892578125
                    },
                    "rotation": {
                        "roll": 0.0019882950000464916,
                        "pitch": -0.37637072801589966,
                        "yaw": -80.8516616821289
                    }
                },
                "velocity": {
                    "x": 1.2758370637893677,
                    "y": -7.91744327545166,
                    "z": -0.05221407860517502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032553672790527,
                "transform": {
                    "location": {
                        "x": 969.6920776367188,
                        "y": 3385.37744140625,
                        "z": 370.0428466796875
                    },
                    "rotation": {
                        "roll": 0.00012577898451127112,
                        "pitch": -0.6241495013237,
                        "yaw": -80.87333679199219
                    }
                },
                "velocity": {
                    "x": 1.2758442163467407,
                    "y": -7.930139064788818,
                    "z": -0.08382648229598999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.09177303314209,
                "transform": {
                    "location": {
                        "x": 966.6676635742188,
                        "y": 3383.70458984375,
                        "z": 370.0275573730469
                    },
                    "rotation": {
                        "roll": -0.00021361702238209546,
                        "pitch": -0.6450771689414978,
                        "yaw": -80.84605407714844
                    }
                },
                "velocity": {
                    "x": 1.2865077257156372,
                    "y": -7.98835563659668,
                    "z": -0.08862543106079102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.331787109375,
                        "y": 3321.190185546875,
                        "z": 369.1964111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081061363220215,
                "transform": {
                    "location": {
                        "x": 976.5263671875,
                        "y": 3342.907958984375,
                        "z": 369.5088195800781
                    },
                    "rotation": {
                        "roll": 0.0007004070212133229,
                        "pitch": -0.8244925737380981,
                        "yaw": -80.86199188232422
                    }
                },
                "velocity": {
                    "x": 1.2833219766616821,
                    "y": -7.977674961090088,
                    "z": -0.11549566686153412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025781631469727,
                "transform": {
                    "location": {
                        "x": 973.4461669921875,
                        "y": 3341.512939453125,
                        "z": 369.5060119628906
                    },
                    "rotation": {
                        "roll": 0.001313827931880951,
                        "pitch": -0.8281193971633911,
                        "yaw": -81.01219940185547
                    }
                },
                "velocity": {
                    "x": 1.276930332183838,
                    "y": -7.922718524932861,
                    "z": -0.11469504237174988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.276820659637451,
                "transform": {
                    "location": {
                        "x": 968.240966796875,
                        "y": 3352.25,
                        "z": 369.6675720214844
                    },
                    "rotation": {
                        "roll": 0.005914117209613323,
                        "pitch": 0.8947615623474121,
                        "yaw": 99.58367919921875
                    }
                },
                "velocity": {
                    "x": -1.1595253944396973,
                    "y": 7.18320369720459,
                    "z": 0.0959404930472374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.709034442901611,
                "transform": {
                    "location": {
                        "x": 965.2118530273438,
                        "y": 3371.04296875,
                        "z": 369.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0012345382710918784,
                        "pitch": 0.5731347799301147,
                        "yaw": 99.16259002685547
                    }
                },
                "velocity": {
                    "x": -1.225242018699646,
                    "y": 7.610531330108643,
                    "z": 0.08836139738559723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997821807861328,
                "transform": {
                    "location": {
                        "x": 959.7975463867188,
                        "y": 3426.39501953125,
                        "z": 370.42230224609375
                    },
                    "rotation": {
                        "roll": -0.000762943469453603,
                        "pitch": -0.37954676151275635,
                        "yaw": -80.82496643066406
                    }
                },
                "velocity": {
                    "x": 1.2749078273773193,
                    "y": -7.8953776359558105,
                    "z": -0.05271401256322861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4423458576202393,
                "transform": {
                    "location": {
                        "x": 947.7015991210938,
                        "y": 3459.40869140625,
                        "z": 370.58441162109375
                    },
                    "rotation": {
                        "roll": 0.00035286351339891553,
                        "pitch": 0.1703244149684906,
                        "yaw": 99.163330078125
                    }
                },
                "velocity": {
                    "x": -0.3889748156070709,
                    "y": 2.411149501800537,
                    "z": 0.010503692552447319
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.203857421875,
                        "y": 3475.546142578125,
                        "z": 370.6494445800781
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.634187698364258,
                "transform": {
                    "location": {
                        "x": 971.0232543945312,
                        "y": 3335.36328125,
                        "z": 369.4217224121094
                    },
                    "rotation": {
                        "roll": -0.0014953117351979017,
                        "pitch": 0.8573253154754639,
                        "yaw": 99.74205017089844
                    }
                },
                "velocity": {
                    "x": -1.2955087423324585,
                    "y": 7.522561073303223,
                    "z": 0.11641650646924973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.255314826965332,
                "transform": {
                    "location": {
                        "x": 962.2738647460938,
                        "y": 3389.302978515625,
                        "z": 370.0970153808594
                    },
                    "rotation": {
                        "roll": -0.0005188114009797573,
                        "pitch": 0.6862973570823669,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -1.312593936920166,
                    "y": 8.149904251098633,
                    "z": 0.07994407415390015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.905176639556885,
                "transform": {
                    "location": {
                        "x": 959.3875732421875,
                        "y": 3407.2421875,
                        "z": 370.260498046875
                    },
                    "rotation": {
                        "roll": -0.001281752367503941,
                        "pitch": 0.44148290157318115,
                        "yaw": 99.12823486328125
                    }
                },
                "velocity": {
                    "x": -1.2540390491485596,
                    "y": 7.804867267608643,
                    "z": 0.05701858550310135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162503242492676,
                "transform": {
                    "location": {
                        "x": 952.7659301757812,
                        "y": 3422.932373046875,
                        "z": 370.35986328125
                    },
                    "rotation": {
                        "roll": -9.157233580481261e-05,
                        "pitch": 0.605851411819458,
                        "yaw": 99.13945007324219
                    }
                },
                "velocity": {
                    "x": -0.5023217797279358,
                    "y": 3.1222801208496094,
                    "z": 0.021595783531665802
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165081739425659,
                "transform": {
                    "location": {
                        "x": 954.39013671875,
                        "y": 3412.841552734375,
                        "z": 370.28619384765625
                    },
                    "rotation": {
                        "roll": -0.0010375971905887127,
                        "pitch": 0.11377045512199402,
                        "yaw": 99.14208984375
                    }
                },
                "velocity": {
                    "x": -0.5028442144393921,
                    "y": 3.1247951984405518,
                    "z": 0.02335701882839203
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8190131187438965,
                "transform": {
                    "location": {
                        "x": 956.173828125,
                        "y": 3468.798583984375,
                        "z": 370.6137390136719
                    },
                    "rotation": {
                        "roll": -0.023773198947310448,
                        "pitch": -0.40881413221359253,
                        "yaw": -80.59007263183594
                    }
                },
                "velocity": {
                    "x": 1.1344472169876099,
                    "y": -6.723949909210205,
                    "z": -0.021614493802189827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.611999034881592,
                "transform": {
                    "location": {
                        "x": 953.2153930664062,
                        "y": 3466.7431640625,
                        "z": 370.6005859375
                    },
                    "rotation": {
                        "roll": -0.005554196424782276,
                        "pitch": -0.24908332526683807,
                        "yaw": -80.49283599853516
                    }
                },
                "velocity": {
                    "x": 1.1128605604171753,
                    "y": -6.517624855041504,
                    "z": -0.02522869035601616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.002320408821106,
        "expert_target_speed": 0,
        "target_point": [
            41.61362009903558,
            2.964628649902618
        ],
        "target_point_next": [
            92.54155035151463,
            5.678391941027742
        ]
    },
    "295": {
        "acceleration": [
            -0.2609187364578247,
            5.336341857910156,
            0.012735724449157715
        ],
        "angular_velocity": [
            1.6257349252700806,
            -0.043626345694065094,
            -1.7323801517486572
        ],
        "forward_vector": [
            -0.10149747133255005,
            0.9947686195373535,
            0.011557321064174175
        ],
        "right_vector": [
            -0.9948355555534363,
            -0.10149780660867691,
            -0.000559033767785877
        ],
        "location": [
            957.7078857421875,
            3402.9619140625,
            370.2210998535156
        ],
        "rotation": [
            0.03203241899609566,
            0.6622004508972168,
            95.82579803466797
        ],
        "velocity": [
            -0.46112674474716187,
            4.921282768249512,
            0.03928690776228905
        ],
        "speed": 4.942839463283295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.2029390335083,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.2645263671875,
                3413.622314453125,
                370.2917785644531
            ],
            "velocity": [
                -0.5027576088905334,
                3.1245949268341064,
                0.02181062661111355
            ],
            "speed_kmh": 11.393493471316074,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063226699829102,
                "transform": {
                    "location": {
                        "x": 963.0806884765625,
                        "y": 3426.45458984375,
                        "z": 370.38568115234375
                    },
                    "rotation": {
                        "roll": 0.00023580665583722293,
                        "pitch": -0.37469732761383057,
                        "yaw": -80.83479309082031
                    }
                },
                "velocity": {
                    "x": 1.2832491397857666,
                    "y": -7.9602813720703125,
                    "z": -0.05295683443546295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03055191040039,
                "transform": {
                    "location": {
                        "x": 970.0110473632812,
                        "y": 3383.395263671875,
                        "z": 370.0211486816406
                    },
                    "rotation": {
                        "roll": -0.0016784915933385491,
                        "pitch": -0.6439433693885803,
                        "yaw": -80.83931732177734
                    }
                },
                "velocity": {
                    "x": 1.277885913848877,
                    "y": -7.927734851837158,
                    "z": -0.08827444911003113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.794223785400391,
                "transform": {
                    "location": {
                        "x": 966.9556884765625,
                        "y": 3381.917724609375,
                        "z": 370.00787353515625
                    },
                    "rotation": {
                        "roll": -0.0004883380606770515,
                        "pitch": -0.6655609011650085,
                        "yaw": -80.88829040527344
                    }
                },
                "velocity": {
                    "x": 1.0790935754776,
                    "y": -6.707561016082764,
                    "z": -0.07522793114185333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0686645507812,
                        "y": 3322.835205078125,
                        "z": 369.22320556640625
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02961254119873,
                "transform": {
                    "location": {
                        "x": 976.8461303710938,
                        "y": 3340.920654296875,
                        "z": 369.4799499511719
                    },
                    "rotation": {
                        "roll": -0.0002441511896904558,
                        "pitch": -0.8248887062072754,
                        "yaw": -80.86173248291016
                    }
                },
                "velocity": {
                    "x": 1.2750720977783203,
                    "y": -7.926891326904297,
                    "z": -0.11513175070285797
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09096622467041,
                "transform": {
                    "location": {
                        "x": 973.766357421875,
                        "y": 3339.523681640625,
                        "z": 369.4770202636719
                    },
                    "rotation": {
                        "roll": 0.0022938225883990526,
                        "pitch": -0.8288297653198242,
                        "yaw": -81.00636291503906
                    }
                },
                "velocity": {
                    "x": 1.2847586870193481,
                    "y": -7.987446308135986,
                    "z": -0.11759897321462631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.268735885620117,
                "transform": {
                    "location": {
                        "x": 967.9532470703125,
                        "y": 3354.020751953125,
                        "z": 369.6922302246094
                    },
                    "rotation": {
                        "roll": 0.0023829713463783264,
                        "pitch": 0.7832587361335754,
                        "yaw": 99.33931732177734
                    }
                },
                "velocity": {
                    "x": -1.1565824747085571,
                    "y": 7.175487518310547,
                    "z": 0.09597471356391907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.41904354095459,
                "transform": {
                    "location": {
                        "x": 964.893798828125,
                        "y": 3373.02001953125,
                        "z": 369.91925048828125
                    },
                    "rotation": {
                        "roll": 0.0013892288552597165,
                        "pitch": 0.7291978001594543,
                        "yaw": 99.13163757324219
                    }
                },
                "velocity": {
                    "x": -1.336684226989746,
                    "y": 8.311691284179688,
                    "z": 0.09667234122753143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052689552307129,
                "transform": {
                    "location": {
                        "x": 960.1170654296875,
                        "y": 3424.413330078125,
                        "z": 370.4090270996094
                    },
                    "rotation": {
                        "roll": -0.00057985883904621,
                        "pitch": -0.38616520166397095,
                        "yaw": -80.86096954345703
                    }
                },
                "velocity": {
                    "x": 1.279213786125183,
                    "y": -7.950253963470459,
                    "z": -0.05360288545489311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.408261775970459,
                "transform": {
                    "location": {
                        "x": 947.5851440429688,
                        "y": 3460.131103515625,
                        "z": 370.5877990722656
                    },
                    "rotation": {
                        "roll": -0.00024414018844254315,
                        "pitch": 0.1618959605693817,
                        "yaw": 99.16175842285156
                    }
                },
                "velocity": {
                    "x": -0.5426785945892334,
                    "y": 3.364750862121582,
                    "z": 0.014108352363109589
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0557861328125,
                        "y": 3476.46484375,
                        "z": 370.65325927734375
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.561960220336914,
                "transform": {
                    "location": {
                        "x": 970.7288818359375,
                        "y": 3337.083740234375,
                        "z": 369.4481506347656
                    },
                    "rotation": {
                        "roll": 0.013782522641122341,
                        "pitch": 0.7397982478141785,
                        "yaw": 99.6805191040039
                    }
                },
                "velocity": {
                    "x": -1.0946193933486938,
                    "y": 6.4692606925964355,
                    "z": 0.09897685796022415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.222870826721191,
                "transform": {
                    "location": {
                        "x": 961.921875,
                        "y": 3391.488037109375,
                        "z": 370.11865234375
                    },
                    "rotation": {
                        "roll": -0.0005798907950520515,
                        "pitch": 0.714724600315094,
                        "yaw": 99.17024230957031
                    }
                },
                "velocity": {
                    "x": -1.4660180807113647,
                    "y": 9.105170249938965,
                    "z": 0.08951631188392639
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009100914001465,
                "transform": {
                    "location": {
                        "x": 959.072998046875,
                        "y": 3409.198974609375,
                        "z": 370.2752380371094
                    },
                    "rotation": {
                        "roll": 0.0008304495131596923,
                        "pitch": 0.410419225692749,
                        "yaw": 99.13170623779297
                    }
                },
                "velocity": {
                    "x": -1.2712336778640747,
                    "y": 7.907362937927246,
                    "z": 0.05716729909181595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162686824798584,
                "transform": {
                    "location": {
                        "x": 952.6403198242188,
                        "y": 3423.712646484375,
                        "z": 370.36517333984375
                    },
                    "rotation": {
                        "roll": 0.0008509930921718478,
                        "pitch": 0.6060699820518494,
                        "yaw": 99.14018249511719
                    }
                },
                "velocity": {
                    "x": -0.5027135610580444,
                    "y": 3.1224048137664795,
                    "z": 0.021338041871786118
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648592948913574,
                "transform": {
                    "location": {
                        "x": 954.2645263671875,
                        "y": 3413.622314453125,
                        "z": 370.2917785644531
                    },
                    "rotation": {
                        "roll": 0.0009100804454647005,
                        "pitch": 0.09029509872198105,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -0.5027576088905334,
                    "y": 3.1245949268341064,
                    "z": 0.02181062661111355
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.607733726501465,
                "transform": {
                    "location": {
                        "x": 956.4552001953125,
                        "y": 3467.14404296875,
                        "z": 370.6078796386719
                    },
                    "rotation": {
                        "roll": -0.0174560546875,
                        "pitch": -0.28347331285476685,
                        "yaw": -80.37205505371094
                    }
                },
                "velocity": {
                    "x": 1.1140605211257935,
                    "y": -6.513094425201416,
                    "z": -0.0248696468770504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8271965980529785,
                "transform": {
                    "location": {
                        "x": 953.4981079101562,
                        "y": 3465.0859375,
                        "z": 370.5937805175781
                    },
                    "rotation": {
                        "roll": -0.005859394557774067,
                        "pitch": -0.2427312433719635,
                        "yaw": -80.21104431152344
                    }
                },
                "velocity": {
                    "x": 1.1662585735321045,
                    "y": -6.726781368255615,
                    "z": -0.029370179399847984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9978472590446472,
        "expert_target_speed": 0,
        "target_point": [
            40.502666749641,
            3.1606035660846734
        ],
        "target_point_next": [
            91.41742781599764,
            6.111145305739411
        ]
    },
    "300": {
        "acceleration": [
            0.22392868995666504,
            0.278167724609375,
            -0.024008750915527344
        ],
        "angular_velocity": [
            -1.0024837255477905,
            -0.1303565800189972,
            -2.1915810108184814
        ],
        "forward_vector": [
            -0.09255389124155045,
            0.9956312775611877,
            0.012332363985478878
        ],
        "right_vector": [
            -0.9957075715065002,
            -0.09255232661962509,
            -0.0006987009546719491
        ],
        "location": [
            957.5877075195312,
            3404.296875,
            370.23175048828125
        ],
        "rotation": [
            0.0400356650352478,
            0.7066103219985962,
            95.31095123291016
        ],
        "velocity": [
            -0.4565449357032776,
            5.416855812072754,
            0.041535310447216034
        ],
        "speed": 5.436061089346098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.679180145263672,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.1387329101562,
                3414.403564453125,
                370.2972106933594
            ],
            "velocity": [
                -0.5028427243232727,
                3.124730348587036,
                0.02061946876347065
            ],
            "speed_kmh": 11.39399472186293,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03349494934082,
                "transform": {
                    "location": {
                        "x": 963.4006958007812,
                        "y": 3424.468017578125,
                        "z": 370.3722839355469
                    },
                    "rotation": {
                        "roll": 0.0006923200562596321,
                        "pitch": -0.39434778690338135,
                        "yaw": -80.86132049560547
                    }
                },
                "velocity": {
                    "x": 1.2765278816223145,
                    "y": -7.931249618530273,
                    "z": -0.05289546400308609
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034398078918457,
                "transform": {
                    "location": {
                        "x": 970.3303833007812,
                        "y": 3381.412353515625,
                        "z": 369.99896240234375
                    },
                    "rotation": {
                        "roll": 0.0008986259927041829,
                        "pitch": -0.639155387878418,
                        "yaw": -80.86793518066406
                    }
                },
                "velocity": {
                    "x": 1.2757728099822998,
                    "y": -7.931972503662109,
                    "z": -0.08817833662033081
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.149606704711914,
                "transform": {
                    "location": {
                        "x": 967.229248046875,
                        "y": 3380.216796875,
                        "z": 369.98846435546875
                    },
                    "rotation": {
                        "roll": -0.0005493026692420244,
                        "pitch": -0.6260073184967041,
                        "yaw": -80.86357116699219
                    }
                },
                "velocity": {
                    "x": 1.1366660594940186,
                    "y": -7.058256149291992,
                    "z": -0.07668612897396088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.6741943359375,
                        "y": 3325.302978515625,
                        "z": 369.2633972167969
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081768035888672,
                "transform": {
                    "location": {
                        "x": 977.1661376953125,
                        "y": 3338.93212890625,
                        "z": 369.4505920410156
                    },
                    "rotation": {
                        "roll": -0.00027465145103633404,
                        "pitch": -0.8444435596466064,
                        "yaw": -80.85541534423828
                    }
                },
                "velocity": {
                    "x": 1.2858268022537231,
                    "y": -7.977877140045166,
                    "z": -0.1228933036327362
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025628089904785,
                "transform": {
                    "location": {
                        "x": 974.0861206054688,
                        "y": 3337.53564453125,
                        "z": 369.4470520019531
                    },
                    "rotation": {
                        "roll": 0.002891243901103735,
                        "pitch": -0.8782666325569153,
                        "yaw": -81.02281188964844
                    }
                },
                "velocity": {
                    "x": 1.2750775814056396,
                    "y": -7.92278528213501,
                    "z": -0.11982646584510803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.720536231994629,
                "transform": {
                    "location": {
                        "x": 967.6512451171875,
                        "y": 3355.8896484375,
                        "z": 369.7173767089844
                    },
                    "rotation": {
                        "roll": 0.0011786154936999083,
                        "pitch": 0.6991859078407288,
                        "yaw": 99.24263000488281
                    }
                },
                "velocity": {
                    "x": -1.228945016860962,
                    "y": 7.621500015258789,
                    "z": 0.09544999897480011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.064286231994629,
                "transform": {
                    "location": {
                        "x": 964.5419921875,
                        "y": 3375.20751953125,
                        "z": 369.9446716308594
                    },
                    "rotation": {
                        "roll": -0.000579895218834281,
                        "pitch": 0.748950719833374,
                        "yaw": 99.15185546875
                    }
                },
                "velocity": {
                    "x": -1.4389982223510742,
                    "y": 8.948737144470215,
                    "z": 0.10331733524799347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027342796325684,
                "transform": {
                    "location": {
                        "x": 960.4366455078125,
                        "y": 3422.427978515625,
                        "z": 370.3954162597656
                    },
                    "rotation": {
                        "roll": 0.00018340550013817847,
                        "pitch": -0.39056384563446045,
                        "yaw": -80.83851623535156
                    }
                },
                "velocity": {
                    "x": 1.2783058881759644,
                    "y": -7.924733638763428,
                    "z": -0.05245460569858551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.522655487060547,
                "transform": {
                    "location": {
                        "x": 947.4264526367188,
                        "y": 3461.114990234375,
                        "z": 370.59234619140625
                    },
                    "rotation": {
                        "roll": 0.0010574754560366273,
                        "pitch": 0.14558547735214233,
                        "yaw": 99.16193389892578
                    }
                },
                "velocity": {
                    "x": -0.7202269434928894,
                    "y": 4.464898586273193,
                    "z": 0.019157972186803818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8636474609375,
                        "y": 3477.659912109375,
                        "z": 370.65826416015625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.751099109649658,
                "transform": {
                    "location": {
                        "x": 970.4534301757812,
                        "y": 3338.72314453125,
                        "z": 369.47314453125
                    },
                    "rotation": {
                        "roll": 0.010662161745131016,
                        "pitch": 0.8293352127075195,
                        "yaw": 99.54357147216797
                    }
                },
                "velocity": {
                    "x": -1.1147496700286865,
                    "y": 6.657680034637451,
                    "z": 0.09983965009450912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.22409725189209,
                "transform": {
                    "location": {
                        "x": 961.572998046875,
                        "y": 3393.655517578125,
                        "z": 370.1396789550781
                    },
                    "rotation": {
                        "roll": -0.0005798396305181086,
                        "pitch": 0.4832768440246582,
                        "yaw": 99.12644958496094
                    }
                },
                "velocity": {
                    "x": -1.306868553161621,
                    "y": 8.11921215057373,
                    "z": 0.0790928453207016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.09691333770752,
                "transform": {
                    "location": {
                        "x": 958.7520751953125,
                        "y": 3411.1943359375,
                        "z": 370.2899169921875
                    },
                    "rotation": {
                        "roll": 0.00010993955947924405,
                        "pitch": 0.4138752818107605,
                        "yaw": 99.13631439208984
                    }
                },
                "velocity": {
                    "x": -1.285588026046753,
                    "y": 7.993971824645996,
                    "z": 0.060735445469617844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162940263748169,
                "transform": {
                    "location": {
                        "x": 952.5147705078125,
                        "y": 3424.4931640625,
                        "z": 370.3705139160156
                    },
                    "rotation": {
                        "roll": -0.0013732374645769596,
                        "pitch": 0.603399395942688,
                        "yaw": 99.13739013671875
                    }
                },
                "velocity": {
                    "x": -0.5017963647842407,
                    "y": 3.1228082180023193,
                    "z": 0.021464433521032333
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649985313415527,
                "transform": {
                    "location": {
                        "x": 954.1387329101562,
                        "y": 3414.403564453125,
                        "z": 370.2972106933594
                    },
                    "rotation": {
                        "roll": 0.0002548583142925054,
                        "pitch": 0.07791879028081894,
                        "yaw": 99.14220428466797
                    }
                },
                "velocity": {
                    "x": -0.5028427243232727,
                    "y": 3.124730348587036,
                    "z": 0.02061946876347065
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.717473983764648,
                "transform": {
                    "location": {
                        "x": 956.7210693359375,
                        "y": 3465.594970703125,
                        "z": 370.6014404296875
                    },
                    "rotation": {
                        "roll": -0.011199946515262127,
                        "pitch": -0.42220813035964966,
                        "yaw": -80.2834701538086
                    }
                },
                "velocity": {
                    "x": 0.9697383642196655,
                    "y": -5.634582996368408,
                    "z": -0.024334648624062538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.341250896453857,
                "transform": {
                    "location": {
                        "x": 953.7791137695312,
                        "y": 3463.446533203125,
                        "z": 370.5867614746094
                    },
                    "rotation": {
                        "roll": -0.0012207090621814132,
                        "pitch": -0.26327645778656006,
                        "yaw": -80.18573760986328
                    }
                },
                "velocity": {
                    "x": 1.0622694492340088,
                    "y": -6.251578330993652,
                    "z": -0.02846917137503624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000735878944397,
        "expert_target_speed": 0,
        "target_point": [
            39.13228029176765,
            3.528293856975798
        ],
        "target_point_next": [
            90.01847578598064,
            6.936181637752513
        ]
    },
    "305": {
        "acceleration": [
            -0.6614828109741211,
            7.680797576904297,
            0.027317628264427185
        ],
        "angular_velocity": [
            1.2388434410095215,
            0.2917402684688568,
            -1.13376784324646
        ],
        "forward_vector": [
            -0.08278626203536987,
            0.9964087605476379,
            0.017776742577552795
        ],
        "right_vector": [
            -0.9965670704841614,
            -0.08278568834066391,
            -0.0007693422958254814
        ],
        "location": [
            957.4568481445312,
            3405.90966796875,
            370.2430419921875
        ],
        "rotation": [
            0.044087037444114685,
            1.0185860395431519,
            94.7494888305664
        ],
        "velocity": [
            -0.578679084777832,
            7.406325340270996,
            0.05580570921301842
        ],
        "speed": 7.428897935030444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.894037246704102,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                954.0130004882812,
                3415.184814453125,
                370.3025207519531
            ],
            "velocity": [
                -0.5029033422470093,
                3.1247808933258057,
                0.0208906177431345
            ],
            "speed_kmh": 11.39421544109888,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04138469696045,
                "transform": {
                    "location": {
                        "x": 963.7200317382812,
                        "y": 3422.4853515625,
                        "z": 370.35870361328125
                    },
                    "rotation": {
                        "roll": -0.00015257555060088634,
                        "pitch": -0.3901677131652832,
                        "yaw": -80.83909606933594
                    }
                },
                "velocity": {
                    "x": 1.2784080505371094,
                    "y": -7.938937187194824,
                    "z": -0.053104110062122345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032054901123047,
                "transform": {
                    "location": {
                        "x": 970.6493530273438,
                        "y": 3379.429931640625,
                        "z": 369.9768981933594
                    },
                    "rotation": {
                        "roll": -0.000274638703558594,
                        "pitch": -0.639155387878418,
                        "yaw": -80.84165954589844
                    }
                },
                "velocity": {
                    "x": 1.2763556241989136,
                    "y": -7.929505825042725,
                    "z": -0.08808699995279312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.799516677856445,
                "transform": {
                    "location": {
                        "x": 967.5308227539062,
                        "y": 3378.34423828125,
                        "z": 369.9675598144531
                    },
                    "rotation": {
                        "roll": 0.00048881268594414,
                        "pitch": -0.6059197187423706,
                        "yaw": -80.88652801513672
                    }
                },
                "velocity": {
                    "x": 1.2391245365142822,
                    "y": -7.699984550476074,
                    "z": -0.08527149260044098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.409423828125,
                        "y": 3326.947998046875,
                        "z": 369.2900695800781
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.4370727539062,
                        "y": 3336.911865234375,
                        "z": 369.42620849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8667578101158142,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.398193359375,
                        "y": 3335.503662109375,
                        "z": 369.4161682128906
                    },
                    "rotation": {
                        "roll": -2.6683723675091642e-08,
                        "pitch": -0.9009087085723877,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.50866985321045,
                "transform": {
                    "location": {
                        "x": 967.3020629882812,
                        "y": 3358.054931640625,
                        "z": 369.745849609375
                    },
                    "rotation": {
                        "roll": -0.0008850009762682021,
                        "pitch": 0.5307944416999817,
                        "yaw": 99.17146301269531
                    }
                },
                "velocity": {
                    "x": -1.5103414058685303,
                    "y": 9.387234687805176,
                    "z": 0.11613486707210541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.855949401855469,
                "transform": {
                    "location": {
                        "x": 964.180419921875,
                        "y": 3377.45556640625,
                        "z": 369.9701843261719
                    },
                    "rotation": {
                        "roll": -0.000305215478874743,
                        "pitch": 0.6242451071739197,
                        "yaw": 99.12335205078125
                    }
                },
                "velocity": {
                    "x": -1.406397819519043,
                    "y": 8.743010520935059,
                    "z": 0.09826353192329407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024813652038574,
                "transform": {
                    "location": {
                        "x": 960.7557373046875,
                        "y": 3420.44873046875,
                        "z": 370.3818359375
                    },
                    "rotation": {
                        "roll": 0.00011470181925687939,
                        "pitch": -0.3904409110546112,
                        "yaw": -80.86273956298828
                    }
                },
                "velocity": {
                    "x": 1.2760733366012573,
                    "y": -7.9225287437438965,
                    "z": -0.052965059876441956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.200867652893066,
                "transform": {
                    "location": {
                        "x": 947.2268676757812,
                        "y": 3462.35400390625,
                        "z": 370.5979919433594
                    },
                    "rotation": {
                        "roll": -0.00033569461083970964,
                        "pitch": 0.17185437679290771,
                        "yaw": 99.15985107421875
                    }
                },
                "velocity": {
                    "x": -0.8277158737182617,
                    "y": 5.13452672958374,
                    "z": 0.023324603214859962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6387939453125,
                        "y": 3479.057373046875,
                        "z": 370.6641845703125
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.77206039428711,
                "transform": {
                    "location": {
                        "x": 970.1357421875,
                        "y": 3340.6259765625,
                        "z": 369.50140380859375
                    },
                    "rotation": {
                        "roll": 0.009472665376961231,
                        "pitch": 1.068910837173462,
                        "yaw": 99.4834213256836
                    }
                },
                "velocity": {
                    "x": -1.4422967433929443,
                    "y": 8.651763916015625,
                    "z": 0.12568432092666626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.436352729797363,
                "transform": {
                    "location": {
                        "x": 961.2662963867188,
                        "y": 3395.561279296875,
                        "z": 370.15740966796875
                    },
                    "rotation": {
                        "roll": 0.0008835032931528986,
                        "pitch": 0.3956250250339508,
                        "yaw": 99.15637969970703
                    }
                },
                "velocity": {
                    "x": -1.1808135509490967,
                    "y": 7.341689109802246,
                    "z": 0.06797515600919724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965814590454102,
                "transform": {
                    "location": {
                        "x": 958.4337158203125,
                        "y": 3413.17333984375,
                        "z": 370.3045959472656
                    },
                    "rotation": {
                        "roll": 0.0002693329006433487,
                        "pitch": 0.42300042510032654,
                        "yaw": 99.13996887207031
                    }
                },
                "velocity": {
                    "x": -1.2653058767318726,
                    "y": 7.864479064941406,
                    "z": 0.056350819766521454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626193523406982,
                "transform": {
                    "location": {
                        "x": 952.3892211914062,
                        "y": 3425.27294921875,
                        "z": 370.3757629394531
                    },
                    "rotation": {
                        "roll": 0.0027208267711102962,
                        "pitch": 0.5891857743263245,
                        "yaw": 99.13970184326172
                    }
                },
                "velocity": {
                    "x": -0.5029182434082031,
                    "y": 3.122304677963257,
                    "z": 0.021159619092941284
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165059804916382,
                "transform": {
                    "location": {
                        "x": 954.0130004882812,
                        "y": 3415.184814453125,
                        "z": 370.3025207519531
                    },
                    "rotation": {
                        "roll": 7.568243745481595e-05,
                        "pitch": 0.08165490627288818,
                        "yaw": 99.1424331665039
                    }
                },
                "velocity": {
                    "x": -0.5029033422470093,
                    "y": 3.1247808933258057,
                    "z": 0.0208906177431345
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.750189304351807,
                "transform": {
                    "location": {
                        "x": 956.9559936523438,
                        "y": 3464.208251953125,
                        "z": 370.5954284667969
                    },
                    "rotation": {
                        "roll": 0.007580490782856941,
                        "pitch": -0.2976049780845642,
                        "yaw": -80.37457275390625
                    }
                },
                "velocity": {
                    "x": 0.9526282548904419,
                    "y": -5.670674800872803,
                    "z": -0.0250028558075428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.197015285491943,
                "transform": {
                    "location": {
                        "x": 954.0369873046875,
                        "y": 3461.927978515625,
                        "z": 370.5799255371094
                    },
                    "rotation": {
                        "roll": -0.0016784971812739968,
                        "pitch": -0.2679414749145508,
                        "yaw": -80.33148193359375
                    }
                },
                "velocity": {
                    "x": 1.0285227298736572,
                    "y": -6.110998630523682,
                    "z": -0.02892650105059147
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0007113218307495,
        "expert_target_speed": 0,
        "target_point": [
            37.477729857254495,
            3.914786851495075
        ],
        "target_point_next": [
            88.32808056031479,
            7.821246166194889
        ]
    },
    "310": {
        "acceleration": [
            0.16088604927062988,
            -0.3297615051269531,
            0.009398609399795532
        ],
        "angular_velocity": [
            -1.895633339881897,
            -0.12905193865299225,
            -1.0137081146240234
        ],
        "forward_vector": [
            -0.07774820923805237,
            0.996781051158905,
            0.019563855603337288
        ],
        "right_vector": [
            -0.9969722032546997,
            -0.0777580514550209,
            -0.0002583563618827611
        ],
        "location": [
            957.2928466796875,
            3408.0078125,
            370.25799560546875
        ],
        "rotation": [
            0.014805561862885952,
            1.1209979057312012,
            94.45999908447266
        ],
        "velocity": [
            -0.6727377772331238,
            8.845353126525879,
            0.06485021114349365
        ],
        "speed": 8.870898942602023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.656432151794434,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                953.8873291015625,
                3415.966064453125,
                370.3078918457031
            ],
            "velocity": [
                -0.5026430487632751,
                3.1246821880340576,
                0.021477289497852325
            ],
            "speed_kmh": 11.393729902761594,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04757022857666,
                "transform": {
                    "location": {
                        "x": 964.039794921875,
                        "y": 3420.498779296875,
                        "z": 370.3451232910156
                    },
                    "rotation": {
                        "roll": -0.00018313867622055113,
                        "pitch": -0.38971006870269775,
                        "yaw": -80.86766815185547
                    }
                },
                "velocity": {
                    "x": 1.2790412902832031,
                    "y": -7.945097923278809,
                    "z": -0.05351806432008743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032795906066895,
                "transform": {
                    "location": {
                        "x": 970.9685668945312,
                        "y": 3377.447509765625,
                        "z": 369.9547424316406
                    },
                    "rotation": {
                        "roll": -0.001373301725834608,
                        "pitch": -0.644687831401825,
                        "yaw": -80.86924743652344
                    }
                },
                "velocity": {
                    "x": 1.2765744924545288,
                    "y": -7.930200576782227,
                    "z": -0.08993661403656006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.673346519470215,
                "transform": {
                    "location": {
                        "x": 967.8678588867188,
                        "y": 3376.252197265625,
                        "z": 369.9439697265625
                    },
                    "rotation": {
                        "roll": 0.001387862954288721,
                        "pitch": -0.6176744699478149,
                        "yaw": -80.90705871582031
                    }
                },
                "velocity": {
                    "x": 1.3780497312545776,
                    "y": -8.562592506408691,
                    "z": -0.09965777397155762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.0128173828125,
                        "y": 3329.41552734375,
                        "z": 369.3298645019531
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.7489013671875,
                        "y": 3334.8525390625,
                        "z": 369.3963317871094
                    },
                    "rotation": {
                        "roll": -2.6683723675091642e-08,
                        "pitch": -0.9009087085723877,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.6923217773438,
                        "y": 3333.441162109375,
                        "z": 369.3847961425781
                    },
                    "rotation": {
                        "roll": -2.6683723675091642e-08,
                        "pitch": -0.9009087085723877,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.28575611114502,
                "transform": {
                    "location": {
                        "x": 966.9312133789062,
                        "y": 3360.359375,
                        "z": 369.77288818359375
                    },
                    "rotation": {
                        "roll": 0.00017234089318662882,
                        "pitch": 0.6770629286766052,
                        "yaw": 99.16399383544922
                    }
                },
                "velocity": {
                    "x": -1.4758257865905762,
                    "y": 9.167043685913086,
                    "z": 0.11181262880563736
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.536377906799316,
                "transform": {
                    "location": {
                        "x": 963.8558349609375,
                        "y": 3379.4736328125,
                        "z": 369.9923095703125
                    },
                    "rotation": {
                        "roll": 0.0009992688428610563,
                        "pitch": 0.4699784517288208,
                        "yaw": 99.15113067626953
                    }
                },
                "velocity": {
                    "x": -1.1963601112365723,
                    "y": 7.440358638763428,
                    "z": 0.08230020105838776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038987159729004,
                "transform": {
                    "location": {
                        "x": 961.0748901367188,
                        "y": 3418.46533203125,
                        "z": 370.3681945800781
                    },
                    "rotation": {
                        "roll": -0.00012207910185679793,
                        "pitch": -0.3884943127632141,
                        "yaw": -80.84178924560547
                    }
                },
                "velocity": {
                    "x": 1.2779933214187622,
                    "y": -7.936572551727295,
                    "z": -0.053531646728515625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.825211524963379,
                "transform": {
                    "location": {
                        "x": 947.0076904296875,
                        "y": 3463.713134765625,
                        "z": 370.6036376953125
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.18759796023368835,
                        "yaw": 99.15692138671875
                    }
                },
                "velocity": {
                    "x": -0.926865816116333,
                    "y": 5.750953197479248,
                    "z": 0.023340091109275818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.339111328125,
                        "y": 3480.919189453125,
                        "z": 370.6717529296875
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.28309440612793,
                "transform": {
                    "location": {
                        "x": 969.7576293945312,
                        "y": 3342.914306640625,
                        "z": 369.5343933105469
                    },
                    "rotation": {
                        "roll": 0.012561370618641376,
                        "pitch": 0.9482761025428772,
                        "yaw": 99.3523178100586
                    }
                },
                "velocity": {
                    "x": -1.5050567388534546,
                    "y": 9.159303665161133,
                    "z": 0.13344593346118927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.991391658782959,
                "transform": {
                    "location": {
                        "x": 960.9633178710938,
                        "y": 3397.4462890625,
                        "z": 370.1744689941406
                    },
                    "rotation": {
                        "roll": 0.0002011522592511028,
                        "pitch": 0.5280418992042542,
                        "yaw": 99.1212158203125
                    }
                },
                "velocity": {
                    "x": -1.2688151597976685,
                    "y": 7.889736652374268,
                    "z": 0.06714069098234177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064866065979004,
                "transform": {
                    "location": {
                        "x": 958.1153564453125,
                        "y": 3415.15185546875,
                        "z": 370.31866455078125
                    },
                    "rotation": {
                        "roll": 0.00019535857427399606,
                        "pitch": 0.3890475630760193,
                        "yaw": 99.14219665527344
                    }
                },
                "velocity": {
                    "x": -1.2830636501312256,
                    "y": 7.961946964263916,
                    "z": 0.05663738027215004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162576913833618,
                "transform": {
                    "location": {
                        "x": 952.2635498046875,
                        "y": 3426.053466796875,
                        "z": 370.380859375
                    },
                    "rotation": {
                        "roll": -0.0016479758778586984,
                        "pitch": 0.5856204032897949,
                        "yaw": 99.14020538330078
                    }
                },
                "velocity": {
                    "x": -0.5026152729988098,
                    "y": 3.1223084926605225,
                    "z": 0.02144267037510872
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649250984191895,
                "transform": {
                    "location": {
                        "x": 953.8873291015625,
                        "y": 3415.966064453125,
                        "z": 370.3078918457031
                    },
                    "rotation": {
                        "roll": -0.0010375927668064833,
                        "pitch": 0.08147048950195312,
                        "yaw": 99.14216613769531
                    }
                },
                "velocity": {
                    "x": -0.5026430487632751,
                    "y": 3.1246821880340576,
                    "z": 0.021477289497852325
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.313998699188232,
                "transform": {
                    "location": {
                        "x": 957.2133178710938,
                        "y": 3462.67138671875,
                        "z": 370.5886535644531
                    },
                    "rotation": {
                        "roll": 0.005189833696931601,
                        "pitch": 0.002226641634479165,
                        "yaw": -80.47169494628906
                    }
                },
                "velocity": {
                    "x": 1.205122947692871,
                    "y": -7.213958740234375,
                    "z": -0.03246724233031273
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.981109142303467,
                "transform": {
                    "location": {
                        "x": 954.309326171875,
                        "y": 3460.3134765625,
                        "z": 370.5721435546875
                    },
                    "rotation": {
                        "roll": -0.00012207731197122484,
                        "pitch": -0.23532049357891083,
                        "yaw": -80.46171569824219
                    }
                },
                "velocity": {
                    "x": 1.1530057191848755,
                    "y": -6.88516902923584,
                    "z": -0.030164780095219612
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0009682178497314,
        "expert_target_speed": 0,
        "target_point": [
            35.35293143207678,
            4.103713290117923
        ],
        "target_point_next": [
            86.18289948058771,
            8.266997953576361
        ]
    },
    "315": {
        "acceleration": [
            0.2092123031616211,
            -0.7621002197265625,
            -0.004708468914031982
        ],
        "angular_velocity": [
            -1.7204639911651611,
            -0.06583485752344131,
            -1.0504382848739624
        ],
        "forward_vector": [
            -0.07320748269557953,
            0.9971935749053955,
            0.015673113986849785
        ],
        "right_vector": [
            -0.9973163604736328,
            -0.07321172207593918,
            -0.00030340388184413314
        ],
        "location": [
            957.1195678710938,
            3410.343017578125,
            370.2759704589844
        ],
        "rotation": [
            0.017385898157954216,
            0.8980400562286377,
            94.1987533569336
        ],
        "velocity": [
            -0.6867049932479858,
            9.563321113586426,
            0.06918773800134659
        ],
        "speed": 9.58794422539679,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.23134708404541,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                953.7615966796875,
                3416.747314453125,
                370.313232421875
            ],
            "velocity": [
                -0.5029311776161194,
                3.1246635913848877,
                0.02110361121594906
            ],
            "speed_kmh": 11.393819538561988,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.446250915527344,
                "transform": {
                    "location": {
                        "x": 957.5492553710938,
                        "y": 3460.657470703125,
                        "z": 370.57952880859375
                    },
                    "rotation": {
                        "roll": 0.004639037419110537,
                        "pitch": -0.0037224527914077044,
                        "yaw": -80.52672576904297
                    }
                },
                "velocity": {
                    "x": 1.3884546756744385,
                    "y": -8.331265449523926,
                    "z": -0.03710878640413284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038092613220215,
                "transform": {
                    "location": {
                        "x": 964.3594360351562,
                        "y": 3418.513916015625,
                        "z": 370.33148193359375
                    },
                    "rotation": {
                        "roll": 0.00068608985748142,
                        "pitch": -0.3915064334869385,
                        "yaw": -80.84046936035156
                    }
                },
                "velocity": {
                    "x": 1.277822494506836,
                    "y": -7.935693740844727,
                    "z": -0.05355307087302208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034101486206055,
                "transform": {
                    "location": {
                        "x": 971.2876586914062,
                        "y": 3375.464599609375,
                        "z": 369.93212890625
                    },
                    "rotation": {
                        "roll": -0.001556402537971735,
                        "pitch": -0.6707450151443481,
                        "yaw": -80.83995819091797
                    }
                },
                "velocity": {
                    "x": 1.2780946493148804,
                    "y": -7.931260585784912,
                    "z": -0.09146710485219955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.221683502197266,
                "transform": {
                    "location": {
                        "x": 968.2017822265625,
                        "y": 3374.1767578125,
                        "z": 369.92047119140625
                    },
                    "rotation": {
                        "roll": 0.0017256502760574222,
                        "pitch": -0.6770629286766052,
                        "yaw": -80.90941619873047
                    }
                },
                "velocity": {
                    "x": 1.3059566020965576,
                    "y": -8.116738319396973,
                    "z": -0.09553677588701248
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.7481689453125,
                        "y": 3331.060791015625,
                        "z": 369.3562927246094
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.0606689453125,
                        "y": 3332.792724609375,
                        "z": 369.36651611328125
                    },
                    "rotation": {
                        "roll": -2.6683723675091642e-08,
                        "pitch": -0.9009087085723877,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101069,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.9940185546875,
                        "y": 3331.3798828125,
                        "z": 369.3531494140625
                    },
                    "rotation": {
                        "roll": -2.6683723675091642e-08,
                        "pitch": -0.9009087085723877,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.06480598449707,
                "transform": {
                    "location": {
                        "x": 966.5601196289062,
                        "y": 3362.6630859375,
                        "z": 369.8008117675781
                    },
                    "rotation": {
                        "roll": 0.0001429113035555929,
                        "pitch": 0.7089599370956421,
                        "yaw": 99.13016510009766
                    }
                },
                "velocity": {
                    "x": -1.4413195848464966,
                    "y": 8.948808670043945,
                    "z": 0.11018892377614975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.174837589263916,
                "transform": {
                    "location": {
                        "x": 963.5692749023438,
                        "y": 3381.255859375,
                        "z": 370.0121154785156
                    },
                    "rotation": {
                        "roll": -0.0001525922998553142,
                        "pitch": 0.5466746687889099,
                        "yaw": 99.12000274658203
                    }
                },
                "velocity": {
                    "x": -1.1392626762390137,
                    "y": 7.083363056182861,
                    "z": 0.0796561986207962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026803016662598,
                "transform": {
                    "location": {
                        "x": 961.3942260742188,
                        "y": 3416.482421875,
                        "z": 370.3546447753906
                    },
                    "rotation": {
                        "roll": 0.0005399976507760584,
                        "pitch": -0.38992181420326233,
                        "yaw": -80.87004852294922
                    }
                },
                "velocity": {
                    "x": 1.273743748664856,
                    "y": -7.924912929534912,
                    "z": -0.053839121013879776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.149919033050537,
                "transform": {
                    "location": {
                        "x": 946.7564697265625,
                        "y": 3465.2705078125,
                        "z": 370.6110534667969
                    },
                    "rotation": {
                        "roll": -0.0012512234970927238,
                        "pitch": 0.09398339688777924,
                        "yaw": 99.14984130859375
                    }
                },
                "velocity": {
                    "x": -1.137027382850647,
                    "y": 7.058869361877441,
                    "z": 0.0296449176967144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0082397460938,
                        "y": 3482.9755859375,
                        "z": 370.6801452636719
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.802448272705078,
                "transform": {
                    "location": {
                        "x": 969.3956909179688,
                        "y": 3345.12451171875,
                        "z": 369.56634521484375
                    },
                    "rotation": {
                        "roll": 0.007527630310505629,
                        "pitch": 0.8007986545562744,
                        "yaw": 99.28131103515625
                    }
                },
                "velocity": {
                    "x": -1.4187875986099243,
                    "y": 8.686418533325195,
                    "z": 0.1275659203529358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.550981521606445,
                "transform": {
                    "location": {
                        "x": 960.6278686523438,
                        "y": 3399.53076171875,
                        "z": 370.1925048828125
                    },
                    "rotation": {
                        "roll": 0.0009774324717000127,
                        "pitch": 0.5707237720489502,
                        "yaw": 99.16252136230469
                    }
                },
                "velocity": {
                    "x": -1.3588597774505615,
                    "y": 8.4420166015625,
                    "z": 0.07170920819044113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001070022583008,
                "transform": {
                    "location": {
                        "x": 957.7960815429688,
                        "y": 3417.13525390625,
                        "z": 370.3324890136719
                    },
                    "rotation": {
                        "roll": -3.053643013117835e-05,
                        "pitch": 0.38309162855148315,
                        "yaw": 99.14405822753906
                    }
                },
                "velocity": {
                    "x": -1.2714987993240356,
                    "y": 7.8992133140563965,
                    "z": 0.05333909019827843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.7560296058654785,
                "transform": {
                    "location": {
                        "x": 954.6190185546875,
                        "y": 3458.457763671875,
                        "z": 370.56365966796875
                    },
                    "rotation": {
                        "roll": 0.00027627800591289997,
                        "pitch": -0.22937139868736267,
                        "yaw": -80.56876373291016
                    }
                },
                "velocity": {
                    "x": 1.2632315158843994,
                    "y": -7.652392387390137,
                    "z": -0.033717647194862366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626875400543213,
                "transform": {
                    "location": {
                        "x": 952.1380004882812,
                        "y": 3426.833740234375,
                        "z": 370.3859558105469
                    },
                    "rotation": {
                        "roll": -0.0002746894315350801,
                        "pitch": 0.5881407260894775,
                        "yaw": 99.13825988769531
                    }
                },
                "velocity": {
                    "x": -0.5019388198852539,
                    "y": 3.122534990310669,
                    "z": 0.020611561834812164
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164949893951416,
                "transform": {
                    "location": {
                        "x": 953.7615966796875,
                        "y": 3416.747314453125,
                        "z": 370.313232421875
                    },
                    "rotation": {
                        "roll": 0.0007088962593115866,
                        "pitch": 0.08053475618362427,
                        "yaw": 99.1419448852539
                    }
                },
                "velocity": {
                    "x": -0.5029311776161194,
                    "y": 3.1246635913848877,
                    "z": 0.02110361121594906
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000670313835144,
        "expert_target_speed": 0,
        "target_point": [
            32.99222763083367,
            4.263033190109425
        ],
        "target_point_next": [
            83.80268377432591,
            8.658045987801923
        ]
    },
    "320": {
        "acceleration": [
            0.1617729663848877,
            0.2831077575683594,
            -0.02965092658996582
        ],
        "angular_velocity": [
            -0.7604058384895325,
            -0.11442775279283524,
            -1.0590580701828003
        ],
        "forward_vector": [
            -0.06860391050577164,
            0.9976062774658203,
            0.008672843687236309
        ],
        "right_vector": [
            -0.9976440072059631,
            -0.06860332936048508,
            -0.00036394083872437477
        ],
        "location": [
            956.956298828125,
            3412.68115234375,
            370.29449462890625
        ],
        "rotation": [
            0.020853057503700256,
            0.496923565864563,
            93.93395233154297
        ],
        "velocity": [
            -0.6198410391807556,
            9.224189758300781,
            0.0667785257101059
        ],
        "speed": 9.244992136881118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.875650405883789,
        "front_vehicle_info": {
            "id": 101027,
            "type": "vehicle.diamondback.century",
            "location": [
                953.6358642578125,
                3417.528564453125,
                370.3185729980469
            ],
            "velocity": [
                -0.502666175365448,
                3.1246819496154785,
                0.021358860656619072
            ],
            "speed_kmh": 11.393739392870573,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044658660888672,
                "transform": {
                    "location": {
                        "x": 964.6791381835938,
                        "y": 3416.529296875,
                        "z": 370.31787109375
                    },
                    "rotation": {
                        "roll": -6.1032886151224375e-05,
                        "pitch": -0.39022916555404663,
                        "yaw": -80.86180114746094
                    }
                },
                "velocity": {
                    "x": 1.279490351676941,
                    "y": -7.942079067230225,
                    "z": -0.05313513055443764
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032543182373047,
                "transform": {
                    "location": {
                        "x": 971.6068725585938,
                        "y": 3373.482177734375,
                        "z": 369.9089050292969
                    },
                    "rotation": {
                        "roll": 0.001515340176410973,
                        "pitch": -0.675990641117096,
                        "yaw": -80.86891174316406
                    }
                },
                "velocity": {
                    "x": 1.2765684127807617,
                    "y": -7.929919242858887,
                    "z": -0.09218314290046692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.077361106872559,
                "transform": {
                    "location": {
                        "x": 968.5234375,
                        "y": 3372.1748046875,
                        "z": 369.89691162109375
                    },
                    "rotation": {
                        "roll": -0.0004883386427536607,
                        "pitch": -0.6710182428359985,
                        "yaw": -80.84854888916016
                    }
                },
                "velocity": {
                    "x": 1.284350872039795,
                    "y": -7.97402811050415,
                    "z": -0.09526540338993073
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.3511352539062,
                        "y": 3333.5283203125,
                        "z": 369.3948669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.875667572021484,
                "transform": {
                    "location": {
                        "x": 966.2216796875,
                        "y": 3364.767333984375,
                        "z": 369.8259582519531
                    },
                    "rotation": {
                        "roll": -0.0010680895065888762,
                        "pitch": 0.7794133424758911,
                        "yaw": 99.17216491699219
                    }
                },
                "velocity": {
                    "x": -1.2500557899475098,
                    "y": 7.775266647338867,
                    "z": 0.09341239929199219
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043761253356934,
                "transform": {
                    "location": {
                        "x": 963.268310546875,
                        "y": 3383.12548828125,
                        "z": 370.03314208984375
                    },
                    "rotation": {
                        "roll": -0.0003356926317792386,
                        "pitch": 0.716029167175293,
                        "yaw": 99.1597900390625
                    }
                },
                "velocity": {
                    "x": -1.2779185771942139,
                    "y": 7.941103458404541,
                    "z": 0.08886607736349106
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032142639160156,
                "transform": {
                    "location": {
                        "x": 961.7127685546875,
                        "y": 3414.5009765625,
                        "z": 370.3406982421875
                    },
                    "rotation": {
                        "roll": -0.0001525891275377944,
                        "pitch": -0.40356171131134033,
                        "yaw": -80.84666442871094
                    }
                },
                "velocity": {
                    "x": 1.2760347127914429,
                    "y": -7.929925918579102,
                    "z": -0.05770920589566231
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.237896919250488,
                "transform": {
                    "location": {
                        "x": 946.446533203125,
                        "y": 3467.1953125,
                        "z": 370.618896484375
                    },
                    "rotation": {
                        "roll": -0.0007629417232237756,
                        "pitch": 0.11921411752700806,
                        "yaw": 99.1484603881836
                    }
                },
                "velocity": {
                    "x": -1.3097511529922485,
                    "y": 8.133040428161621,
                    "z": 0.03395751863718033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6773071289062,
                        "y": 3485.03173828125,
                        "z": 370.6881408691406
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.543083190917969,
                "transform": {
                    "location": {
                        "x": 969.044189453125,
                        "y": 3347.282470703125,
                        "z": 369.59686279296875
                    },
                    "rotation": {
                        "roll": 0.0062400163151323795,
                        "pitch": 0.7483974695205688,
                        "yaw": 99.2353286743164
                    }
                },
                "velocity": {
                    "x": -1.3692364692687988,
                    "y": 8.431809425354004,
                    "z": 0.1185612827539444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.294946193695068,
                "transform": {
                    "location": {
                        "x": 960.3117065429688,
                        "y": 3401.49658203125,
                        "z": 370.20916748046875
                    },
                    "rotation": {
                        "roll": 0.0001854059664765373,
                        "pitch": 0.36167898774147034,
                        "yaw": 99.12152099609375
                    }
                },
                "velocity": {
                    "x": -1.158490538597107,
                    "y": 7.202101230621338,
                    "z": 0.06226970627903938
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051254272460938,
                "transform": {
                    "location": {
                        "x": 957.4769287109375,
                        "y": 3419.115478515625,
                        "z": 370.3459777832031
                    },
                    "rotation": {
                        "roll": 0.00015204184455797076,
                        "pitch": 0.3853524327278137,
                        "yaw": 99.15289306640625
                    }
                },
                "velocity": {
                    "x": -1.280685544013977,
                    "y": 7.9485673904418945,
                    "z": 0.05308033898472786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162684202194214,
                "transform": {
                    "location": {
                        "x": 952.0123901367188,
                        "y": 3427.614013671875,
                        "z": 370.39105224609375
                    },
                    "rotation": {
                        "roll": -0.001983633730560541,
                        "pitch": 0.5871503353118896,
                        "yaw": 99.13924407958984
                    }
                },
                "velocity": {
                    "x": -0.5023825168609619,
                    "y": 3.1224582195281982,
                    "z": 0.020923642441630363
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649274826049805,
                "transform": {
                    "location": {
                        "x": 953.6358642578125,
                        "y": 3417.528564453125,
                        "z": 370.3185729980469
                    },
                    "rotation": {
                        "roll": 0.00015567710215691477,
                        "pitch": 0.08153196424245834,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -0.502666175365448,
                    "y": 3.1246819496154785,
                    "z": 0.021358860656619072
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.860626220703125,
                "transform": {
                    "location": {
                        "x": 957.8806762695312,
                        "y": 3458.653076171875,
                        "z": 370.5703430175781
                    },
                    "rotation": {
                        "roll": 0.010858085006475449,
                        "pitch": -0.2898254096508026,
                        "yaw": -80.62736511230469
                    }
                },
                "velocity": {
                    "x": 1.274412989616394,
                    "y": -7.756544589996338,
                    "z": -0.03649492189288139
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.673441886901855,
                "transform": {
                    "location": {
                        "x": 954.9640502929688,
                        "y": 3456.364990234375,
                        "z": 370.55419921875
                    },
                    "rotation": {
                        "roll": -0.0010070872958749533,
                        "pitch": -0.22802585363388062,
                        "yaw": -80.6988754272461
                    }
                },
                "velocity": {
                    "x": 1.4013651609420776,
                    "y": -8.559399604797363,
                    "z": -0.0381193533539772
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9342901110649109,
        "expert_target_speed": 0,
        "target_point": [
            30.628347825261322,
            4.412981395324959
        ],
        "target_point_next": [
            81.41795095611732,
            9.042755127568565
        ]
    },
    "325": {
        "acceleration": [
            0.49412965774536133,
            -5.754547119140625,
            -0.02401009202003479
        ],
        "angular_velocity": [
            -1.5552411079406738,
            -0.031165480613708496,
            -0.9120153784751892
        ],
        "forward_vector": [
            -0.06430202722549438,
            0.9979296922683716,
            0.0012514586560428143
        ],
        "right_vector": [
            -0.9979304075241089,
            -0.06430169939994812,
            -0.00029815660673193634
        ],
        "location": [
            956.81591796875,
            3414.83154296875,
            370.3111572265625
        ],
        "rotation": [
            0.017083128914237022,
            0.07170332223176956,
            93.68678283691406
        ],
        "velocity": [
            -0.49400514364242554,
            7.891653060913086,
            0.055376727133989334
        ],
        "speed": 7.907099918159885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.2741618156433105,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                957.1578979492188,
                3421.09619140625,
                370.3595275878906
            ],
            "velocity": [
                -1.2720547914505005,
                7.898115634918213,
                0.05228861793875694
            ],
            "speed_kmh": 28.800244815734935,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043869972229004,
                "transform": {
                    "location": {
                        "x": 964.9987182617188,
                        "y": 3414.543701171875,
                        "z": 370.3037414550781
                    },
                    "rotation": {
                        "roll": 0.0008907624869607389,
                        "pitch": -0.41283708810806274,
                        "yaw": -80.84400939941406
                    }
                },
                "velocity": {
                    "x": 1.27796471118927,
                    "y": -7.941498279571533,
                    "z": -0.05716872960329056
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032907485961914,
                "transform": {
                    "location": {
                        "x": 971.9259033203125,
                        "y": 3371.5,
                        "z": 369.8856201171875
                    },
                    "rotation": {
                        "roll": -0.0005493079079315066,
                        "pitch": -0.6739757061004639,
                        "yaw": -80.84256744384766
                    }
                },
                "velocity": {
                    "x": 1.2765036821365356,
                    "y": -7.93030309677124,
                    "z": -0.09184425324201584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.746285915374756,
                "transform": {
                    "location": {
                        "x": 968.8064575195312,
                        "y": 3370.4189453125,
                        "z": 369.87646484375
                    },
                    "rotation": {
                        "roll": 0.00018202739011030644,
                        "pitch": -0.698673665523529,
                        "yaw": -80.89103698730469
                    }
                },
                "velocity": {
                    "x": 1.0720887184143066,
                    "y": -6.660090923309326,
                    "z": -0.07864636182785034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.0866088867188,
                        "y": 3335.17333984375,
                        "z": 369.4206848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.894769668579102,
                "transform": {
                    "location": {
                        "x": 965.939208984375,
                        "y": 3366.5283203125,
                        "z": 369.84698486328125
                    },
                    "rotation": {
                        "roll": 0.0013808339135721326,
                        "pitch": 0.7616616487503052,
                        "yaw": 99.35607147216797
                    }
                },
                "velocity": {
                    "x": -1.094720721244812,
                    "y": 6.806833744049072,
                    "z": 0.08029501140117645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.701882362365723,
                "transform": {
                    "location": {
                        "x": 962.9290161132812,
                        "y": 3385.232666015625,
                        "z": 370.05584716796875
                    },
                    "rotation": {
                        "roll": -0.000244170892983675,
                        "pitch": 0.7015628218650818,
                        "yaw": 99.13716125488281
                    }
                },
                "velocity": {
                    "x": -1.3830149173736572,
                    "y": 8.590789794921875,
                    "z": 0.09149917215108871
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03392219543457,
                "transform": {
                    "location": {
                        "x": 962.031982421875,
                        "y": 3412.51806640625,
                        "z": 370.32635498046875
                    },
                    "rotation": {
                        "roll": -0.0006103449268266559,
                        "pitch": -0.42623794078826904,
                        "yaw": -80.87557220458984
                    }
                },
                "velocity": {
                    "x": 1.274547815322876,
                    "y": -7.931957244873047,
                    "z": -0.05898365005850792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.046405792236328,
                "transform": {
                    "location": {
                        "x": 946.1204223632812,
                        "y": 3469.22119140625,
                        "z": 370.6265563964844
                    },
                    "rotation": {
                        "roll": 0.0007165619172155857,
                        "pitch": 0.22897525131702423,
                        "yaw": 99.1445541381836
                    }
                },
                "velocity": {
                    "x": -1.278817057609558,
                    "y": 7.94406795501709,
                    "z": 0.032458532601594925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.346435546875,
                        "y": 3487.088134765625,
                        "z": 370.696044921875
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.634314060211182,
                "transform": {
                    "location": {
                        "x": 968.7240600585938,
                        "y": 3349.2568359375,
                        "z": 369.62396240234375
                    },
                    "rotation": {
                        "roll": 0.0021954036783427,
                        "pitch": 0.642891526222229,
                        "yaw": 99.20695495605469
                    }
                },
                "velocity": {
                    "x": -1.2216832637786865,
                    "y": 7.535264492034912,
                    "z": 0.10015174746513367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.26256799697876,
                "transform": {
                    "location": {
                        "x": 960.0707397460938,
                        "y": 3402.993408203125,
                        "z": 370.2216796875
                    },
                    "rotation": {
                        "roll": -3.051578823942691e-05,
                        "pitch": 0.10382570326328278,
                        "yaw": 99.15631866455078
                    }
                },
                "velocity": {
                    "x": -0.6775225400924683,
                    "y": 4.208256244659424,
                    "z": 0.03207261115312576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000067710876465,
                "transform": {
                    "location": {
                        "x": 957.1578979492188,
                        "y": 3421.09619140625,
                        "z": 370.3595275878906
                    },
                    "rotation": {
                        "roll": -0.0016784367617219687,
                        "pitch": 0.38520216941833496,
                        "yaw": 99.14984893798828
                    }
                },
                "velocity": {
                    "x": -1.2720547914505005,
                    "y": 7.898115634918213,
                    "z": 0.05228861793875694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162790298461914,
                "transform": {
                    "location": {
                        "x": 951.8868408203125,
                        "y": 3428.394287109375,
                        "z": 370.3961181640625
                    },
                    "rotation": {
                        "roll": 0.0004971891758032143,
                        "pitch": 0.5876147747039795,
                        "yaw": 99.13801574707031
                    }
                },
                "velocity": {
                    "x": -0.5022538900375366,
                    "y": 3.1225802898406982,
                    "z": 0.02180965431034565
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164868116378784,
                "transform": {
                    "location": {
                        "x": 953.5101318359375,
                        "y": 3418.309814453125,
                        "z": 370.323974609375
                    },
                    "rotation": {
                        "roll": 0.0015453750966116786,
                        "pitch": 0.0822627916932106,
                        "yaw": 99.14273834228516
                    }
                },
                "velocity": {
                    "x": -0.5031005144119263,
                    "y": 3.1245479583740234,
                    "z": 0.021894607692956924
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0465726852417,
                "transform": {
                    "location": {
                        "x": 958.1990966796875,
                        "y": 3456.709228515625,
                        "z": 370.56146240234375
                    },
                    "rotation": {
                        "roll": 0.00506756454706192,
                        "pitch": -0.23998551070690155,
                        "yaw": -80.6979751586914
                    }
                },
                "velocity": {
                    "x": 1.2982553243637085,
                    "y": -7.941058158874512,
                    "z": -0.03814392909407616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.18767261505127,
                "transform": {
                    "location": {
                        "x": 955.3028564453125,
                        "y": 3454.294921875,
                        "z": 370.5446472167969
                    },
                    "rotation": {
                        "roll": 0.00047462419024668634,
                        "pitch": -0.2904059588909149,
                        "yaw": -80.76463317871094
                    }
                },
                "velocity": {
                    "x": 1.3161964416503906,
                    "y": -8.081086158752441,
                    "z": -0.040705032646656036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9263997077941895,
        "expert_target_speed": 0,
        "target_point": [
            28.454061642598923,
            4.543234235637624
        ],
        "target_point_next": [
            79.22322311095967,
            9.392031488683497
        ]
    },
    "330": {
        "acceleration": [
            -0.03831923007965088,
            -1.1441612243652344,
            -0.005396455526351929
        ],
        "angular_velocity": [
            0.7369205951690674,
            0.3534419536590576,
            -0.18575099110603333
        ],
        "forward_vector": [
            -0.06111307069659233,
            0.9981306195259094,
            -0.0006716250209137797
        ],
        "right_vector": [
            -0.9981308579444885,
            -0.061113014817237854,
            0.00010652641503838822
        ],
        "location": [
            956.7032470703125,
            3416.66552734375,
            370.3240966796875
        ],
        "rotation": [
            -0.006103515159338713,
            -0.03848128393292427,
            93.50370788574219
        ],
        "velocity": [
            -0.42415353655815125,
            6.965807914733887,
            0.047663286328315735
        ],
        "speed": 6.978709488690875,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.41421365737915,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                956.838623046875,
                3423.078125,
                370.37310791015625
            ],
            "velocity": [
                -1.2810559272766113,
                7.953577518463135,
                0.05319913849234581
            ],
            "speed_kmh": 29.00253702592868,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9412841796875,
                        "y": 3495.0458984375,
                        "z": 370.7692565917969
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.13316822052002,
                "transform": {
                    "location": {
                        "x": 958.5279541015625,
                        "y": 3454.696533203125,
                        "z": 370.55169677734375
                    },
                    "rotation": {
                        "roll": 0.0038185298908501863,
                        "pitch": -0.26525720953941345,
                        "yaw": -80.72532653808594
                    }
                },
                "velocity": {
                    "x": 1.3069463968276978,
                    "y": -8.027371406555176,
                    "z": -0.04027699679136276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041659355163574,
                "transform": {
                    "location": {
                        "x": 965.3181762695312,
                        "y": 3412.55908203125,
                        "z": 370.2892761230469
                    },
                    "rotation": {
                        "roll": 0.0001829127431847155,
                        "pitch": -0.427487850189209,
                        "yaw": -80.86970520019531
                    }
                },
                "velocity": {
                    "x": 1.277760624885559,
                    "y": -7.939274787902832,
                    "z": -0.05942230671644211
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033940315246582,
                "transform": {
                    "location": {
                        "x": 972.2450561523438,
                        "y": 3369.517333984375,
                        "z": 369.86236572265625
                    },
                    "rotation": {
                        "roll": 0.0004796937573701143,
                        "pitch": -0.6733063459396362,
                        "yaw": -80.87260437011719
                    }
                },
                "velocity": {
                    "x": 1.2747117280960083,
                    "y": -7.931634902954102,
                    "z": -0.09200460463762283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.162415027618408,
                "transform": {
                    "location": {
                        "x": 969.07958984375,
                        "y": 3368.72119140625,
                        "z": 369.8562316894531
                    },
                    "rotation": {
                        "roll": -0.0003052175452467054,
                        "pitch": -0.6584780216217041,
                        "yaw": -80.86612701416016
                    }
                },
                "velocity": {
                    "x": 1.1389988660812378,
                    "y": -7.070789813995361,
                    "z": -0.08249538391828537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.689453125,
                        "y": 3337.64111328125,
                        "z": 369.4580383300781
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.034423828125,
                        "y": 3492.653076171875,
                        "z": 370.9905700683594
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.35609245300293,
                "transform": {
                    "location": {
                        "x": 965.657470703125,
                        "y": 3368.272216796875,
                        "z": 369.86846923828125
                    },
                    "rotation": {
                        "roll": 0.0016052188584581017,
                        "pitch": 0.6325916051864624,
                        "yaw": 99.24850463867188
                    }
                },
                "velocity": {
                    "x": -1.1697548627853394,
                    "y": 7.261997699737549,
                    "z": 0.08458850532770157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.147730827331543,
                "transform": {
                    "location": {
                        "x": 962.5899658203125,
                        "y": 3387.33935546875,
                        "z": 370.07763671875
                    },
                    "rotation": {
                        "roll": -0.0006103658815845847,
                        "pitch": 0.5132681727409363,
                        "yaw": 99.15773010253906
                    }
                },
                "velocity": {
                    "x": -1.2946059703826904,
                    "y": 8.043840408325195,
                    "z": 0.07842645794153214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02996826171875,
                "transform": {
                    "location": {
                        "x": 962.3507690429688,
                        "y": 3410.53564453125,
                        "z": 370.3115234375
                    },
                    "rotation": {
                        "roll": -0.002166750142350793,
                        "pitch": -0.4252270758152008,
                        "yaw": -80.8481216430664
                    }
                },
                "velocity": {
                    "x": 1.2754987478256226,
                    "y": -7.927791595458984,
                    "z": -0.06009487807750702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.961653709411621,
                "transform": {
                    "location": {
                        "x": 945.8043823242188,
                        "y": 3471.184814453125,
                        "z": 370.6346130371094
                    },
                    "rotation": {
                        "roll": 0.00022249015455599874,
                        "pitch": 0.24841396510601044,
                        "yaw": 99.14462280273438
                    }
                },
                "velocity": {
                    "x": -1.265312910079956,
                    "y": 7.86039400100708,
                    "z": 0.033406324684619904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.034423828125,
                        "y": 3489.0263671875,
                        "z": 370.7033996582031
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.168746948242188,
                "transform": {
                    "location": {
                        "x": 968.4115600585938,
                        "y": 3351.1865234375,
                        "z": 369.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0017180386930704117,
                        "pitch": 0.7966732382774353,
                        "yaw": 99.19719696044922
                    }
                },
                "velocity": {
                    "x": -1.3041837215423584,
                    "y": 8.063240051269531,
                    "z": 0.10810699313879013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.48145562410354614,
                "transform": {
                    "location": {
                        "x": 960.0123901367188,
                        "y": 3403.372314453125,
                        "z": 370.2244567871094
                    },
                    "rotation": {
                        "roll": -0.009735103696584702,
                        "pitch": -0.11532090604305267,
                        "yaw": 98.38438415527344
                    }
                },
                "velocity": {
                    "x": -0.07541283220052719,
                    "y": 0.4754965603351593,
                    "z": 0.003928394056856632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056260108947754,
                "transform": {
                    "location": {
                        "x": 956.838623046875,
                        "y": 3423.078125,
                        "z": 370.37310791015625
                    },
                    "rotation": {
                        "roll": 0.00014557168469764292,
                        "pitch": 0.3852977752685547,
                        "yaw": 99.14997100830078
                    }
                },
                "velocity": {
                    "x": -1.2810559272766113,
                    "y": 7.953577518463135,
                    "z": 0.05319913849234581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941085338592529,
                "transform": {
                    "location": {
                        "x": 955.6272583007812,
                        "y": 3452.29931640625,
                        "z": 370.53460693359375
                    },
                    "rotation": {
                        "roll": 0.00014095469668973237,
                        "pitch": -0.30590367317199707,
                        "yaw": -80.80704498291016
                    }
                },
                "velocity": {
                    "x": 1.2706767320632935,
                    "y": -7.838659286499023,
                    "z": -0.040475424379110336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162599802017212,
                "transform": {
                    "location": {
                        "x": 951.7612915039062,
                        "y": 3429.174560546875,
                        "z": 370.4012451171875
                    },
                    "rotation": {
                        "roll": -0.0018005432793870568,
                        "pitch": 0.5879290103912354,
                        "yaw": 99.13816833496094
                    }
                },
                "velocity": {
                    "x": -0.5019220113754272,
                    "y": 3.122441291809082,
                    "z": 0.021739529445767403
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651370525360107,
                "transform": {
                    "location": {
                        "x": 953.3844604492188,
                        "y": 3419.091064453125,
                        "z": 370.3293151855469
                    },
                    "rotation": {
                        "roll": -0.0021972686517983675,
                        "pitch": 0.08455773442983627,
                        "yaw": 99.14286804199219
                    }
                },
                "velocity": {
                    "x": -0.5028166174888611,
                    "y": 3.1248695850372314,
                    "z": 0.021403606981039047
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8486725687980652,
        "expert_target_speed": 0,
        "target_point": [
            26.601956327789978,
            4.633758723853562
        ],
        "target_point_next": [
            77.35536416222868,
            9.644765029254412
        ]
    },
    "335": {
        "acceleration": [
            -0.012888312339782715,
            -2.892169952392578,
            -0.02661190927028656
        ],
        "angular_velocity": [
            0.07474857568740845,
            0.15994316339492798,
            1.4787397384643555
        ],
        "forward_vector": [
            -0.0655214935541153,
            0.9978489875793457,
            -0.0020649416837841272
        ],
        "right_vector": [
            -0.9978505373001099,
            -0.06551901251077652,
            0.0012458234559744596
        ],
        "location": [
            956.598876953125,
            3418.25927734375,
            370.3351135253906
        ],
        "rotation": [
            -0.0713806003332138,
            -0.1183125302195549,
            93.75680541992188
        ],
        "velocity": [
            -0.4016910195350647,
            5.720343589782715,
            0.038475245237350464
        ],
        "speed": 5.7344299158977705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.7999701499938965,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                956.5198364257812,
                3425.05859375,
                370.3865051269531
            ],
            "velocity": [
                -1.2710353136062622,
                7.894477844238281,
                0.05224306881427765
            ],
            "speed_kmh": 28.786731064786736,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.272216796875,
                        "y": 3492.98828125,
                        "z": 370.74420166015625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.953576564788818,
                "transform": {
                    "location": {
                        "x": 958.8489379882812,
                        "y": 3452.719970703125,
                        "z": 370.5417175292969
                    },
                    "rotation": {
                        "roll": 0.0038689093198627234,
                        "pitch": -0.32146966457366943,
                        "yaw": -80.77601623535156
                    }
                },
                "velocity": {
                    "x": 1.273269534111023,
                    "y": -7.850887775421143,
                    "z": -0.04151048883795738
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043338775634766,
                "transform": {
                    "location": {
                        "x": 965.6375732421875,
                        "y": 3410.57373046875,
                        "z": 370.2744140625
                    },
                    "rotation": {
                        "roll": 0.0009966213256120682,
                        "pitch": -0.42535001039505005,
                        "yaw": -80.84862518310547
                    }
                },
                "velocity": {
                    "x": 1.2772952318191528,
                    "y": -7.941047191619873,
                    "z": -0.05992700532078743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032439231872559,
                "transform": {
                    "location": {
                        "x": 972.5639038085938,
                        "y": 3367.534912109375,
                        "z": 369.8391418457031
                    },
                    "rotation": {
                        "roll": 0.0009825482266023755,
                        "pitch": -0.6756286025047302,
                        "yaw": -80.84740447998047
                    }
                },
                "velocity": {
                    "x": 1.2756755352020264,
                    "y": -7.929947853088379,
                    "z": -0.09304771572351456
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.786425590515137,
                "transform": {
                    "location": {
                        "x": 969.3814086914062,
                        "y": 3366.846435546875,
                        "z": 369.8340148925781
                    },
                    "rotation": {
                        "roll": 0.00023474925546906888,
                        "pitch": -0.6453230381011963,
                        "yaw": -80.86180114746094
                    }
                },
                "velocity": {
                    "x": 1.2375520467758179,
                    "y": -7.686897277832031,
                    "z": -0.09216105937957764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.4246826171875,
                        "y": 3339.2861328125,
                        "z": 369.48284912109375
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3641357421875,
                        "y": 3490.6044921875,
                        "z": 370.80364990234375
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.551803588867188,
                "transform": {
                    "location": {
                        "x": 965.3510131835938,
                        "y": 3370.1748046875,
                        "z": 369.8913269042969
                    },
                    "rotation": {
                        "roll": -0.00012209542910568416,
                        "pitch": 0.5585386753082275,
                        "yaw": 99.18693542480469
                    }
                },
                "velocity": {
                    "x": -1.3564475774765015,
                    "y": 8.442954063415527,
                    "z": 0.0996067002415657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9319281578063965,
                "transform": {
                    "location": {
                        "x": 962.2930297851562,
                        "y": 3389.185791015625,
                        "z": 370.0954895019531
                    },
                    "rotation": {
                        "roll": -0.000610396615229547,
                        "pitch": 0.40396469831466675,
                        "yaw": 99.10327911376953
                    }
                },
                "velocity": {
                    "x": -1.1001290082931519,
                    "y": 6.843737602233887,
                    "z": 0.0678044855594635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032903671264648,
                "transform": {
                    "location": {
                        "x": 962.669921875,
                        "y": 3408.552978515625,
                        "z": 370.296630859375
                    },
                    "rotation": {
                        "roll": -3.053658292628825e-05,
                        "pitch": -0.4238336980342865,
                        "yaw": -80.87066650390625
                    }
                },
                "velocity": {
                    "x": 1.2762730121612549,
                    "y": -7.930638790130615,
                    "z": -0.06026093289256096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.048906326293945,
                "transform": {
                    "location": {
                        "x": 945.486083984375,
                        "y": 3473.163330078125,
                        "z": 370.64306640625
                    },
                    "rotation": {
                        "roll": -0.00045777298510074615,
                        "pitch": 0.22625000774860382,
                        "yaw": 99.13800811767578
                    }
                },
                "velocity": {
                    "x": -1.2780635356903076,
                    "y": 7.946719646453857,
                    "z": 0.03299567103385925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.7601318359375,
                        "y": 3490.7294921875,
                        "z": 370.7095642089844
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.893404960632324,
                "transform": {
                    "location": {
                        "x": 968.0845336914062,
                        "y": 3353.2109375,
                        "z": 369.6768798828125
                    },
                    "rotation": {
                        "roll": 0.0011343589285388589,
                        "pitch": 0.7374144792556763,
                        "yaw": 99.17283630371094
                    }
                },
                "velocity": {
                    "x": -1.2573853731155396,
                    "y": 7.791892051696777,
                    "z": 0.10604564100503922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6153184175491333,
                "transform": {
                    "location": {
                        "x": 959.9657592773438,
                        "y": 3403.6689453125,
                        "z": 370.2276611328125
                    },
                    "rotation": {
                        "roll": -0.00982662569731474,
                        "pitch": 0.46113336086273193,
                        "yaw": 98.51390838623047
                    }
                },
                "velocity": {
                    "x": -0.2508799731731415,
                    "y": 1.5956673622131348,
                    "z": 0.012589292600750923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99631404876709,
                "transform": {
                    "location": {
                        "x": 956.5198364257812,
                        "y": 3425.05859375,
                        "z": 370.3865051269531
                    },
                    "rotation": {
                        "roll": -0.0004882759531028569,
                        "pitch": 0.38132262229919434,
                        "yaw": 99.14681243896484
                    }
                },
                "velocity": {
                    "x": -1.2710353136062622,
                    "y": 7.894477844238281,
                    "z": 0.05224306881427765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.781461715698242,
                "transform": {
                    "location": {
                        "x": 955.9107055664062,
                        "y": 3450.54931640625,
                        "z": 370.5256652832031
                    },
                    "rotation": {
                        "roll": 0.0007969706202857196,
                        "pitch": -0.3266606032848358,
                        "yaw": -80.82967376708984
                    }
                },
                "velocity": {
                    "x": 1.0821926593780518,
                    "y": -6.694458961486816,
                    "z": -0.03608814626932144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162648916244507,
                "transform": {
                    "location": {
                        "x": 951.6356811523438,
                        "y": 3429.954833984375,
                        "z": 370.40631103515625
                    },
                    "rotation": {
                        "roll": 0.00012553800479508936,
                        "pitch": 0.5876762866973877,
                        "yaw": 99.13864135742188
                    }
                },
                "velocity": {
                    "x": -0.5023427605628967,
                    "y": 3.122424840927124,
                    "z": 0.021546391770243645
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649861335754395,
                "transform": {
                    "location": {
                        "x": 953.2587280273438,
                        "y": 3419.872314453125,
                        "z": 370.334716796875
                    },
                    "rotation": {
                        "roll": 0.0011823675595223904,
                        "pitch": 0.08094456791877747,
                        "yaw": 99.1423110961914
                    }
                },
                "velocity": {
                    "x": -0.5028382539749146,
                    "y": 3.124706745147705,
                    "z": 0.022341566160321236
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8001179099082947,
        "expert_target_speed": 0,
        "target_point": [
            25.024998968179716,
            4.516500847820854
        ],
        "target_point_next": [
            75.80004383358919,
            9.303296218137511
        ]
    },
    "340": {
        "acceleration": [
            0.0010091066360473633,
            -1.7493343353271484,
            -0.006748959422111511
        ],
        "angular_velocity": [
            0.6556885242462158,
            -0.007849207147955894,
            1.7201876640319824
        ],
        "forward_vector": [
            -0.07290351390838623,
            0.9973385334014893,
            0.0009824036387726665
        ],
        "right_vector": [
            -0.9973375797271729,
            -0.0729050561785698,
            0.0016357118729501963
        ],
        "location": [
            956.4976196289062,
            3419.622802734375,
            370.3436279296875
        ],
        "rotation": [
            -0.0937194749712944,
            0.05628758668899536,
            94.18077850341797
        ],
        "velocity": [
            -0.4184029698371887,
            5.263527870178223,
            0.03599635884165764
        ],
        "speed": 5.280131313264044,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.42338752746582,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                956.2007446289062,
                3427.0400390625,
                370.3997497558594
            ],
            "velocity": [
                -1.2807285785675049,
                7.954478740692139,
                0.05311412736773491
            ],
            "speed_kmh": 29.005550712723416,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6033325195312,
                        "y": 3490.93115234375,
                        "z": 370.7147216796875
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.086433410644531,
                "transform": {
                    "location": {
                        "x": 959.1696166992188,
                        "y": 3450.740966796875,
                        "z": 370.5313720703125
                    },
                    "rotation": {
                        "roll": 0.0030432192143052816,
                        "pitch": -0.2810964286327362,
                        "yaw": -80.7986068725586
                    }
                },
                "velocity": {
                    "x": 1.2920068502426147,
                    "y": -7.982446193695068,
                    "z": -0.04100910201668739
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043680191040039,
                "transform": {
                    "location": {
                        "x": 965.9568481445312,
                        "y": 3408.58837890625,
                        "z": 370.2596130371094
                    },
                    "rotation": {
                        "roll": 0.0020297423470765352,
                        "pitch": -0.4243118166923523,
                        "yaw": -80.87662506103516
                    }
                },
                "velocity": {
                    "x": 1.2760298252105713,
                    "y": -7.941593647003174,
                    "z": -0.0602574422955513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033994674682617,
                "transform": {
                    "location": {
                        "x": 972.8826904296875,
                        "y": 3365.552734375,
                        "z": 369.81536865234375
                    },
                    "rotation": {
                        "roll": 0.0006382164428941905,
                        "pitch": -0.6980589628219604,
                        "yaw": -80.87934875488281
                    }
                },
                "velocity": {
                    "x": 1.2754775285720825,
                    "y": -7.931525230407715,
                    "z": -0.09557900577783585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.684454917907715,
                "transform": {
                    "location": {
                        "x": 969.7196044921875,
                        "y": 3364.74267578125,
                        "z": 369.80877685546875
                    },
                    "rotation": {
                        "roll": -0.0020751829724758863,
                        "pitch": -0.6645773649215698,
                        "yaw": -80.77803039550781
                    }
                },
                "velocity": {
                    "x": 1.3820843696594238,
                    "y": -8.573152542114258,
                    "z": -0.10325061529874802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.0274658203125,
                        "y": 3341.753662109375,
                        "z": 369.5191955566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.069073677062988,
                "transform": {
                    "location": {
                        "x": 949.6890258789062,
                        "y": 3488.587158203125,
                        "z": 370.7195739746094
                    },
                    "rotation": {
                        "roll": 0.0009183965157717466,
                        "pitch": -0.1453259289264679,
                        "yaw": -80.84819030761719
                    }
                },
                "velocity": {
                    "x": 1.131861686706543,
                    "y": -6.977321147918701,
                    "z": -0.08765962719917297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.054890632629395,
                "transform": {
                    "location": {
                        "x": 964.9883422851562,
                        "y": 3372.42919921875,
                        "z": 369.9174499511719
                    },
                    "rotation": {
                        "roll": 0.001119623426347971,
                        "pitch": 0.5900258421897888,
                        "yaw": 99.17615509033203
                    }
                },
                "velocity": {
                    "x": -1.4400274753570557,
                    "y": 8.939023971557617,
                    "z": 0.10592645406723022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6358511447906494,
                "transform": {
                    "location": {
                        "x": 962.091552734375,
                        "y": 3390.429931640625,
                        "z": 370.10693359375
                    },
                    "rotation": {
                        "roll": 0.0009806923335418105,
                        "pitch": 0.01041603833436966,
                        "yaw": 99.58064270019531
                    }
                },
                "velocity": {
                    "x": -0.4399324953556061,
                    "y": 2.598763942718506,
                    "z": 0.02442777529358864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030961990356445,
                "transform": {
                    "location": {
                        "x": 962.9888305664062,
                        "y": 3406.57080078125,
                        "z": 370.2818298339844
                    },
                    "rotation": {
                        "roll": -0.0017700010212138295,
                        "pitch": -0.42339658737182617,
                        "yaw": -80.84211730957031
                    }
                },
                "velocity": {
                    "x": 1.277819275856018,
                    "y": -7.928426742553711,
                    "z": -0.05984934791922569
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.766721725463867,
                "transform": {
                    "location": {
                        "x": 945.1685791015625,
                        "y": 3475.136474609375,
                        "z": 370.6510925292969
                    },
                    "rotation": {
                        "roll": 1.0031944839283824e-05,
                        "pitch": 0.2618011236190796,
                        "yaw": 99.14079284667969
                    }
                },
                "velocity": {
                    "x": -1.2353907823562622,
                    "y": 7.667770862579346,
                    "z": 0.03266781568527222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.5344848632812,
                        "y": 3492.132080078125,
                        "z": 370.7146911621094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.70132303237915,
                "transform": {
                    "location": {
                        "x": 967.7789916992188,
                        "y": 3355.1044921875,
                        "z": 369.7021484375
                    },
                    "rotation": {
                        "roll": -0.0007324632024392486,
                        "pitch": 0.7262949347496033,
                        "yaw": 99.16292572021484
                    }
                },
                "velocity": {
                    "x": -1.2263375520706177,
                    "y": 7.6024017333984375,
                    "z": 0.0998244434595108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9067821502685547,
                "transform": {
                    "location": {
                        "x": 959.8778686523438,
                        "y": 3404.22265625,
                        "z": 370.2323303222656
                    },
                    "rotation": {
                        "roll": -0.008819565176963806,
                        "pitch": 0.6166977286338806,
                        "yaw": 98.73033142089844
                    }
                },
                "velocity": {
                    "x": -0.45573633909225464,
                    "y": 2.870736598968506,
                    "z": 0.023617390543222427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057097434997559,
                "transform": {
                    "location": {
                        "x": 956.2007446289062,
                        "y": 3427.0400390625,
                        "z": 370.3997497558594
                    },
                    "rotation": {
                        "roll": 0.0004999747034162283,
                        "pitch": 0.3660571277141571,
                        "yaw": 99.14643859863281
                    }
                },
                "velocity": {
                    "x": -1.2807285785675049,
                    "y": 7.954478740692139,
                    "z": 0.05311412736773491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.306402206420898,
                "transform": {
                    "location": {
                        "x": 956.1886596679688,
                        "y": 3448.82763671875,
                        "z": 370.5162048339844
                    },
                    "rotation": {
                        "roll": 0.0007850546971894801,
                        "pitch": -0.28698405623435974,
                        "yaw": -80.84343719482422
                    }
                },
                "velocity": {
                    "x": 1.163098692893982,
                    "y": -7.213133335113525,
                    "z": -0.03767981752753258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162651538848877,
                "transform": {
                    "location": {
                        "x": 951.5101318359375,
                        "y": 3430.73486328125,
                        "z": 370.4114074707031
                    },
                    "rotation": {
                        "roll": 0.0011050546308979392,
                        "pitch": 0.587710440158844,
                        "yaw": 99.13858032226562
                    }
                },
                "velocity": {
                    "x": -0.5022249221801758,
                    "y": 3.122450828552246,
                    "z": 0.020854996517300606
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649725437164307,
                "transform": {
                    "location": {
                        "x": 953.1329345703125,
                        "y": 3420.653564453125,
                        "z": 370.3400573730469
                    },
                    "rotation": {
                        "roll": 0.0008168719941750169,
                        "pitch": 0.07806222885847092,
                        "yaw": 99.14208221435547
                    }
                },
                "velocity": {
                    "x": -0.5028268694877625,
                    "y": 3.1246964931488037,
                    "z": 0.02208971045911312
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7339022755622864,
        "expert_target_speed": 0,
        "target_point": [
            23.690456680046225,
            4.329611992184795
        ],
        "target_point_next": [
            74.49953345169301,
            8.740542575920292
        ]
    },
    "345": {
        "acceleration": [
            -0.19484877586364746,
            -0.11423110961914062,
            -0.025209039449691772
        ],
        "angular_velocity": [
            0.604162871837616,
            0.03261471912264824,
            1.778016448020935
        ],
        "forward_vector": [
            -0.08045659959316254,
            0.9967518448829651,
            0.0035288261715322733
        ],
        "right_vector": [
            -0.9967563152313232,
            -0.08046253770589828,
            0.0015755152562633157
        ],
        "location": [
            956.3915405273438,
            3420.906494140625,
            370.35186767578125
        ],
        "rotation": [
            -0.09027097374200821,
            0.20218725502490997,
            94.61483764648438
        ],
        "velocity": [
            -0.4433291256427765,
            5.038452625274658,
            0.033509064465761185
        ],
        "speed": 5.057919094922366,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.130949974060059,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                955.882080078125,
                3429.021240234375,
                370.41265869140625
            ],
            "velocity": [
                -1.2700860500335693,
                7.895426273345947,
                0.052073437720537186
            ],
            "speed_kmh": 28.789555013372578,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.611823558807373,
                "transform": {
                    "location": {
                        "x": 952.9154663085938,
                        "y": 3488.995849609375,
                        "z": 370.6925964355469
                    },
                    "rotation": {
                        "roll": -0.001373295672237873,
                        "pitch": -0.26001161336898804,
                        "yaw": -80.84513092041016
                    }
                },
                "velocity": {
                    "x": 1.06589674949646,
                    "y": -6.525012493133545,
                    "z": -0.06547397375106812
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04459285736084,
                "transform": {
                    "location": {
                        "x": 959.4918823242188,
                        "y": 3448.746826171875,
                        "z": 370.52099609375
                    },
                    "rotation": {
                        "roll": 0.0012272362364456058,
                        "pitch": -0.29864317178726196,
                        "yaw": -80.82273864746094
                    }
                },
                "velocity": {
                    "x": 1.2829055786132812,
                    "y": -7.94153356552124,
                    "z": -0.04101269319653511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043021202087402,
                "transform": {
                    "location": {
                        "x": 966.2760620117188,
                        "y": 3406.60302734375,
                        "z": 370.2445983886719
                    },
                    "rotation": {
                        "roll": -0.0011596974218264222,
                        "pitch": -0.4303019046783447,
                        "yaw": -80.85354614257812
                    }
                },
                "velocity": {
                    "x": 1.2764490842819214,
                    "y": -7.940845012664795,
                    "z": -0.062101542949676514
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033248901367188,
                "transform": {
                    "location": {
                        "x": 973.2015991210938,
                        "y": 3363.570556640625,
                        "z": 369.7911376953125
                    },
                    "rotation": {
                        "roll": 0.0003230712900403887,
                        "pitch": -0.708645761013031,
                        "yaw": -80.84729766845703
                    }
                },
                "velocity": {
                    "x": 1.2758164405822754,
                    "y": -7.930705547332764,
                    "z": -0.09639135748147964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.217132568359375,
                "transform": {
                    "location": {
                        "x": 970.054443359375,
                        "y": 3362.66796875,
                        "z": 369.78375244140625
                    },
                    "rotation": {
                        "roll": -0.0007629317697137594,
                        "pitch": -0.7085842490196228,
                        "yaw": -80.81587982177734
                    }
                },
                "velocity": {
                    "x": 1.3076318502426147,
                    "y": -8.111791610717773,
                    "z": -0.10100638121366501
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7628173828125,
                        "y": 3343.39892578125,
                        "z": 369.54302978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.752397537231445,
                "transform": {
                    "location": {
                        "x": 949.970458984375,
                        "y": 3486.911865234375,
                        "z": 370.6971740722656
                    },
                    "rotation": {
                        "roll": 0.009316405281424522,
                        "pitch": -0.15466278791427612,
                        "yaw": -80.51393127441406
                    }
                },
                "velocity": {
                    "x": 1.1471868753433228,
                    "y": -6.653962135314941,
                    "z": -0.060239750891923904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.812822341918945,
                "transform": {
                    "location": {
                        "x": 964.6528930664062,
                        "y": 3374.51220703125,
                        "z": 369.9405822753906
                    },
                    "rotation": {
                        "roll": -0.0009460631408728659,
                        "pitch": 0.7543055415153503,
                        "yaw": 99.12440490722656
                    }
                },
                "velocity": {
                    "x": -1.2394410371780396,
                    "y": 7.713359832763672,
                    "z": 0.0897977203130722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6959801912307739,
                "transform": {
                    "location": {
                        "x": 962.0628662109375,
                        "y": 3390.599853515625,
                        "z": 370.10894775390625
                    },
                    "rotation": {
                        "roll": 0.011478575877845287,
                        "pitch": 0.19011147320270538,
                        "yaw": 99.95740509033203
                    }
                },
                "velocity": {
                    "x": -0.11062106490135193,
                    "y": 0.6871059536933899,
                    "z": 0.006070337258279324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033010482788086,
                "transform": {
                    "location": {
                        "x": 963.3081665039062,
                        "y": 3404.588623046875,
                        "z": 370.2660217285156
                    },
                    "rotation": {
                        "roll": 0.0006374696386046708,
                        "pitch": -0.4637424945831299,
                        "yaw": -80.86605072021484
                    }
                },
                "velocity": {
                    "x": 1.276885986328125,
                    "y": -7.930611610412598,
                    "z": -0.06487605720758438
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.46835470199585,
                "transform": {
                    "location": {
                        "x": 944.9039916992188,
                        "y": 3476.7802734375,
                        "z": 370.6566467285156
                    },
                    "rotation": {
                        "roll": 0.00027422921266406775,
                        "pitch": 0.4319069981575012,
                        "yaw": 99.14143371582031
                    }
                },
                "velocity": {
                    "x": -0.8687431216239929,
                    "y": 5.398855686187744,
                    "z": 0.02332710288465023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.322998046875,
                        "y": 3493.44775390625,
                        "z": 370.7193908691406
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.453097343444824,
                "transform": {
                    "location": {
                        "x": 967.456298828125,
                        "y": 3357.10546875,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.0010918949265033007,
                        "pitch": 0.7957989573478699,
                        "yaw": 99.1603775024414
                    }
                },
                "velocity": {
                    "x": -1.344505786895752,
                    "y": 8.344794273376465,
                    "z": 0.10756984353065491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.438443660736084,
                "transform": {
                    "location": {
                        "x": 959.7310791015625,
                        "y": 3405.14208984375,
                        "z": 370.2398986816406
                    },
                    "rotation": {
                        "roll": -0.007324214559048414,
                        "pitch": 0.6635391712188721,
                        "yaw": 98.92002868652344
                    }
                },
                "velocity": {
                    "x": -0.7012686133384705,
                    "y": 4.3825531005859375,
                    "z": 0.035112276673316956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997098445892334,
                "transform": {
                    "location": {
                        "x": 955.882080078125,
                        "y": 3429.021240234375,
                        "z": 370.41265869140625
                    },
                    "rotation": {
                        "roll": 0.0015304202679544687,
                        "pitch": 0.3655107319355011,
                        "yaw": 99.13973999023438
                    }
                },
                "velocity": {
                    "x": -1.2700860500335693,
                    "y": 7.895426273345947,
                    "z": 0.052073437720537186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002386093139648,
                "transform": {
                    "location": {
                        "x": 956.4932861328125,
                        "y": 3446.9375,
                        "z": 370.5063171386719
                    },
                    "rotation": {
                        "roll": 0.000730385014321655,
                        "pitch": -0.27517464756965637,
                        "yaw": -80.85191345214844
                    }
                },
                "velocity": {
                    "x": 1.2727539539337158,
                    "y": -7.900415897369385,
                    "z": -0.04121258109807968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162635326385498,
                "transform": {
                    "location": {
                        "x": 951.384521484375,
                        "y": 3431.51513671875,
                        "z": 370.4164733886719
                    },
                    "rotation": {
                        "roll": 0.0025584406685084105,
                        "pitch": 0.5879290103912354,
                        "yaw": 99.13887786865234
                    }
                },
                "velocity": {
                    "x": -0.5027492642402649,
                    "y": 3.1223464012145996,
                    "z": 0.021403856575489044
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650638580322266,
                "transform": {
                    "location": {
                        "x": 953.0072631835938,
                        "y": 3421.434814453125,
                        "z": 370.3453674316406
                    },
                    "rotation": {
                        "roll": -0.0003967249649576843,
                        "pitch": 0.08132705837488174,
                        "yaw": 99.14292907714844
                    }
                },
                "velocity": {
                    "x": -0.5027855038642883,
                    "y": 3.1247990131378174,
                    "z": 0.021610630676150322
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6579686403274536,
        "expert_target_speed": 4.2841651507775325,
        "target_point": [
            22.43450509562521,
            4.1476016335953565
        ],
        "target_point_next": [
            73.27553292742786,
            8.173577292674636
        ]
    },
    "350": {
        "acceleration": [
            -1.3298207521438599,
            12.41607666015625,
            0.09037680923938751
        ],
        "angular_velocity": [
            3.4122395515441895,
            0.4439490735530853,
            1.8632375001907349
        ],
        "forward_vector": [
            -0.08790498226881027,
            0.9961018562316895,
            0.007340841460973024
        ],
        "right_vector": [
            -0.9961264133453369,
            -0.08791887760162354,
            0.0015914615942165256
        ],
        "location": [
            956.2758178710938,
            3422.184814453125,
            370.3596496582031
        ],
        "rotation": [
            -0.0911865308880806,
            0.42060303688049316,
            95.04322814941406
        ],
        "velocity": [
            -0.5409391522407532,
            5.665191650390625,
            0.03796515241265297
        ],
        "speed": 5.690958759478283,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.84661865234375,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                955.563232421875,
                3431.00244140625,
                370.425537109375
            ],
            "velocity": [
                -1.279564380645752,
                7.954265117645264,
                0.052525270730257034
            ],
            "speed_kmh": 29.004111639767874,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.829773902893066,
                "transform": {
                    "location": {
                        "x": 953.1906127929688,
                        "y": 3487.3369140625,
                        "z": 370.6833190917969
                    },
                    "rotation": {
                        "roll": -0.004394543822854757,
                        "pitch": -0.23626989126205444,
                        "yaw": -80.56156921386719
                    }
                },
                "velocity": {
                    "x": 1.145295262336731,
                    "y": -6.733012676239014,
                    "z": -0.025576261803507805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0205717086792,
                "transform": {
                    "location": {
                        "x": 959.8112182617188,
                        "y": 3446.767822265625,
                        "z": 370.5105895996094
                    },
                    "rotation": {
                        "roll": 0.0008703411440365016,
                        "pitch": -0.3054528832435608,
                        "yaw": -80.83250427246094
                    }
                },
                "velocity": {
                    "x": 1.2778010368347168,
                    "y": -7.918015003204346,
                    "z": -0.04281333461403847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043567657470703,
                "transform": {
                    "location": {
                        "x": 966.5955200195312,
                        "y": 3404.618408203125,
                        "z": 370.2286376953125
                    },
                    "rotation": {
                        "roll": -0.0022887808736413717,
                        "pitch": -0.4808316230773926,
                        "yaw": -80.86936950683594
                    }
                },
                "velocity": {
                    "x": 1.278420090675354,
                    "y": -7.9410624504089355,
                    "z": -0.06436117738485336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033055305480957,
                "transform": {
                    "location": {
                        "x": 973.5206909179688,
                        "y": 3361.588134765625,
                        "z": 369.7667541503906
                    },
                    "rotation": {
                        "roll": 0.00148295727558434,
                        "pitch": -0.7063576579093933,
                        "yaw": -80.8737564086914
                    }
                },
                "velocity": {
                    "x": 1.2758415937423706,
                    "y": -7.930510520935059,
                    "z": -0.09601809084415436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.938898086547852,
                "transform": {
                    "location": {
                        "x": 970.3771362304688,
                        "y": 3360.667724609375,
                        "z": 369.7590637207031
                    },
                    "rotation": {
                        "roll": -0.0002746422542259097,
                        "pitch": -0.7025395631790161,
                        "yaw": -80.85236358642578
                    }
                },
                "velocity": {
                    "x": 1.2634536027908325,
                    "y": -7.837113857269287,
                    "z": -0.09715260565280914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.3656616210938,
                        "y": 3345.866455078125,
                        "z": 369.57843017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.823436260223389,
                "transform": {
                    "location": {
                        "x": 950.2579956054688,
                        "y": 3485.2392578125,
                        "z": 370.6880798339844
                    },
                    "rotation": {
                        "roll": -3.0515964681399055e-05,
                        "pitch": -0.22201529145240784,
                        "yaw": -80.29582214355469
                    }
                },
                "velocity": {
                    "x": 1.1652528047561646,
                    "y": -6.723142623901367,
                    "z": -0.028708523139357567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7793755531311035,
                "transform": {
                    "location": {
                        "x": 964.3728637695312,
                        "y": 3376.25830078125,
                        "z": 369.9598083496094
                    },
                    "rotation": {
                        "roll": 0.0006271334714256227,
                        "pitch": 0.8145887851715088,
                        "yaw": 99.22999572753906
                    }
                },
                "velocity": {
                    "x": -0.9180600047111511,
                    "y": 5.705638885498047,
                    "z": 0.06352002918720245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6618931293487549,
                "transform": {
                    "location": {
                        "x": 962.0115966796875,
                        "y": 3390.9130859375,
                        "z": 370.11260986328125
                    },
                    "rotation": {
                        "roll": 0.009140011854469776,
                        "pitch": 0.5984269976615906,
                        "yaw": 99.7792739868164
                    }
                },
                "velocity": {
                    "x": -0.27010849118232727,
                    "y": 1.6397124528884888,
                    "z": 0.016519051045179367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03192138671875,
                "transform": {
                    "location": {
                        "x": 963.6271362304688,
                        "y": 3402.6064453125,
                        "z": 370.2496032714844
                    },
                    "rotation": {
                        "roll": 3.9568563806824386e-05,
                        "pitch": -0.4980505406856537,
                        "yaw": -80.840087890625
                    }
                },
                "velocity": {
                    "x": 1.276898741722107,
                    "y": -7.929470539093018,
                    "z": -0.06920560449361801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.514594078063965,
                "transform": {
                    "location": {
                        "x": 944.7139892578125,
                        "y": 3477.9609375,
                        "z": 370.6617736816406
                    },
                    "rotation": {
                        "roll": -0.00033567295758984983,
                        "pitch": 0.35764235258102417,
                        "yaw": 99.14189910888672
                    }
                },
                "velocity": {
                    "x": -0.7172778248786926,
                    "y": 4.457211017608643,
                    "z": 0.018466424196958542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.1162109375,
                        "y": 3494.732421875,
                        "z": 370.7237548828125
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.709164142608643,
                "transform": {
                    "location": {
                        "x": 967.1343383789062,
                        "y": 3359.104248046875,
                        "z": 369.752685546875
                    },
                    "rotation": {
                        "roll": 0.0010894809383898973,
                        "pitch": 0.6298458576202393,
                        "yaw": 99.15093994140625
                    }
                },
                "velocity": {
                    "x": -1.2261804342269897,
                    "y": 7.6104559898376465,
                    "z": 0.09302867949008942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.381430149078369,
                "transform": {
                    "location": {
                        "x": 959.5299072265625,
                        "y": 3406.395751953125,
                        "z": 370.25
                    },
                    "rotation": {
                        "roll": -0.0038757524453103542,
                        "pitch": 0.5921022295951843,
                        "yaw": 99.06755828857422
                    }
                },
                "velocity": {
                    "x": -0.8546127080917358,
                    "y": 5.312993049621582,
                    "z": 0.03912530839443207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056697845458984,
                "transform": {
                    "location": {
                        "x": 955.563232421875,
                        "y": 3431.00244140625,
                        "z": 370.425537109375
                    },
                    "rotation": {
                        "roll": 0.00032574794022366405,
                        "pitch": 0.36587271094322205,
                        "yaw": 99.13896179199219
                    }
                },
                "velocity": {
                    "x": -1.279564380645752,
                    "y": 7.954265117645264,
                    "z": 0.052525270730257034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.52327823638916,
                "transform": {
                    "location": {
                        "x": 956.8351440429688,
                        "y": 3444.81298828125,
                        "z": 370.4947814941406
                    },
                    "rotation": {
                        "roll": -0.0007324275793507695,
                        "pitch": -0.2981923818588257,
                        "yaw": -80.81974792480469
                    }
                },
                "velocity": {
                    "x": 1.3550057411193848,
                    "y": -8.414746284484863,
                    "z": -0.047747381031513214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625759601593018,
                "transform": {
                    "location": {
                        "x": 951.2589721679688,
                        "y": 3432.295654296875,
                        "z": 370.4216003417969
                    },
                    "rotation": {
                        "roll": 0.0012995919678360224,
                        "pitch": 0.588181734085083,
                        "yaw": 99.1375732421875
                    }
                },
                "velocity": {
                    "x": -0.502132773399353,
                    "y": 3.1223833560943604,
                    "z": 0.021726779639720917
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165160894393921,
                "transform": {
                    "location": {
                        "x": 952.8815307617188,
                        "y": 3422.216064453125,
                        "z": 370.3507385253906
                    },
                    "rotation": {
                        "roll": -0.0003356967936269939,
                        "pitch": 0.08184615522623062,
                        "yaw": 99.14312744140625
                    }
                },
                "velocity": {
                    "x": -0.5029810070991516,
                    "y": 3.1248629093170166,
                    "z": 0.022034605965018272
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5968679189682007,
        "expert_target_speed": 6.706965011739059,
        "target_point": [
            21.18134798072757,
            3.97682638366115
        ],
        "target_point_next": [
            72.05105938328374,
            7.622516005979089
        ]
    },
    "355": {
        "acceleration": [
            -1.0963010787963867,
            7.662038803100586,
            0.047943517565727234
        ],
        "angular_velocity": [
            1.092774510383606,
            0.23398993909358978,
            2.431776523590088
        ],
        "forward_vector": [
            -0.09738809615373611,
            0.9950960874557495,
            0.017299026250839233
        ],
        "right_vector": [
            -0.9952397346496582,
            -0.0974365696310997,
            0.0019794947002083063
        ],
        "location": [
            956.1067504882812,
            3423.894287109375,
            370.369140625
        ],
        "rotation": [
            -0.11343374848365784,
            0.9912106394767761,
            95.5896224975586
        ],
        "velocity": [
            -0.7984846234321594,
            7.671535491943359,
            0.051754627376794815
        ],
        "speed": 7.712978315670558,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.130181312561035,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                955.2445068359375,
                3432.9833984375,
                370.43841552734375
            ],
            "velocity": [
                -1.270612120628357,
                7.895493984222412,
                0.052270181477069855
            ],
            "speed_kmh": 28.79010113109291,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.60575008392334,
                "transform": {
                    "location": {
                        "x": 953.4718017578125,
                        "y": 3485.68212890625,
                        "z": 370.6771545410156
                    },
                    "rotation": {
                        "roll": -0.004821778740733862,
                        "pitch": -0.23114041984081268,
                        "yaw": -80.25861358642578
                    }
                },
                "velocity": {
                    "x": 1.1253374814987183,
                    "y": -6.509142875671387,
                    "z": -0.02464209496974945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064571380615234,
                "transform": {
                    "location": {
                        "x": 960.131591796875,
                        "y": 3444.78125,
                        "z": 370.4996337890625
                    },
                    "rotation": {
                        "roll": -0.0003051888488698751,
                        "pitch": -0.32186582684516907,
                        "yaw": -80.83769226074219
                    }
                },
                "velocity": {
                    "x": 1.2841041088104248,
                    "y": -7.961558818817139,
                    "z": -0.044436149299144745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043538093566895,
                "transform": {
                    "location": {
                        "x": 966.9149780273438,
                        "y": 3402.633056640625,
                        "z": 370.2117614746094
                    },
                    "rotation": {
                        "roll": -0.00015256443293765187,
                        "pitch": -0.4977022111415863,
                        "yaw": -80.84410095214844
                    }
                },
                "velocity": {
                    "x": 1.2780647277832031,
                    "y": -7.941056728363037,
                    "z": -0.06836478412151337
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034201622009277,
                "transform": {
                    "location": {
                        "x": 973.839599609375,
                        "y": 3359.60546875,
                        "z": 369.7424011230469
                    },
                    "rotation": {
                        "roll": 0.0006467291968874633,
                        "pitch": -0.7054970264434814,
                        "yaw": -80.8459701538086
                    }
                },
                "velocity": {
                    "x": 1.276058554649353,
                    "y": -7.931639671325684,
                    "z": -0.09575437009334564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.818237781524658,
                "transform": {
                    "location": {
                        "x": 970.6596069335938,
                        "y": 3358.91357421875,
                        "z": 369.7377624511719
                    },
                    "rotation": {
                        "roll": -0.0016479154583066702,
                        "pitch": -0.7266228199005127,
                        "yaw": -80.82158660888672
                    }
                },
                "velocity": {
                    "x": 1.0840181112289429,
                    "y": -6.73099422454834,
                    "z": -0.08362625539302826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.1007690429688,
                        "y": 3347.51171875,
                        "z": 369.6011962890625
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.738775730133057,
                "transform": {
                    "location": {
                        "x": 950.5447998046875,
                        "y": 3483.569091796875,
                        "z": 370.6813659667969
                    },
                    "rotation": {
                        "roll": -0.01187132764607668,
                        "pitch": -0.22599045932292938,
                        "yaw": -80.28618621826172
                    }
                },
                "velocity": {
                    "x": 1.1150250434875488,
                    "y": -6.645838260650635,
                    "z": -0.025439824908971786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001727136259432882,
                "transform": {
                    "location": {
                        "x": 964.2734375,
                        "y": 3376.896484375,
                        "z": 369.9639892578125
                    },
                    "rotation": {
                        "roll": 0.00800743792206049,
                        "pitch": 1.1462559700012207,
                        "yaw": 100.12751770019531
                    }
                },
                "velocity": {
                    "x": 7.971048034960404e-05,
                    "y": 0.00014866649871692061,
                    "z": 3.70743109670002e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8857851028442383,
                "transform": {
                    "location": {
                        "x": 961.9210205078125,
                        "y": 3391.4658203125,
                        "z": 370.11822509765625
                    },
                    "rotation": {
                        "roll": 0.009366555139422417,
                        "pitch": 0.7194032669067383,
                        "yaw": 99.61751556396484
                    }
                },
                "velocity": {
                    "x": -0.4663550853729248,
                    "y": 2.8477139472961426,
                    "z": 0.028151873499155045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031990051269531,
                "transform": {
                    "location": {
                        "x": 963.9464111328125,
                        "y": 3400.6240234375,
                        "z": 370.2322082519531
                    },
                    "rotation": {
                        "roll": 0.0015115556307137012,
                        "pitch": -0.49410951137542725,
                        "yaw": -80.87178039550781
                    }
                },
                "velocity": {
                    "x": 1.2737693786621094,
                    "y": -7.930050373077393,
                    "z": -0.06845266371965408
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.237743377685547,
                "transform": {
                    "location": {
                        "x": 944.5185546875,
                        "y": 3479.1748046875,
                        "z": 370.66845703125
                    },
                    "rotation": {
                        "roll": 0.0004204589640721679,
                        "pitch": 0.1822294443845749,
                        "yaw": 99.13925170898438
                    }
                },
                "velocity": {
                    "x": -0.8321221470832825,
                    "y": 5.17117166519165,
                    "z": 0.022700805217027664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.8709716796875,
                        "y": 3496.255126953125,
                        "z": 370.72894287109375
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.965146541595459,
                "transform": {
                    "location": {
                        "x": 966.8263549804688,
                        "y": 3361.016845703125,
                        "z": 369.7761535644531
                    },
                    "rotation": {
                        "roll": -0.0009765528375282884,
                        "pitch": 0.7149022221565247,
                        "yaw": 99.14694213867188
                    }
                },
                "velocity": {
                    "x": -1.2660362720489502,
                    "y": 7.863301753997803,
                    "z": 0.09590639173984528
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.989058971405029,
                "transform": {
                    "location": {
                        "x": 959.3119506835938,
                        "y": 3407.7490234375,
                        "z": 370.259765625
                    },
                    "rotation": {
                        "roll": -0.002532956888899207,
                        "pitch": 0.5197159051895142,
                        "yaw": 99.189453125
                    }
                },
                "velocity": {
                    "x": -0.9550490379333496,
                    "y": 5.912261009216309,
                    "z": 0.04337960109114647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997250556945801,
                "transform": {
                    "location": {
                        "x": 955.2445068359375,
                        "y": 3432.9833984375,
                        "z": 370.43841552734375
                    },
                    "rotation": {
                        "roll": -0.00021360785467550159,
                        "pitch": 0.36695873737335205,
                        "yaw": 99.14202880859375
                    }
                },
                "velocity": {
                    "x": -1.270612120628357,
                    "y": 7.895493984222412,
                    "z": 0.052270181477069855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.183384895324707,
                "transform": {
                    "location": {
                        "x": 957.1646728515625,
                        "y": 3442.760498046875,
                        "z": 370.4834289550781
                    },
                    "rotation": {
                        "roll": -0.00012207850522827357,
                        "pitch": -0.34680283069610596,
                        "yaw": -80.68207550048828
                    }
                },
                "velocity": {
                    "x": 1.3033604621887207,
                    "y": -8.078781127929688,
                    "z": -0.04828121140599251
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626150608062744,
                "transform": {
                    "location": {
                        "x": 951.1334228515625,
                        "y": 3433.075927734375,
                        "z": 370.4266662597656
                    },
                    "rotation": {
                        "roll": 7.035998714854941e-05,
                        "pitch": 0.5882158875465393,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -0.502070426940918,
                    "y": 3.1224358081817627,
                    "z": 0.02130229026079178
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650147438049316,
                "transform": {
                    "location": {
                        "x": 952.7557373046875,
                        "y": 3422.997314453125,
                        "z": 370.3560791015625
                    },
                    "rotation": {
                        "roll": -0.0009155297302640975,
                        "pitch": 0.08254966139793396,
                        "yaw": 99.14286804199219
                    }
                },
                "velocity": {
                    "x": -0.502871572971344,
                    "y": 3.124735116958618,
                    "z": 0.021649884060025215
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.39381811022758484,
        "expert_target_speed": 0,
        "target_point": [
            19.500493848017427,
            3.7729149890747773
        ],
        "target_point_next": [
            70.4026556924942,
            6.933375487217801
        ]
    },
    "360": {
        "acceleration": [
            -1.1997699737548828,
            7.154636383056641,
            0.03284640610218048
        ],
        "angular_velocity": [
            0.22313416004180908,
            0.21117298305034637,
            2.8220443725585938
        ],
        "forward_vector": [
            -0.1088901087641716,
            0.9939201474189758,
            0.016301264986395836
        ],
        "right_vector": [
            -0.9940451383590698,
            -0.10894304513931274,
            0.002392795868217945
        ],
        "location": [
            955.880126953125,
            3425.984375,
            370.3832092285156
        ],
        "rotation": [
            -0.1371154636144638,
            0.9340351223945618,
            96.2521743774414
        ],
        "velocity": [
            -1.013582468032837,
            8.84890365600586,
            0.05871613323688507
        ],
        "speed": 8.906764021392808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.031065940856934,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                954.9255981445312,
                3434.964599609375,
                370.4510498046875
            ],
            "velocity": [
                -1.2801913022994995,
                7.954742908477783,
                0.04826060310006142
            ],
            "speed_kmh": 29.006072305772303,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.622039794921875,
                "transform": {
                    "location": {
                        "x": 953.7555541992188,
                        "y": 3484.028564453125,
                        "z": 370.6705017089844
                    },
                    "rotation": {
                        "roll": -0.001220719306729734,
                        "pitch": -0.22924846410751343,
                        "yaw": -80.16730499267578
                    }
                },
                "velocity": {
                    "x": 1.1109775304794312,
                    "y": -6.528129577636719,
                    "z": -0.025780348107218742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032962799072266,
                "transform": {
                    "location": {
                        "x": 960.4517211914062,
                        "y": 3442.794921875,
                        "z": 370.4881286621094
                    },
                    "rotation": {
                        "roll": 0.001380495959892869,
                        "pitch": -0.3379509150981903,
                        "yaw": -80.84782409667969
                    }
                },
                "velocity": {
                    "x": 1.2766468524932861,
                    "y": -7.930736541748047,
                    "z": -0.045635420829057693
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042458534240723,
                "transform": {
                    "location": {
                        "x": 967.2344970703125,
                        "y": 3400.647705078125,
                        "z": 370.1944885253906
                    },
                    "rotation": {
                        "roll": -0.0006713845650665462,
                        "pitch": -0.49438273906707764,
                        "yaw": -80.87092590332031
                    }
                },
                "velocity": {
                    "x": 1.2768816947937012,
                    "y": -7.9401469230651855,
                    "z": -0.06917411834001541
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034050941467285,
                "transform": {
                    "location": {
                        "x": 974.1585083007812,
                        "y": 3357.623046875,
                        "z": 369.7177734375
                    },
                    "rotation": {
                        "roll": 0.0022424543276429176,
                        "pitch": -0.7221080660820007,
                        "yaw": -80.87767028808594
                    }
                },
                "velocity": {
                    "x": 1.2755154371261597,
                    "y": -7.931492805480957,
                    "z": -0.10223707556724548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.322012901306152,
                "transform": {
                    "location": {
                        "x": 970.9378051757812,
                        "y": 3357.185546875,
                        "z": 369.7156982421875
                    },
                    "rotation": {
                        "roll": -0.0009155282750725746,
                        "pitch": -0.7059888243675232,
                        "yaw": -80.8097152709961
                    }
                },
                "velocity": {
                    "x": 1.164591670036316,
                    "y": -7.228189468383789,
                    "z": -0.09421022981405258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.7037963867188,
                        "y": 3349.979248046875,
                        "z": 369.6354675292969
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.199383735656738,
                "transform": {
                    "location": {
                        "x": 950.8092041015625,
                        "y": 3481.994384765625,
                        "z": 370.6748046875
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": -0.1792924553155899,
                        "yaw": -80.42649841308594
                    }
                },
                "velocity": {
                    "x": 1.0204999446868896,
                    "y": -6.114759922027588,
                    "z": -0.025558141991496086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9803560972213745,
                "transform": {
                    "location": {
                        "x": 964.2543334960938,
                        "y": 3377.010009765625,
                        "z": 369.96917724609375
                    },
                    "rotation": {
                        "roll": 0.006766275968402624,
                        "pitch": 0.6732653975486755,
                        "yaw": 100.04742431640625
                    }
                },
                "velocity": {
                    "x": -0.15542589128017426,
                    "y": 0.9678882360458374,
                    "z": 0.011544808745384216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.47134256362915,
                "transform": {
                    "location": {
                        "x": 961.7705078125,
                        "y": 3392.39013671875,
                        "z": 370.1275329589844
                    },
                    "rotation": {
                        "roll": 0.008418506942689419,
                        "pitch": 0.7928414940834045,
                        "yaw": 99.41353607177734
                    }
                },
                "velocity": {
                    "x": -0.7167718410491943,
                    "y": 4.413311958312988,
                    "z": 0.04264644533395767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03272533416748,
                "transform": {
                    "location": {
                        "x": 964.2653198242188,
                        "y": 3398.6416015625,
                        "z": 370.21502685546875
                    },
                    "rotation": {
                        "roll": 3.916830974048935e-05,
                        "pitch": -0.49261370301246643,
                        "yaw": -80.8427734375
                    }
                },
                "velocity": {
                    "x": 1.2785930633544922,
                    "y": -7.930015563964844,
                    "z": -0.06875882297754288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.657106876373291,
                "transform": {
                    "location": {
                        "x": 944.303466796875,
                        "y": 3480.510009765625,
                        "z": 370.6739501953125
                    },
                    "rotation": {
                        "roll": 6.0604867030633613e-05,
                        "pitch": 0.17422445118427277,
                        "yaw": 99.09180450439453
                    }
                },
                "velocity": {
                    "x": -0.8979918360710144,
                    "y": 5.585336208343506,
                    "z": 0.022061137482523918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.5565185546875,
                        "y": 3498.210205078125,
                        "z": 370.7356872558594
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.262428283691406,
                "transform": {
                    "location": {
                        "x": 966.5195922851562,
                        "y": 3362.921875,
                        "z": 369.79937744140625
                    },
                    "rotation": {
                        "roll": 0.0014203890459612012,
                        "pitch": 0.6206729412078857,
                        "yaw": 99.14540100097656
                    }
                },
                "velocity": {
                    "x": -1.1544378995895386,
                    "y": 7.169543266296387,
                    "z": 0.08824857324361801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.796620845794678,
                "transform": {
                    "location": {
                        "x": 959.0254516601562,
                        "y": 3409.516845703125,
                        "z": 370.2730712890625
                    },
                    "rotation": {
                        "roll": -0.0012817054521292448,
                        "pitch": 0.6580408811569214,
                        "yaw": 99.23336791992188
                    }
                },
                "velocity": {
                    "x": -1.2485661506652832,
                    "y": 7.695789813995361,
                    "z": 0.056561555713415146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057242393493652,
                "transform": {
                    "location": {
                        "x": 954.9255981445312,
                        "y": 3434.964599609375,
                        "z": 370.4510498046875
                    },
                    "rotation": {
                        "roll": 0.00026088618324138224,
                        "pitch": 0.35392671823501587,
                        "yaw": 99.14261627197266
                    }
                },
                "velocity": {
                    "x": -1.2801913022994995,
                    "y": 7.954742908477783,
                    "z": 0.04826060310006142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.521321773529053,
                "transform": {
                    "location": {
                        "x": 957.4833374023438,
                        "y": 3440.78369140625,
                        "z": 370.47174072265625
                    },
                    "rotation": {
                        "roll": -0.0020751883275806904,
                        "pitch": -0.34732192754745483,
                        "yaw": -80.63264465332031
                    }
                },
                "velocity": {
                    "x": 1.1983973979949951,
                    "y": -7.425103664398193,
                    "z": -0.044274210929870605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1628293991088867,
                "transform": {
                    "location": {
                        "x": 951.0078125,
                        "y": 3433.856201171875,
                        "z": 370.4317932128906
                    },
                    "rotation": {
                        "roll": 0.002828380325809121,
                        "pitch": 0.5870478749275208,
                        "yaw": 99.13886260986328
                    }
                },
                "velocity": {
                    "x": -0.5025619864463806,
                    "y": 3.1225740909576416,
                    "z": 0.021293029189109802
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650383472442627,
                "transform": {
                    "location": {
                        "x": 952.6300659179688,
                        "y": 3423.778564453125,
                        "z": 370.3614501953125
                    },
                    "rotation": {
                        "roll": 0.0009103070478886366,
                        "pitch": 0.08241988718509674,
                        "yaw": 99.14270782470703
                    }
                },
                "velocity": {
                    "x": -0.5029537677764893,
                    "y": 3.1247427463531494,
                    "z": 0.022096071392297745
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.30855610966682434,
        "expert_target_speed": 0,
        "target_point": [
            17.44048394208706,
            3.5494987594387304
        ],
        "target_point_next": [
            68.37579036971457,
            6.1211033412744476
        ]
    },
    "365": {
        "acceleration": [
            -1.0053586959838867,
            3.4583091735839844,
            0.034904927015304565
        ],
        "angular_velocity": [
            -0.7209904789924622,
            0.09609551727771759,
            3.2926323413848877
        ],
        "forward_vector": [
            -0.12223052978515625,
            0.9923272728919983,
            0.018607495352625847
        ],
        "right_vector": [
            -0.9924870729446411,
            -0.12230923771858215,
            0.0031478391028940678
        ],
        "location": [
            955.5824584960938,
            3428.4560546875,
            370.39886474609375
        ],
        "rotation": [
            -0.1803894191980362,
            1.0661925077438354,
            97.0220718383789
        ],
        "velocity": [
            -1.3392515182495117,
            10.501030921936035,
            0.06701843440532684
        ],
        "speed": 10.586087334449418,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.545858383178711,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                954.6068725585938,
                3436.94580078125,
                370.4631652832031
            ],
            "velocity": [
                -1.2708160877227783,
                7.896075248718262,
                0.04736076295375824
            ],
            "speed_kmh": 28.79217364002212,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.0871453285217285,
                "transform": {
                    "location": {
                        "x": 954.0161743164062,
                        "y": 3482.4970703125,
                        "z": 370.6645202636719
                    },
                    "rotation": {
                        "roll": -0.001556403236463666,
                        "pitch": -0.24231460690498352,
                        "yaw": -80.30300903320312
                    }
                },
                "velocity": {
                    "x": 1.012036681175232,
                    "y": -6.002373695373535,
                    "z": -0.02509685419499874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044023513793945,
                "transform": {
                    "location": {
                        "x": 960.77099609375,
                        "y": 3440.8115234375,
                        "z": 370.4764709472656
                    },
                    "rotation": {
                        "roll": 0.0018706896807998419,
                        "pitch": -0.33398255705833435,
                        "yaw": -80.85359191894531
                    }
                },
                "velocity": {
                    "x": 1.2786365747451782,
                    "y": -7.941618919372559,
                    "z": -0.045825496315956116
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044697761535645,
                "transform": {
                    "location": {
                        "x": 967.5538940429688,
                        "y": 3398.662353515625,
                        "z": 370.17724609375
                    },
                    "rotation": {
                        "roll": -0.0007934786262921989,
                        "pitch": -0.49362456798553467,
                        "yaw": -80.84809875488281
                    }
                },
                "velocity": {
                    "x": 1.2774810791015625,
                    "y": -7.94232702255249,
                    "z": -0.06816799193620682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.3970336914062,
                        "y": 3355.55615234375,
                        "z": 369.6956481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.1818237304688,
                        "y": 3355.11767578125,
                        "z": 369.6960144042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.4390258789062,
                        "y": 3351.624267578125,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.591705799102783,
                "transform": {
                    "location": {
                        "x": 951.070068359375,
                        "y": 3480.43408203125,
                        "z": 370.66900634765625
                    },
                    "rotation": {
                        "roll": -0.0022277976386249065,
                        "pitch": -0.2558588683605194,
                        "yaw": -80.49248504638672
                    }
                },
                "velocity": {
                    "x": 1.08419668674469,
                    "y": -6.5018792152404785,
                    "z": -0.02584759145975113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7982252836227417,
                "transform": {
                    "location": {
                        "x": 964.1976318359375,
                        "y": 3377.357177734375,
                        "z": 369.9742126464844
                    },
                    "rotation": {
                        "roll": 0.005707175936549902,
                        "pitch": 0.5468385815620422,
                        "yaw": 99.9349136352539
                    }
                },
                "velocity": {
                    "x": -0.2854938805103302,
                    "y": 1.775320291519165,
                    "z": 0.018570881336927414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.553673267364502,
                "transform": {
                    "location": {
                        "x": 961.5667724609375,
                        "y": 3393.65087890625,
                        "z": 370.14013671875
                    },
                    "rotation": {
                        "roll": 0.0052505857311189175,
                        "pitch": 0.7403856515884399,
                        "yaw": 99.22462463378906
                    }
                },
                "velocity": {
                    "x": -0.8843073844909668,
                    "y": 5.4825663566589355,
                    "z": 0.05247790366411209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031255722045898,
                "transform": {
                    "location": {
                        "x": 964.5845336914062,
                        "y": 3396.6591796875,
                        "z": 370.1978454589844
                    },
                    "rotation": {
                        "roll": 0.0009346763836219907,
                        "pitch": -0.49188289046287537,
                        "yaw": -80.86936950683594
                    }
                },
                "velocity": {
                    "x": 1.2760931253433228,
                    "y": -7.928925037384033,
                    "z": -0.06938005238771439
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.869899272918701,
                "transform": {
                    "location": {
                        "x": 944.0626831054688,
                        "y": 3482.0068359375,
                        "z": 370.680419921875
                    },
                    "rotation": {
                        "roll": -0.00045777022023685277,
                        "pitch": 0.11004800349473953,
                        "yaw": 99.09429168701172
                    }
                },
                "velocity": {
                    "x": -1.0906503200531006,
                    "y": 6.782720565795898,
                    "z": 0.02641211450099945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.2257690429688,
                        "y": 3500.26513671875,
                        "z": 370.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.70554780960083,
                "transform": {
                    "location": {
                        "x": 966.2796020507812,
                        "y": 3364.4150390625,
                        "z": 369.81695556640625
                    },
                    "rotation": {
                        "roll": -0.0025634663179516792,
                        "pitch": 0.24937018752098083,
                        "yaw": 98.93929290771484
                    }
                },
                "velocity": {
                    "x": -0.5910654067993164,
                    "y": 3.6578853130340576,
                    "z": 0.04000736027956009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.949593544006348,
                "transform": {
                    "location": {
                        "x": 958.690673828125,
                        "y": 3411.584716796875,
                        "z": 370.2884216308594
                    },
                    "rotation": {
                        "roll": 0.0013722017174586654,
                        "pitch": 0.6215471625328064,
                        "yaw": 99.18529510498047
                    }
                },
                "velocity": {
                    "x": -1.4278762340545654,
                    "y": 8.834707260131836,
                    "z": 0.06587468832731247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997826099395752,
                "transform": {
                    "location": {
                        "x": 954.6068725585938,
                        "y": 3436.94580078125,
                        "z": 370.4631652832031
                    },
                    "rotation": {
                        "roll": 0.0020551197230815887,
                        "pitch": 0.3268381953239441,
                        "yaw": 99.14273834228516
                    }
                },
                "velocity": {
                    "x": -1.2708160877227783,
                    "y": 7.896075248718262,
                    "z": 0.04736076295375824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.676610946655273,
                "transform": {
                    "location": {
                        "x": 957.7587280273438,
                        "y": 3439.08544921875,
                        "z": 370.46185302734375
                    },
                    "rotation": {
                        "roll": 0.00010042711073765531,
                        "pitch": -0.3607774078845978,
                        "yaw": -80.78224182128906
                    }
                },
                "velocity": {
                    "x": 1.0623793601989746,
                    "y": -6.591431617736816,
                    "z": -0.03884328901767731
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624505519866943,
                "transform": {
                    "location": {
                        "x": 950.88232421875,
                        "y": 3434.63623046875,
                        "z": 370.4366455078125
                    },
                    "rotation": {
                        "roll": 0.0008093365468084812,
                        "pitch": 0.5641257762908936,
                        "yaw": 99.13908386230469
                    }
                },
                "velocity": {
                    "x": -0.5026168823242188,
                    "y": 3.122188091278076,
                    "z": 0.020307835191488266
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165361166000366,
                "transform": {
                    "location": {
                        "x": 952.5043334960938,
                        "y": 3424.559814453125,
                        "z": 370.36676025390625
                    },
                    "rotation": {
                        "roll": -6.103486521169543e-05,
                        "pitch": 0.07949656993150711,
                        "yaw": 99.1429672241211
                    }
                },
                "velocity": {
                    "x": -0.5031341910362244,
                    "y": 3.125047206878662,
                    "z": 0.021146688610315323
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.22082093358039856,
        "expert_target_speed": 0,
        "target_point": [
            14.997073165086059,
            3.3215640152087014
        ],
        "target_point_next": [
            65.96233552404053,
            5.208525510462339
        ]
    },
    "370": {
        "acceleration": [
            -0.2563595771789551,
            -2.616748809814453,
            -0.014564543962478638
        ],
        "angular_velocity": [
            -2.050571918487549,
            -0.19867628812789917,
            2.1117467880249023
        ],
        "forward_vector": [
            -0.13606855273246765,
            0.9906347990036011,
            0.011312838643789291
        ],
        "right_vector": [
            -0.990686297416687,
            -0.13611668348312378,
            0.0035950294695794582
        ],
        "location": [
            955.23046875,
            3431.089599609375,
            370.4173278808594
        ],
        "rotation": [
            -0.2059936374425888,
            0.6481917500495911,
            97.82091522216797
        ],
        "velocity": [
            -1.4688788652420044,
            10.379207611083984,
            0.06790990382432938
        ],
        "speed": 10.482631146555637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.89457893371582,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                954.287841796875,
                3438.927490234375,
                370.4747619628906
            ],
            "velocity": [
                -1.2801754474639893,
                7.954559803009033,
                0.04538147896528244
            ],
            "speed_kmh": 29.005352210873507,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.802512168884277,
                "transform": {
                    "location": {
                        "x": 954.2822265625,
                        "y": 3480.921142578125,
                        "z": 370.6578063964844
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.21175634860992432,
                        "yaw": -80.43826293945312
                    }
                },
                "velocity": {
                    "x": 1.124109148979187,
                    "y": -6.708939552307129,
                    "z": -0.02607686072587967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046813011169434,
                "transform": {
                    "location": {
                        "x": 961.0908203125,
                        "y": 3438.824951171875,
                        "z": 370.46478271484375
                    },
                    "rotation": {
                        "roll": 0.0008737987373024225,
                        "pitch": -0.33309465646743774,
                        "yaw": -80.85386657714844
                    }
                },
                "velocity": {
                    "x": 1.2790424823760986,
                    "y": -7.9443817138671875,
                    "z": -0.04531609266996384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044340133666992,
                "transform": {
                    "location": {
                        "x": 967.8732299804688,
                        "y": 3396.677001953125,
                        "z": 370.15966796875
                    },
                    "rotation": {
                        "roll": 0.0004252761136740446,
                        "pitch": -0.5095525979995728,
                        "yaw": -80.87287902832031
                    }
                },
                "velocity": {
                    "x": 1.2777262926101685,
                    "y": -7.941884517669678,
                    "z": -0.07274769991636276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.724365234375,
                        "y": 3353.498779296875,
                        "z": 369.6686096191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101076,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.5060424804688,
                        "y": 3353.05859375,
                        "z": 369.6693420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.0418701171875,
                        "y": 3354.092041015625,
                        "z": 369.6901550292969
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.276655197143555,
                "transform": {
                    "location": {
                        "x": 951.3591918945312,
                        "y": 3478.69482421875,
                        "z": 370.6621398925781
                    },
                    "rotation": {
                        "roll": -0.006164563354104757,
                        "pitch": -0.288268119096756,
                        "yaw": -80.57048797607422
                    }
                },
                "velocity": {
                    "x": 1.177781343460083,
                    "y": -7.180643081665039,
                    "z": -0.030149096623063087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6971383094787598,
                "transform": {
                    "location": {
                        "x": 964.1061401367188,
                        "y": 3377.916748046875,
                        "z": 369.98046875
                    },
                    "rotation": {
                        "roll": 0.003870725631713867,
                        "pitch": 0.536757230758667,
                        "yaw": 99.74327087402344
                    }
                },
                "velocity": {
                    "x": -0.4273723065853119,
                    "y": 2.6628997325897217,
                    "z": 0.029559068381786346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.829338073730469,
                "transform": {
                    "location": {
                        "x": 961.3385009765625,
                        "y": 3395.07421875,
                        "z": 370.1531677246094
                    },
                    "rotation": {
                        "roll": 0.003572915680706501,
                        "pitch": 0.5963574647903442,
                        "yaw": 99.11884307861328
                    }
                },
                "velocity": {
                    "x": -0.9210671186447144,
                    "y": 5.755861759185791,
                    "z": 0.053601596504449844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03323745727539,
                "transform": {
                    "location": {
                        "x": 964.9033203125,
                        "y": 3394.6767578125,
                        "z": 370.1794128417969
                    },
                    "rotation": {
                        "roll": -0.0007934849127195776,
                        "pitch": -0.544065535068512,
                        "yaw": -80.8451919555664
                    }
                },
                "velocity": {
                    "x": 1.2774989604949951,
                    "y": -7.93064546585083,
                    "z": -0.075903981924057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.140838623046875,
                "transform": {
                    "location": {
                        "x": 943.7611694335938,
                        "y": 3483.883056640625,
                        "z": 370.68804931640625
                    },
                    "rotation": {
                        "roll": 1.1232474207645282e-05,
                        "pitch": 0.09562264382839203,
                        "yaw": 99.1249771118164
                    }
                },
                "velocity": {
                    "x": -1.2930635213851929,
                    "y": 8.037424087524414,
                    "z": 0.032277774065732956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.8948974609375,
                        "y": 3502.321533203125,
                        "z": 370.748779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.536118745803833,
                "transform": {
                    "location": {
                        "x": 966.1641845703125,
                        "y": 3365.134521484375,
                        "z": 369.8258361816406
                    },
                    "rotation": {
                        "roll": -0.00018311580060981214,
                        "pitch": 0.5365113019943237,
                        "yaw": 98.96626281738281
                    }
                },
                "velocity": {
                    "x": -0.5577278137207031,
                    "y": 3.4916017055511475,
                    "z": 0.04235881567001343
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.168505668640137,
                "transform": {
                    "location": {
                        "x": 958.30859375,
                        "y": 3413.9501953125,
                        "z": 370.3057861328125
                    },
                    "rotation": {
                        "roll": 0.001782592386007309,
                        "pitch": 0.6063636541366577,
                        "yaw": 99.18286895751953
                    }
                },
                "velocity": {
                    "x": -1.6211367845535278,
                    "y": 10.038193702697754,
                    "z": 0.071334607899189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057042121887207,
                "transform": {
                    "location": {
                        "x": 954.287841796875,
                        "y": 3438.927490234375,
                        "z": 370.4747619628906
                    },
                    "rotation": {
                        "roll": 0.0014578555710613728,
                        "pitch": 0.3272821605205536,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -1.2801754474639893,
                    "y": 7.954559803009033,
                    "z": 0.04538147896528244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.2517170906066895,
                "transform": {
                    "location": {
                        "x": 958.0335693359375,
                        "y": 3437.3818359375,
                        "z": 370.45147705078125
                    },
                    "rotation": {
                        "roll": -6.101909093558788e-05,
                        "pitch": -0.32095056772232056,
                        "yaw": -80.83341979980469
                    }
                },
                "velocity": {
                    "x": 1.151845932006836,
                    "y": -7.15953254699707,
                    "z": -0.041746240109205246
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162379264831543,
                "transform": {
                    "location": {
                        "x": 950.7567138671875,
                        "y": 3435.41650390625,
                        "z": 370.4414367675781
                    },
                    "rotation": {
                        "roll": 0.0014940123073756695,
                        "pitch": 0.5487851500511169,
                        "yaw": 99.13885498046875
                    }
                },
                "velocity": {
                    "x": -0.5023972988128662,
                    "y": 3.1221697330474854,
                    "z": 0.01718091033399105
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651337146759033,
                "transform": {
                    "location": {
                        "x": 952.378662109375,
                        "y": 3425.341064453125,
                        "z": 370.3719787597656
                    },
                    "rotation": {
                        "roll": 0.0008271203259937465,
                        "pitch": 0.06266698241233826,
                        "yaw": 99.14276123046875
                    }
                },
                "velocity": {
                    "x": -0.5028554797172546,
                    "y": 3.124854564666748,
                    "z": 0.022163180634379387
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2340269237756729,
        "expert_target_speed": 0,
        "target_point": [
            12.384978778474016,
            3.121801325977918
        ],
        "target_point_next": [
            63.371595649600614,
            4.298020284581403
        ]
    },
    "375": {
        "acceleration": [
            -0.2808570861816406,
            -7.747535705566406,
            -0.03749944269657135
        ],
        "angular_velocity": [
            -2.7086873054504395,
            0.23172669112682343,
            8.543011665344238
        ],
        "forward_vector": [
            -0.15836259722709656,
            0.9873761534690857,
            0.0031168407294899225
        ],
        "right_vector": [
            -0.987361490726471,
            -0.15837854146957397,
            0.005800836719572544
        ],
        "location": [
            954.8477783203125,
            3433.594970703125,
            370.43548583984375
        ],
        "rotation": [
            -0.332366943359375,
            0.1785821169614792,
            99.1119155883789
        ],
        "velocity": [
            -1.586129903793335,
            9.248575210571289,
            0.060592830181121826
        ],
        "speed": 9.383600135198709,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.36626672744751,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                953.9689331054688,
                3440.908447265625,
                370.4862365722656
            ],
            "velocity": [
                -1.2694423198699951,
                7.89614725112915,
                0.04472270980477333
            ],
            "speed_kmh": 28.791589472474364,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.596887588500977,
                "transform": {
                    "location": {
                        "x": 954.5844116210938,
                        "y": 3479.115234375,
                        "z": 370.6502990722656
                    },
                    "rotation": {
                        "roll": 0.0025118310004472733,
                        "pitch": -0.203068345785141,
                        "yaw": -80.54594421386719
                    }
                },
                "velocity": {
                    "x": 1.2408640384674072,
                    "y": -7.494797229766846,
                    "z": -0.031208500266075134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04085922241211,
                "transform": {
                    "location": {
                        "x": 961.4104614257812,
                        "y": 3436.83984375,
                        "z": 370.4530334472656
                    },
                    "rotation": {
                        "roll": -0.00027467988547869027,
                        "pitch": -0.3423154056072235,
                        "yaw": -80.85379791259766
                    }
                },
                "velocity": {
                    "x": 1.278027892112732,
                    "y": -7.938494682312012,
                    "z": -0.04852359741926193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043416976928711,
                "transform": {
                    "location": {
                        "x": 968.1926879882812,
                        "y": 3394.6923828125,
                        "z": 370.1412353515625
                    },
                    "rotation": {
                        "roll": -0.0002746613754425198,
                        "pitch": -0.5591465830802917,
                        "yaw": -80.84491729736328
                    }
                },
                "velocity": {
                    "x": 1.2778584957122803,
                    "y": -7.940929889678955,
                    "z": -0.07258138805627823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.7770385742188,
                        "y": 3355.737060546875,
                        "z": 369.7117004394531
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.610689163208008,
                "transform": {
                    "location": {
                        "x": 951.6976928710938,
                        "y": 3476.63232421875,
                        "z": 370.6540832519531
                    },
                    "rotation": {
                        "roll": -0.0036315934266895056,
                        "pitch": -0.34961003065109253,
                        "yaw": -80.66946411132812
                    }
                },
                "velocity": {
                    "x": 1.3891644477844238,
                    "y": -8.497817993164062,
                    "z": -0.03565126284956932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6873509883880615,
                "transform": {
                    "location": {
                        "x": 963.9782104492188,
                        "y": 3378.703125,
                        "z": 369.98919677734375
                    },
                    "rotation": {
                        "roll": 0.002241356996819377,
                        "pitch": 0.5266212224960327,
                        "yaw": 99.54373931884766
                    }
                },
                "velocity": {
                    "x": -0.5845863223075867,
                    "y": 3.6404964923858643,
                    "z": 0.04001341760158539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.922943592071533,
                "transform": {
                    "location": {
                        "x": 961.0527954101562,
                        "y": 3396.853759765625,
                        "z": 370.1696472167969
                    },
                    "rotation": {
                        "roll": 0.0016149624716490507,
                        "pitch": 0.7263564467430115,
                        "yaw": 99.13522338867188
                    }
                },
                "velocity": {
                    "x": -1.2564187049865723,
                    "y": 7.822386264801025,
                    "z": 0.06869464367628098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032035827636719,
                "transform": {
                    "location": {
                        "x": 965.22265625,
                        "y": 3392.694580078125,
                        "z": 370.1602783203125
                    },
                    "rotation": {
                        "roll": -0.00042725447565317154,
                        "pitch": -0.5661953091621399,
                        "yaw": -80.87016296386719
                    }
                },
                "velocity": {
                    "x": 1.2760744094848633,
                    "y": -7.9296159744262695,
                    "z": -0.08015403896570206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.120929718017578,
                "transform": {
                    "location": {
                        "x": 943.4347534179688,
                        "y": 3485.91455078125,
                        "z": 370.6952209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.193854421377182,
                        "yaw": 99.12689971923828
                    }
                },
                "velocity": {
                    "x": -1.2881518602371216,
                    "y": 8.018056869506836,
                    "z": 0.030501527711749077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.56396484375,
                        "y": 3504.377685546875,
                        "z": 370.7550964355469
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.970785617828369,
                "transform": {
                    "location": {
                        "x": 965.9938354492188,
                        "y": 3366.19873046875,
                        "z": 369.83917236328125
                    },
                    "rotation": {
                        "roll": -0.0017090027686208487,
                        "pitch": 0.8198002576828003,
                        "yaw": 99.05093383789062
                    }
                },
                "velocity": {
                    "x": -0.7864380478858948,
                    "y": 4.90783166885376,
                    "z": 0.058415744453668594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.149618148803711,
                "transform": {
                    "location": {
                        "x": 957.8963623046875,
                        "y": 3416.505126953125,
                        "z": 370.32354736328125
                    },
                    "rotation": {
                        "roll": 0.0024381938856095076,
                        "pitch": 0.43422242999076843,
                        "yaw": 99.14864349365234
                    }
                },
                "velocity": {
                    "x": -1.6144219636917114,
                    "y": 10.020167350769043,
                    "z": 0.06808517128229141
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997663497924805,
                "transform": {
                    "location": {
                        "x": 953.9689331054688,
                        "y": 3440.908447265625,
                        "z": 370.4862365722656
                    },
                    "rotation": {
                        "roll": 0.0017470096936449409,
                        "pitch": 0.3294609785079956,
                        "yaw": 99.14470672607422
                    }
                },
                "velocity": {
                    "x": -1.2694423198699951,
                    "y": 7.89614725112915,
                    "z": 0.04472270980477333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9849019050598145,
                "transform": {
                    "location": {
                        "x": 958.3369140625,
                        "y": 3435.496826171875,
                        "z": 370.43994140625
                    },
                    "rotation": {
                        "roll": 0.000363833736628294,
                        "pitch": -0.3321520686149597,
                        "yaw": -80.85436248779297
                    }
                },
                "velocity": {
                    "x": 1.2665592432022095,
                    "y": -7.883652687072754,
                    "z": -0.05002135783433914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162541389465332,
                "transform": {
                    "location": {
                        "x": 950.6311645507812,
                        "y": 3436.19677734375,
                        "z": 370.44586181640625
                    },
                    "rotation": {
                        "roll": 0.00013151387975085527,
                        "pitch": 0.5495638251304626,
                        "yaw": 99.1374740600586
                    }
                },
                "velocity": {
                    "x": -0.502152681350708,
                    "y": 3.1223721504211426,
                    "z": 0.017420530319213867
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165048122406006,
                "transform": {
                    "location": {
                        "x": 952.2528686523438,
                        "y": 3426.122314453125,
                        "z": 370.37701416015625
                    },
                    "rotation": {
                        "roll": -6.10348470218014e-05,
                        "pitch": 0.06205909699201584,
                        "yaw": 99.14289093017578
                    }
                },
                "velocity": {
                    "x": -0.502846360206604,
                    "y": 3.124776840209961,
                    "z": 0.021082496270537376
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.31129664182662964,
        "expert_target_speed": 0,
        "target_point": [
            9.917809759580985,
            2.8608715907609295
        ],
        "target_point_next": [
            60.917984777147794,
            2.888059440706682
        ]
    },
    "380": {
        "acceleration": [
            -0.40900230407714844,
            -4.679775238037109,
            -0.03504544496536255
        ],
        "angular_velocity": [
            -0.4053668975830078,
            0.10438603162765503,
            6.382884502410889
        ],
        "forward_vector": [
            -0.19499994814395905,
            0.9808008074760437,
            -0.0021805744618177414
        ],
        "right_vector": [
            -0.980778157711029,
            -0.19497859477996826,
            0.00758033012971282
        ],
        "location": [
            954.44287109375,
            3435.72021484375,
            370.4498291015625
        ],
        "rotation": [
            -0.4343261420726776,
            -0.12493781000375748,
            101.2447509765625
        ],
        "velocity": [
            -1.7040983438491821,
            7.9088897705078125,
            0.04838244244456291
        ],
        "speed": 8.09039483384789,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.213522434234619,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                953.6502075195312,
                3442.889892578125,
                370.4978942871094
            ],
            "velocity": [
                -1.279783010482788,
                7.9545135498046875,
                0.04545069485902786
            ],
            "speed_kmh": 29.004964780043863,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.71153736114502,
                "transform": {
                    "location": {
                        "x": 954.9215698242188,
                        "y": 3477.07470703125,
                        "z": 370.6418151855469
                    },
                    "rotation": {
                        "roll": 0.0009307791478931904,
                        "pitch": -0.20239216089248657,
                        "yaw": -80.67879486083984
                    }
                },
                "velocity": {
                    "x": 1.4090440273284912,
                    "y": -8.596748352050781,
                    "z": -0.03727659955620766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043824195861816,
                "transform": {
                    "location": {
                        "x": 961.7299194335938,
                        "y": 3434.85546875,
                        "z": 370.44073486328125
                    },
                    "rotation": {
                        "roll": -6.1019389249850065e-05,
                        "pitch": -0.36798325181007385,
                        "yaw": -80.85384368896484
                    }
                },
                "velocity": {
                    "x": 1.2785978317260742,
                    "y": -7.941396713256836,
                    "z": -0.05016964301466942
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044744491577148,
                "transform": {
                    "location": {
                        "x": 968.5121459960938,
                        "y": 3392.70703125,
                        "z": 370.121826171875
                    },
                    "rotation": {
                        "roll": 0.0005839563091285527,
                        "pitch": -0.5660108923912048,
                        "yaw": -80.87309265136719
                    }
                },
                "velocity": {
                    "x": 1.2779701948165894,
                    "y": -7.942189693450928,
                    "z": -0.07954234629869461
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.5123291015625,
                        "y": 3357.382080078125,
                        "z": 369.73248291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.025643348693848,
                "transform": {
                    "location": {
                        "x": 952.0330200195312,
                        "y": 3474.583740234375,
                        "z": 370.6441955566406
                    },
                    "rotation": {
                        "roll": -0.0014648443320766091,
                        "pitch": -0.20092366635799408,
                        "yaw": -80.70468139648438
                    }
                },
                "velocity": {
                    "x": 1.2937695980072021,
                    "y": -7.920607089996338,
                    "z": -0.03307338058948517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.795067310333252,
                "transform": {
                    "location": {
                        "x": 963.8074951171875,
                        "y": 3379.75732421875,
                        "z": 370.0009765625
                    },
                    "rotation": {
                        "roll": 0.0005565495230257511,
                        "pitch": 0.5153582096099854,
                        "yaw": 99.36947631835938
                    }
                },
                "velocity": {
                    "x": -0.7596547603607178,
                    "y": 4.734225273132324,
                    "z": 0.052014052867889404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.075658798217773,
                "transform": {
                    "location": {
                        "x": 960.7157592773438,
                        "y": 3398.95361328125,
                        "z": 370.18768310546875
                    },
                    "rotation": {
                        "roll": 0.0009282794198952615,
                        "pitch": 0.6904432773590088,
                        "yaw": 99.1314468383789
                    }
                },
                "velocity": {
                    "x": -1.4381237030029297,
                    "y": 8.960663795471191,
                    "z": 0.07669086009263992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033281326293945,
                "transform": {
                    "location": {
                        "x": 965.5414428710938,
                        "y": 3390.71240234375,
                        "z": 370.1405334472656
                    },
                    "rotation": {
                        "roll": -0.0006714185583405197,
                        "pitch": -0.562281608581543,
                        "yaw": -80.84431457519531
                    }
                },
                "velocity": {
                    "x": 1.2764334678649902,
                    "y": -7.930825710296631,
                    "z": -0.07959301024675369
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.938830852508545,
                "transform": {
                    "location": {
                        "x": 943.1177368164062,
                        "y": 3487.88623046875,
                        "z": 370.70233154296875
                    },
                    "rotation": {
                        "roll": -0.00012206386600155383,
                        "pitch": 0.22309446334838867,
                        "yaw": 99.13481140136719
                    }
                },
                "velocity": {
                    "x": -1.2605541944503784,
                    "y": 7.8380608558654785,
                    "z": 0.028995370492339134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.2330322265625,
                        "y": 3506.43408203125,
                        "z": 370.76116943359375
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.645687580108643,
                "transform": {
                    "location": {
                        "x": 965.7879638671875,
                        "y": 3367.47998046875,
                        "z": 369.8542785644531
                    },
                    "rotation": {
                        "roll": -0.0010375947458669543,
                        "pitch": 0.6801638603210449,
                        "yaw": 99.10555267333984
                    }
                },
                "velocity": {
                    "x": -0.7370781302452087,
                    "y": 4.586596965789795,
                    "z": 0.04753782972693443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.647305488586426,
                "transform": {
                    "location": {
                        "x": 957.5231323242188,
                        "y": 3418.822509765625,
                        "z": 370.33905029296875
                    },
                    "rotation": {
                        "roll": 0.0014834558824077249,
                        "pitch": 0.22046484053134918,
                        "yaw": 99.15512084960938
                    }
                },
                "velocity": {
                    "x": -1.3742672204971313,
                    "y": 8.537201881408691,
                    "z": 0.05882025510072708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05693531036377,
                "transform": {
                    "location": {
                        "x": 953.6502075195312,
                        "y": 3442.889892578125,
                        "z": 370.4978942871094
                    },
                    "rotation": {
                        "roll": 0.0003853650705423206,
                        "pitch": 0.3292834162712097,
                        "yaw": 99.13994598388672
                    }
                },
                "velocity": {
                    "x": -1.279783010482788,
                    "y": 7.9545135498046875,
                    "z": 0.04545069485902786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.56236743927002,
                "transform": {
                    "location": {
                        "x": 958.6773071289062,
                        "y": 3433.376220703125,
                        "z": 370.4266357421875
                    },
                    "rotation": {
                        "roll": 0.0007064577657729387,
                        "pitch": -0.35370132327079773,
                        "yaw": -80.8078842163086
                    }
                },
                "velocity": {
                    "x": 1.3590872287750244,
                    "y": -8.45363998413086,
                    "z": -0.0547589473426342
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627116203308105,
                "transform": {
                    "location": {
                        "x": 950.5055541992188,
                        "y": 3436.97705078125,
                        "z": 370.4504089355469
                    },
                    "rotation": {
                        "roll": -0.0017700077733024955,
                        "pitch": 0.5503903031349182,
                        "yaw": 99.13946533203125
                    }
                },
                "velocity": {
                    "x": -0.5024455189704895,
                    "y": 3.1224942207336426,
                    "z": 0.01796126365661621
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165113687515259,
                "transform": {
                    "location": {
                        "x": 952.1271362304688,
                        "y": 3426.903564453125,
                        "z": 370.38214111328125
                    },
                    "rotation": {
                        "roll": -0.0013122542295604944,
                        "pitch": 0.0633704885840416,
                        "yaw": 99.14297485351562
                    }
                },
                "velocity": {
                    "x": -0.5028325319290161,
                    "y": 3.124847412109375,
                    "z": 0.02080554887652397
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4817681312561035,
        "expert_target_speed": 0,
        "target_point": [
            7.854007715626835,
            2.5070712825968595
        ],
        "target_point_next": [
            58.81986269912719,
            0.6361846472174637
        ]
    },
    "385": {
        "acceleration": [
            -0.5331158638000488,
            -1.0511398315429688,
            -0.00871412456035614
        ],
        "angular_velocity": [
            0.9946796298027039,
            -0.2345172017812729,
            8.586207389831543
        ],
        "forward_vector": [
            -0.22484822571277618,
            0.9743918180465698,
            -0.0019841177854686975
        ],
        "right_vector": [
            -0.9743796586990356,
            -0.22483351826667786,
            0.005853050388395786
        ],
        "location": [
            954.0252075195312,
            3437.564697265625,
            370.4609375
        ],
        "rotation": [
            -0.335357666015625,
            -0.11368165910243988,
            102.99398040771484
        ],
        "velocity": [
            -1.714579463005066,
            7.015703201293945,
            0.04100490361452103
        ],
        "speed": 7.222179320925565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.339437007904053,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                953.3312377929688,
                3444.87109375,
                370.5090026855469
            ],
            "velocity": [
                -1.2711358070373535,
                7.89687967300415,
                0.04185726121068001
            ],
            "speed_kmh": 28.795105123065706,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6131591796875,
                        "y": 3515.724853515625,
                        "z": 371.0006408691406
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": -0.1568552851676941,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.278907775878906,
                "transform": {
                    "location": {
                        "x": 955.2640991210938,
                        "y": 3474.98388671875,
                        "z": 370.63336181640625
                    },
                    "rotation": {
                        "roll": 0.0009178149630315602,
                        "pitch": -0.24496471881866455,
                        "yaw": -80.7641830444336
                    }
                },
                "velocity": {
                    "x": 1.3333550691604614,
                    "y": -8.17075252532959,
                    "z": -0.03586148843169212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046120643615723,
                "transform": {
                    "location": {
                        "x": 962.049560546875,
                        "y": 3432.86962890625,
                        "z": 370.4278869628906
                    },
                    "rotation": {
                        "roll": 0.00041835790034383535,
                        "pitch": -0.372163325548172,
                        "yaw": -80.85704803466797
                    }
                },
                "velocity": {
                    "x": 1.2784563302993774,
                    "y": -7.94373083114624,
                    "z": -0.05240220949053764
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043704986572266,
                "transform": {
                    "location": {
                        "x": 968.83154296875,
                        "y": 3390.721435546875,
                        "z": 370.10211181640625
                    },
                    "rotation": {
                        "roll": -0.00018308994185645133,
                        "pitch": -0.564057469367981,
                        "yaw": -80.84855651855469
                    }
                },
                "velocity": {
                    "x": 1.2774238586425781,
                    "y": -7.941225528717041,
                    "z": -0.07948978990316391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.6871948242188,
                        "y": 3513.451904296875,
                        "z": 370.82330322265625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": -0.1615886092185974,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.3800048828125,
                        "y": 3358.20458984375,
                        "z": 369.742919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.87880802154541,
                "transform": {
                    "location": {
                        "x": 952.348876953125,
                        "y": 3472.640869140625,
                        "z": 370.6361999511719
                    },
                    "rotation": {
                        "roll": -0.002624492859467864,
                        "pitch": -0.2201848030090332,
                        "yaw": -80.76140594482422
                    }
                },
                "velocity": {
                    "x": 1.261169195175171,
                    "y": -7.777146339416504,
                    "z": -0.03259589895606041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.342556953430176,
                "transform": {
                    "location": {
                        "x": 963.602294921875,
                        "y": 3381.029296875,
                        "z": 370.01507568359375
                    },
                    "rotation": {
                        "roll": 0.001271544606424868,
                        "pitch": 0.5671310424804688,
                        "yaw": 99.2616195678711
                    }
                },
                "velocity": {
                    "x": -0.8476854562759399,
                    "y": 5.274556636810303,
                    "z": 0.05829375237226486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.039111137390137,
                "transform": {
                    "location": {
                        "x": 960.332763671875,
                        "y": 3401.341796875,
                        "z": 370.20831298828125
                    },
                    "rotation": {
                        "roll": 0.00010187267616856843,
                        "pitch": 0.6627742052078247,
                        "yaw": 99.10221099853516
                    }
                },
                "velocity": {
                    "x": -1.5901708602905273,
                    "y": 9.912004470825195,
                    "z": 0.08529939502477646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033313751220703,
                "transform": {
                    "location": {
                        "x": 965.8607788085938,
                        "y": 3388.72998046875,
                        "z": 370.1208801269531
                    },
                    "rotation": {
                        "roll": 0.000536542444024235,
                        "pitch": -0.5618035197257996,
                        "yaw": -80.87035369873047
                    }
                },
                "velocity": {
                    "x": 1.276294469833374,
                    "y": -7.93088436126709,
                    "z": -0.07924363762140274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037601470947266,
                "transform": {
                    "location": {
                        "x": 942.8005981445312,
                        "y": 3489.857177734375,
                        "z": 370.7098083496094
                    },
                    "rotation": {
                        "roll": 0.0007136454805731773,
                        "pitch": 0.19556879997253418,
                        "yaw": 99.14093017578125
                    }
                },
                "velocity": {
                    "x": -1.278517723083496,
                    "y": 7.9352126121521,
                    "z": 0.028806915506720543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.902099609375,
                        "y": 3508.490478515625,
                        "z": 370.7672119140625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.405406475067139,
                "transform": {
                    "location": {
                        "x": 965.6306762695312,
                        "y": 3368.4580078125,
                        "z": 369.8655090332031
                    },
                    "rotation": {
                        "roll": -0.0007324519101530313,
                        "pitch": 0.6530001759529114,
                        "yaw": 99.129150390625
                    }
                },
                "velocity": {
                    "x": -0.699946403503418,
                    "y": 4.349139213562012,
                    "z": 0.051655691117048264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.381496906280518,
                "transform": {
                    "location": {
                        "x": 957.2098388671875,
                        "y": 3420.7705078125,
                        "z": 370.3523254394531
                    },
                    "rotation": {
                        "roll": -0.0013732893858104944,
                        "pitch": 0.19451011717319489,
                        "yaw": 99.10526275634766
                    }
                },
                "velocity": {
                    "x": -1.17186439037323,
                    "y": 7.287700653076172,
                    "z": 0.05150298774242401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998640537261963,
                "transform": {
                    "location": {
                        "x": 953.3312377929688,
                        "y": 3444.87109375,
                        "z": 370.5090026855469
                    },
                    "rotation": {
                        "roll": -0.00021362003462854773,
                        "pitch": 0.3139359652996063,
                        "yaw": 99.1446304321289
                    }
                },
                "velocity": {
                    "x": -1.2711358070373535,
                    "y": 7.89687967300415,
                    "z": 0.04185726121068001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.1586332321167,
                "transform": {
                    "location": {
                        "x": 959.0079956054688,
                        "y": 3431.3212890625,
                        "z": 370.4134216308594
                    },
                    "rotation": {
                        "roll": 9.631845750845969e-05,
                        "pitch": -0.3802776038646698,
                        "yaw": -80.84211730957031
                    }
                },
                "velocity": {
                    "x": 1.2950422763824463,
                    "y": -8.055025100708008,
                    "z": -0.05234427750110626
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162677526473999,
                "transform": {
                    "location": {
                        "x": 950.3800048828125,
                        "y": 3437.75732421875,
                        "z": 370.4549865722656
                    },
                    "rotation": {
                        "roll": -0.00024413714709226042,
                        "pitch": 0.5503903031349182,
                        "yaw": 99.13714599609375
                    }
                },
                "velocity": {
                    "x": -0.5018361806869507,
                    "y": 3.122559070587158,
                    "z": 0.017729273065924644
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651721000671387,
                "transform": {
                    "location": {
                        "x": 952.0014038085938,
                        "y": 3427.684814453125,
                        "z": 370.38720703125
                    },
                    "rotation": {
                        "roll": -6.1031510995235294e-05,
                        "pitch": 0.06375297904014587,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": -0.5028623938560486,
                    "y": 3.1248998641967773,
                    "z": 0.02107282541692257
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6996733546257019,
        "expert_target_speed": 0,
        "target_point": [
            56.92070897822772,
            -1.1518408734484193
        ],
        "target_point_next": [
            107.80546655383851,
            -4.57754539238335
        ]
    },
    "390": {
        "acceleration": [
            1.7639994621276855,
            -7.194910049438477,
            -0.03798574209213257
        ],
        "angular_velocity": [
            -0.7637730836868286,
            -1.0621297359466553,
            4.217352867126465
        ],
        "forward_vector": [
            -0.24288026988506317,
            0.9700438380241394,
            -0.004907707218080759
        ],
        "right_vector": [
            -0.9700538516044617,
            -0.24286533892154694,
            0.0034471475519239902
        ],
        "location": [
            953.63037109375,
            3439.135009765625,
            370.47076416015625
        ],
        "rotation": [
            -0.197509765625,
            -0.28119203448295593,
            104.05677032470703
        ],
        "velocity": [
            -1.396364688873291,
            5.334366798400879,
            0.03169255331158638
        ],
        "speed": 5.514100423841938,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.742640495300293,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                953.0122680664062,
                3446.852783203125,
                370.5198059082031
            ],
            "velocity": [
                -1.2805218696594238,
                7.955050468444824,
                0.04189162328839302
            ],
            "speed_kmh": 29.007226269065697,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.94140625,
                        "y": 3513.6845703125,
                        "z": 370.81854248046875
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": -0.1615886092185974,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.048222541809082,
                "transform": {
                    "location": {
                        "x": 955.5903930664062,
                        "y": 3472.979248046875,
                        "z": 370.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0008239791495725513,
                        "pitch": -0.24630343914031982,
                        "yaw": -80.80455780029297
                    }
                },
                "velocity": {
                    "x": 1.2882837057113647,
                    "y": -7.944373607635498,
                    "z": -0.03377601131796837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039361000061035,
                "transform": {
                    "location": {
                        "x": 962.368896484375,
                        "y": 3430.884521484375,
                        "z": 370.4148864746094
                    },
                    "rotation": {
                        "roll": 0.0020668962970376015,
                        "pitch": -0.3724638521671295,
                        "yaw": -80.8606948852539
                    }
                },
                "velocity": {
                    "x": 1.2769638299942017,
                    "y": -7.937127113342285,
                    "z": -0.05200333148241043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044113159179688,
                "transform": {
                    "location": {
                        "x": 969.1510620117188,
                        "y": 3388.736083984375,
                        "z": 370.0824279785156
                    },
                    "rotation": {
                        "roll": 0.0006868407363072038,
                        "pitch": -0.5638388991355896,
                        "yaw": -80.86979675292969
                    }
                },
                "velocity": {
                    "x": 1.2783772945404053,
                    "y": -7.941483974456787,
                    "z": -0.07966762036085129
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.0181884765625,
                        "y": 3511.39453125,
                        "z": 370.7956237792969
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": -0.1615886092185974,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.1152954101562,
                        "y": 3359.849853515625,
                        "z": 369.7637939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.156023979187012,
                "transform": {
                    "location": {
                        "x": 952.6712036132812,
                        "y": 3470.65283203125,
                        "z": 370.62811279296875
                    },
                    "rotation": {
                        "roll": -0.0007629476021975279,
                        "pitch": -0.25390544533729553,
                        "yaw": -80.78717803955078
                    }
                },
                "velocity": {
                    "x": 1.3039097785949707,
                    "y": -8.051053047180176,
                    "z": -0.03297058492898941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.728108882904053,
                "transform": {
                    "location": {
                        "x": 963.3786010742188,
                        "y": 3382.416748046875,
                        "z": 370.0301818847656
                    },
                    "rotation": {
                        "roll": 0.00040945858927443624,
                        "pitch": 0.577553927898407,
                        "yaw": 99.1595458984375
                    }
                },
                "velocity": {
                    "x": -0.9082677364349365,
                    "y": 5.655285358428955,
                    "z": 0.06348338723182678
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.936176300048828,
                "transform": {
                    "location": {
                        "x": 959.9547729492188,
                        "y": 3403.69873046875,
                        "z": 370.2281188964844
                    },
                    "rotation": {
                        "roll": 0.0010808364022523165,
                        "pitch": 0.3954884111881256,
                        "yaw": 99.1242904663086
                    }
                },
                "velocity": {
                    "x": -1.415120005607605,
                    "y": 8.823119163513184,
                    "z": 0.07246387004852295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033164978027344,
                "transform": {
                    "location": {
                        "x": 966.1795654296875,
                        "y": 3386.747314453125,
                        "z": 370.10113525390625
                    },
                    "rotation": {
                        "roll": 2.6681737708145192e-08,
                        "pitch": -0.5686951875686646,
                        "yaw": -80.84644317626953
                    }
                },
                "velocity": {
                    "x": 1.2776492834091187,
                    "y": -7.930450439453125,
                    "z": -0.08549129217863083
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.072423934936523,
                "transform": {
                    "location": {
                        "x": 942.4799194335938,
                        "y": 3491.849609375,
                        "z": 370.7170104980469
                    },
                    "rotation": {
                        "roll": 0.00103568728081882,
                        "pitch": 0.20506958663463593,
                        "yaw": 99.14458465576172
                    }
                },
                "velocity": {
                    "x": -1.2846508026123047,
                    "y": 7.969493865966797,
                    "z": 0.02939259447157383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.5924072265625,
                        "y": 3510.41357421875,
                        "z": 370.77252197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.3413696289062,
                        "y": 3370.50341796875,
                        "z": 369.8891296386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.581676959991455,
                "transform": {
                    "location": {
                        "x": 956.9577026367188,
                        "y": 3422.336181640625,
                        "z": 370.3630065917969
                    },
                    "rotation": {
                        "roll": -0.001678470172919333,
                        "pitch": 0.13402879238128662,
                        "yaw": 99.175048828125
                    }
                },
                "velocity": {
                    "x": -0.8879774212837219,
                    "y": 5.510458946228027,
                    "z": 0.038140878081321716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057562828063965,
                "transform": {
                    "location": {
                        "x": 953.0122680664062,
                        "y": 3446.852783203125,
                        "z": 370.5198059082031
                    },
                    "rotation": {
                        "roll": 0.0007195401121862233,
                        "pitch": 0.28807687759399414,
                        "yaw": 99.14459228515625
                    }
                },
                "velocity": {
                    "x": -1.2805218696594238,
                    "y": 7.955050468444824,
                    "z": 0.04189162328839302
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.493139266967773,
                "transform": {
                    "location": {
                        "x": 959.3259887695312,
                        "y": 3429.344970703125,
                        "z": 370.4005432128906
                    },
                    "rotation": {
                        "roll": 0.0007532186573371291,
                        "pitch": -0.3843415677547455,
                        "yaw": -80.84922790527344
                    }
                },
                "velocity": {
                    "x": 1.1893298625946045,
                    "y": -7.3979973793029785,
                    "z": -0.04756813496351242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626031398773193,
                "transform": {
                    "location": {
                        "x": 950.2544555664062,
                        "y": 3438.537353515625,
                        "z": 370.4595642089844
                    },
                    "rotation": {
                        "roll": 0.0009004524908959866,
                        "pitch": 0.5499190092086792,
                        "yaw": 99.1397933959961
                    }
                },
                "velocity": {
                    "x": -0.5030609369277954,
                    "y": 3.1222856044769287,
                    "z": 0.017890119925141335
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165135145187378,
                "transform": {
                    "location": {
                        "x": 951.8756713867188,
                        "y": 3428.466064453125,
                        "z": 370.392333984375
                    },
                    "rotation": {
                        "roll": -0.0011291495757177472,
                        "pitch": 0.06261233985424042,
                        "yaw": 99.14264678955078
                    }
                },
                "velocity": {
                    "x": -0.5029597878456116,
                    "y": 3.1248483657836914,
                    "z": 0.020829448476433754
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8899832367897034,
        "expert_target_speed": 0,
        "target_point": [
            55.27036441914385,
            -2.208986978742301
        ],
        "target_point_next": [
            106.08283088833196,
            -6.577883440935544
        ]
    },
    "395": {
        "acceleration": [
            0.041844844818115234,
            0.00858306884765625,
            0.0021574273705482483
        ],
        "angular_velocity": [
            1.6002720594406128,
            0.03038991056382656,
            0.3869066536426544
        ],
        "forward_vector": [
            -0.24663911759853363,
            0.9691027402877808,
            -0.002994413487613201
        ],
        "right_vector": [
            -0.9691073894500732,
            -0.24663807451725006,
            0.0007174522615969181
        ],
        "location": [
            953.3201293945312,
            3440.33837890625,
            370.4772644042969
        ],
        "rotation": [
            -0.0411071740090847,
            -0.17156751453876495,
            104.2787857055664
        ],
        "velocity": [
            -1.1847913265228271,
            4.597969055175781,
            0.026294860988855362
        ],
        "speed": 4.748162794150785,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.518613815307617,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                952.693359375,
                3448.833740234375,
                370.5299987792969
            ],
            "velocity": [
                -1.2712371349334717,
                7.897069454193115,
                0.04071276634931564
            ],
            "speed_kmh": 28.795816349188332,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.2724609375,
                        "y": 3511.627197265625,
                        "z": 370.7913513183594
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": -0.1615886092185974,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.806334018707275,
                "transform": {
                    "location": {
                        "x": 955.8804321289062,
                        "y": 3471.18408203125,
                        "z": 370.6176452636719
                    },
                    "rotation": {
                        "roll": 0.00038801776827313006,
                        "pitch": -0.27115166187286377,
                        "yaw": -80.75261688232422
                    }
                },
                "velocity": {
                    "x": 1.0862820148468018,
                    "y": -6.719027519226074,
                    "z": -0.029031839221715927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047143936157227,
                "transform": {
                    "location": {
                        "x": 962.6881103515625,
                        "y": 3428.8994140625,
                        "z": 370.40191650390625
                    },
                    "rotation": {
                        "roll": 0.001293454086408019,
                        "pitch": -0.37085193395614624,
                        "yaw": -80.86559295654297
                    }
                },
                "velocity": {
                    "x": 1.2774791717529297,
                    "y": -7.94492244720459,
                    "z": -0.052681148052215576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0453462600708,
                "transform": {
                    "location": {
                        "x": 969.4707641601562,
                        "y": 3386.751220703125,
                        "z": 370.0621337890625
                    },
                    "rotation": {
                        "roll": -0.0011596722761169076,
                        "pitch": -0.5874918699264526,
                        "yaw": -80.83977508544922
                    }
                },
                "velocity": {
                    "x": 1.2798131704330444,
                    "y": -7.942460060119629,
                    "z": -0.08362235128879547
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.3494873046875,
                        "y": 3509.33740234375,
                        "z": 370.7679138183594
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": -0.1615886092185974,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.8502807617188,
                        "y": 3361.494873046875,
                        "z": 369.7838134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.98274564743042,
                "transform": {
                    "location": {
                        "x": 952.9938354492188,
                        "y": 3468.660888671875,
                        "z": 370.6195983886719
                    },
                    "rotation": {
                        "roll": -0.0020751936826854944,
                        "pitch": -0.23077158629894257,
                        "yaw": -80.80390930175781
                    }
                },
                "velocity": {
                    "x": 1.2729711532592773,
                    "y": -7.8805251121521,
                    "z": -0.03308533504605293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.445932865142822,
                "transform": {
                    "location": {
                        "x": 963.1141967773438,
                        "y": 3384.061767578125,
                        "z": 370.0492858886719
                    },
                    "rotation": {
                        "roll": 7.550823283963837e-06,
                        "pitch": 0.47796979546546936,
                        "yaw": 99.13306427001953
                    }
                },
                "velocity": {
                    "x": -1.179456114768982,
                    "y": 7.351471424102783,
                    "z": 0.08166015148162842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.100037574768066,
                "transform": {
                    "location": {
                        "x": 959.624267578125,
                        "y": 3405.75732421875,
                        "z": 370.24468994140625
                    },
                    "rotation": {
                        "roll": -0.00027466550818644464,
                        "pitch": 0.3046264350414276,
                        "yaw": 99.10356903076172
                    }
                },
                "velocity": {
                    "x": -1.2849422693252563,
                    "y": 7.997200965881348,
                    "z": 0.06559013575315475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03508186340332,
                "transform": {
                    "location": {
                        "x": 966.4986572265625,
                        "y": 3384.764892578125,
                        "z": 370.0802307128906
                    },
                    "rotation": {
                        "roll": -0.0003356595116201788,
                        "pitch": -0.6221277713775635,
                        "yaw": -80.87556457519531
                    }
                },
                "velocity": {
                    "x": 1.275788426399231,
                    "y": -7.932709693908691,
                    "z": -0.08380847424268723
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978856563568115,
                "transform": {
                    "location": {
                        "x": 942.161376953125,
                        "y": 3493.827392578125,
                        "z": 370.72406005859375
                    },
                    "rotation": {
                        "roll": 0.0007597499061375856,
                        "pitch": 0.20331422984600067,
                        "yaw": 99.14866638183594
                    }
                },
                "velocity": {
                    "x": -1.2701798677444458,
                    "y": 7.8770575523376465,
                    "z": 0.02756793051958084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.3511352539062,
                        "y": 3511.913330078125,
                        "z": 370.7767639160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015185956144705415,
                "transform": {
                    "location": {
                        "x": 965.2077026367188,
                        "y": 3371.39453125,
                        "z": 369.8992004394531
                    },
                    "rotation": {
                        "roll": -9.15733544388786e-05,
                        "pitch": 0.6633411049842834,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 4.838049426325597e-05,
                    "y": -6.118930468801409e-05,
                    "z": 0.0015165908262133598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8123011589050293,
                "transform": {
                    "location": {
                        "x": 956.783935546875,
                        "y": 3423.4140625,
                        "z": 370.37005615234375
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.1086273193359375,
                        "yaw": 99.19930267333984
                    }
                },
                "velocity": {
                    "x": -0.6071515679359436,
                    "y": 3.763550281524658,
                    "z": 0.02638319879770279
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998837947845459,
                "transform": {
                    "location": {
                        "x": 952.693359375,
                        "y": 3448.833740234375,
                        "z": 370.5299987792969
                    },
                    "rotation": {
                        "roll": 0.001389827928505838,
                        "pitch": 0.29144415259361267,
                        "yaw": 99.14480590820312
                    }
                },
                "velocity": {
                    "x": -1.2712371349334717,
                    "y": 7.897069454193115,
                    "z": 0.04071276634931564
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.734048843383789,
                "transform": {
                    "location": {
                        "x": 959.600341796875,
                        "y": 3427.638916015625,
                        "z": 370.3895568847656
                    },
                    "rotation": {
                        "roll": 0.0002427976723993197,
                        "pitch": -0.3964856266975403,
                        "yaw": -80.83495330810547
                    }
                },
                "velocity": {
                    "x": 1.0699126720428467,
                    "y": -6.648362159729004,
                    "z": -0.04450530931353569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627769470214844,
                "transform": {
                    "location": {
                        "x": 950.1287841796875,
                        "y": 3439.317626953125,
                        "z": 370.4641418457031
                    },
                    "rotation": {
                        "roll": 0.001692311023361981,
                        "pitch": 0.5513601899147034,
                        "yaw": 99.13815307617188
                    }
                },
                "velocity": {
                    "x": -0.5023826360702515,
                    "y": 3.1225717067718506,
                    "z": 0.01777755655348301
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651194095611572,
                "transform": {
                    "location": {
                        "x": 951.75,
                        "y": 3429.247314453125,
                        "z": 370.3974609375
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": 0.06352075934410095,
                        "yaw": 99.14297485351562
                    }
                },
                "velocity": {
                    "x": -0.5027778744697571,
                    "y": 3.1248531341552734,
                    "z": 0.022067852318286896
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9825460314750671,
        "expert_target_speed": 5.847255167297209,
        "target_point": [
            54.018677360401696,
            -2.427015099252875
        ],
        "target_point_next": [
            104.81383174123248,
            -6.992789557906939
        ]
    },
    "400": {
        "acceleration": [
            0.29006481170654297,
            -0.7071590423583984,
            -0.011137202382087708
        ],
        "angular_velocity": [
            0.6982435584068298,
            0.07193785905838013,
            -3.9974162578582764
        ],
        "forward_vector": [
            -0.24667510390281677,
            0.9690852165222168,
            0.0050264387391507626
        ],
        "right_vector": [
            -0.9690977334976196,
            -0.2466767132282257,
            -0.0003054225235246122
        ],
        "location": [
            953.008544921875,
            3441.556396484375,
            370.4830322265625
        ],
        "rotation": [
            0.017499644309282303,
            0.287994921207428,
            104.28103637695312
        ],
        "velocity": [
            -1.2812834978103638,
            5.039931297302246,
            0.031738098710775375
        ],
        "speed": 5.20024950202275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.280892372131348,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                952.37451171875,
                3450.8154296875,
                370.5402526855469
            ],
            "velocity": [
                -1.2800017595291138,
                7.955254554748535,
                0.04065326601266861
            ],
            "speed_kmh": 29.007631299603567,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.6649489402771,
                "transform": {
                    "location": {
                        "x": 949.5865478515625,
                        "y": 3509.692138671875,
                        "z": 370.7653503417969
                    },
                    "rotation": {
                        "roll": -0.010131839662790298,
                        "pitch": -0.2642258405685425,
                        "yaw": -80.76131439208984
                    }
                },
                "velocity": {
                    "x": 1.1243923902511597,
                    "y": -6.568872928619385,
                    "z": -0.08480566740036011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.184961795806885,
                "transform": {
                    "location": {
                        "x": 956.15625,
                        "y": 3469.477783203125,
                        "z": 370.6100769042969
                    },
                    "rotation": {
                        "roll": -0.0010070744901895523,
                        "pitch": -0.23596252501010895,
                        "yaw": -80.75657653808594
                    }
                },
                "velocity": {
                    "x": 1.1451778411865234,
                    "y": -7.093050956726074,
                    "z": -0.02958030067384243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042394638061523,
                "transform": {
                    "location": {
                        "x": 963.0073852539062,
                        "y": 3426.91357421875,
                        "z": 370.3887939453125
                    },
                    "rotation": {
                        "roll": -0.0001831250701798126,
                        "pitch": -0.37755918502807617,
                        "yaw": -80.86552429199219
                    }
                },
                "velocity": {
                    "x": 1.2766289710998535,
                    "y": -7.940249443054199,
                    "z": -0.05261582136154175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044270515441895,
                "transform": {
                    "location": {
                        "x": 969.7904663085938,
                        "y": 3384.76611328125,
                        "z": 370.0412902832031
                    },
                    "rotation": {
                        "roll": -0.0009460661676712334,
                        "pitch": -0.636416494846344,
                        "yaw": -80.86421966552734
                    }
                },
                "velocity": {
                    "x": 1.2780197858810425,
                    "y": -7.941644191741943,
                    "z": -0.08506067842245102
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.589351177215576,
                "transform": {
                    "location": {
                        "x": 946.6251220703125,
                        "y": 3507.677490234375,
                        "z": 370.76129150390625
                    },
                    "rotation": {
                        "roll": 0.009932168759405613,
                        "pitch": -0.06335683166980743,
                        "yaw": -80.60139465332031
                    }
                },
                "velocity": {
                    "x": 1.1124391555786133,
                    "y": -6.494769096374512,
                    "z": 0.0009754466591402888
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.7179565429688,
                        "y": 3362.3173828125,
                        "z": 369.7937316894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05140209197998,
                "transform": {
                    "location": {
                        "x": 953.3128051757812,
                        "y": 3466.685546875,
                        "z": 370.6113586425781
                    },
                    "rotation": {
                        "roll": -0.0012817386304959655,
                        "pitch": -0.23718513548374176,
                        "yaw": -80.82573699951172
                    }
                },
                "velocity": {
                    "x": 1.2834680080413818,
                    "y": -7.948373794555664,
                    "z": -0.03379544988274574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.525270462036133,
                "transform": {
                    "location": {
                        "x": 962.7957763671875,
                        "y": 3386.045654296875,
                        "z": 370.06982421875
                    },
                    "rotation": {
                        "roll": -0.00021363724954426289,
                        "pitch": 0.466850221157074,
                        "yaw": 99.12427520751953
                    }
                },
                "velocity": {
                    "x": -1.3516572713851929,
                    "y": 8.417011260986328,
                    "z": 0.08479753136634827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.895758628845215,
                "transform": {
                    "location": {
                        "x": 959.3017578125,
                        "y": 3407.764892578125,
                        "z": 370.259765625
                    },
                    "rotation": {
                        "roll": -0.0021057147532701492,
                        "pitch": 0.36320894956588745,
                        "yaw": 99.1443099975586
                    }
                },
                "velocity": {
                    "x": -1.2531688213348389,
                    "y": 7.795463562011719,
                    "z": 0.05763779580593109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03155517578125,
                "transform": {
                    "location": {
                        "x": 966.8175659179688,
                        "y": 3382.782470703125,
                        "z": 370.0584411621094
                    },
                    "rotation": {
                        "roll": -0.0012817260576412082,
                        "pitch": -0.6338551640510559,
                        "yaw": -80.84494018554688
                    }
                },
                "velocity": {
                    "x": 1.2760519981384277,
                    "y": -7.929042339324951,
                    "z": -0.08860132843255997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068645477294922,
                "transform": {
                    "location": {
                        "x": 941.8422241210938,
                        "y": 3495.80859375,
                        "z": 370.73095703125
                    },
                    "rotation": {
                        "roll": 0.0002286056987941265,
                        "pitch": 0.18252313137054443,
                        "yaw": 99.1497802734375
                    }
                },
                "velocity": {
                    "x": -1.2830352783203125,
                    "y": 7.965939998626709,
                    "z": 0.025827549397945404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.136474609375,
                        "y": 3513.247802734375,
                        "z": 370.7804870605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.9627075195312,
                        "y": 3373.04296875,
                        "z": 369.9192810058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.005844593048096,
                "transform": {
                    "location": {
                        "x": 956.6087036132812,
                        "y": 3424.501708984375,
                        "z": 370.37799072265625
                    },
                    "rotation": {
                        "roll": -0.00012209353735670447,
                        "pitch": 0.45863351225852966,
                        "yaw": 99.173583984375
                    }
                },
                "velocity": {
                    "x": -0.7961137294769287,
                    "y": 4.942022800445557,
                    "z": 0.03308970481157303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0576753616333,
                "transform": {
                    "location": {
                        "x": 952.37451171875,
                        "y": 3450.8154296875,
                        "z": 370.5402526855469
                    },
                    "rotation": {
                        "roll": -0.00036620692117139697,
                        "pitch": 0.2917105257511139,
                        "yaw": 99.14085388183594
                    }
                },
                "velocity": {
                    "x": -1.2800017595291138,
                    "y": 7.955254554748535,
                    "z": 0.04065326601266861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.33408784866333,
                "transform": {
                    "location": {
                        "x": 959.8773803710938,
                        "y": 3425.91748046875,
                        "z": 370.3777160644531
                    },
                    "rotation": {
                        "roll": -0.0006103672203607857,
                        "pitch": -0.3669723868370056,
                        "yaw": -80.82389068603516
                    }
                },
                "velocity": {
                    "x": 1.165407657623291,
                    "y": -7.2407402992248535,
                    "z": -0.048457372933626175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162684202194214,
                "transform": {
                    "location": {
                        "x": 950.0032348632812,
                        "y": 3440.09814453125,
                        "z": 370.46868896484375
                    },
                    "rotation": {
                        "roll": -0.0008239830494858325,
                        "pitch": 0.5514557957649231,
                        "yaw": 99.1371078491211
                    }
                },
                "velocity": {
                    "x": -0.5019580125808716,
                    "y": 3.122544527053833,
                    "z": 0.01805759407579899
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165011405944824,
                "transform": {
                    "location": {
                        "x": 951.624267578125,
                        "y": 3430.028564453125,
                        "z": 370.40252685546875
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.06263282895088196,
                        "yaw": 99.14279174804688
                    }
                },
                "velocity": {
                    "x": -0.5029098987579346,
                    "y": 3.1247329711914062,
                    "z": 0.020544108003377914
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9981082677841187,
        "expert_target_speed": 6.263594633809128,
        "target_point": [
            52.76134301751956,
            -2.43063753843761
        ],
        "target_point_next": [
            103.55631774574533,
            -6.998410227466145
        ]
    },
    "405": {
        "acceleration": [
            -2.7202224731445312,
            10.826702117919922,
            0.0598188117146492
        ],
        "angular_velocity": [
            2.6651742458343506,
            0.6593353152275085,
            1.9341294765472412
        ],
        "forward_vector": [
            -0.24661624431610107,
            0.9690863490104675,
            0.007206257898360491
        ],
        "right_vector": [
            -0.9691125154495239,
            -0.24661818146705627,
            -0.0006327893352136016
        ],
        "location": [
            952.6875,
            3442.825439453125,
            370.4901428222656
        ],
        "rotation": [
            0.03625710681080818,
            0.4128917455673218,
            104.27774810791016
        ],
        "velocity": [
            -1.4006577730178833,
            5.547184467315674,
            0.032473381608724594
        ],
        "speed": 5.721284620742416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.991620063781738,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                952.0556030273438,
                3452.796875,
                370.5505676269531
            ],
            "velocity": [
                -1.2711756229400635,
                7.896249771118164,
                0.04098883643746376
            ],
            "speed_kmh": 28.79287291745153,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.729226589202881,
                "transform": {
                    "location": {
                        "x": 949.8652954101562,
                        "y": 3508.040283203125,
                        "z": 370.7519836425781
                    },
                    "rotation": {
                        "roll": -0.0051879798993468285,
                        "pitch": -0.1987038552761078,
                        "yaw": -80.4448471069336
                    }
                },
                "velocity": {
                    "x": 1.1346827745437622,
                    "y": -6.63279390335083,
                    "z": -0.03216398134827614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.738168716430664,
                "transform": {
                    "location": {
                        "x": 956.45849609375,
                        "y": 3467.607421875,
                        "z": 370.6021728515625
                    },
                    "rotation": {
                        "roll": -0.0001525864499853924,
                        "pitch": -0.21801279485225677,
                        "yaw": -80.81649017333984
                    }
                },
                "velocity": {
                    "x": 1.2318190336227417,
                    "y": -7.639426231384277,
                    "z": -0.03231998533010483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044218063354492,
                "transform": {
                    "location": {
                        "x": 963.3267211914062,
                        "y": 3424.9287109375,
                        "z": 370.3754577636719
                    },
                    "rotation": {
                        "roll": 0.00036020742845721543,
                        "pitch": -0.39086437225341797,
                        "yaw": -80.86212921142578
                    }
                },
                "velocity": {
                    "x": 1.2774162292480469,
                    "y": -7.941967010498047,
                    "z": -0.05297524482011795
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043832778930664,
                "transform": {
                    "location": {
                        "x": 970.1099853515625,
                        "y": 3382.78076171875,
                        "z": 370.0191650390625
                    },
                    "rotation": {
                        "roll": -0.0004882817156612873,
                        "pitch": -0.6347635984420776,
                        "yaw": -80.84504699707031
                    }
                },
                "velocity": {
                    "x": 1.278010368347168,
                    "y": -7.941176414489746,
                    "z": -0.08747617155313492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.500779628753662,
                "transform": {
                    "location": {
                        "x": 946.9002685546875,
                        "y": 3506.065185546875,
                        "z": 370.75994873046875
                    },
                    "rotation": {
                        "roll": 0.001979287713766098,
                        "pitch": -0.15292109549045563,
                        "yaw": -80.37528991699219
                    }
                },
                "velocity": {
                    "x": 1.1029787063598633,
                    "y": -6.406507968902588,
                    "z": -0.01520022377371788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.4532470703125,
                        "y": 3363.96240234375,
                        "z": 369.81353759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02211856842041,
                "transform": {
                    "location": {
                        "x": 953.6332397460938,
                        "y": 3464.7001953125,
                        "z": 370.60284423828125
                    },
                    "rotation": {
                        "roll": -0.0006713923648931086,
                        "pitch": -0.2454223483800888,
                        "yaw": -80.82997131347656
                    }
                },
                "velocity": {
                    "x": 1.2783432006835938,
                    "y": -7.919533729553223,
                    "z": -0.034989047795534134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.34614086151123,
                "transform": {
                    "location": {
                        "x": 962.4408569335938,
                        "y": 3388.2548828125,
                        "z": 370.0920715332031
                    },
                    "rotation": {
                        "roll": 5.162827073945664e-05,
                        "pitch": 0.45805296301841736,
                        "yaw": 99.12745666503906
                    }
                },
                "velocity": {
                    "x": -1.4826289415359497,
                    "y": 9.22734260559082,
                    "z": 0.09114156663417816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.775887966156006,
                "transform": {
                    "location": {
                        "x": 959.0121459960938,
                        "y": 3409.56689453125,
                        "z": 370.27294921875
                    },
                    "rotation": {
                        "roll": 0.00039966401527635753,
                        "pitch": 0.2748877704143524,
                        "yaw": 99.10663604736328
                    }
                },
                "velocity": {
                    "x": -1.0753086805343628,
                    "y": 6.689831256866455,
                    "z": 0.05030344799160957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034577369689941,
                "transform": {
                    "location": {
                        "x": 967.1369018554688,
                        "y": 3380.79931640625,
                        "z": 370.03631591796875
                    },
                    "rotation": {
                        "roll": -0.0005798808415420353,
                        "pitch": -0.6311640739440918,
                        "yaw": -80.86894226074219
                    }
                },
                "velocity": {
                    "x": 1.2767213582992554,
                    "y": -7.932000637054443,
                    "z": -0.0881701335310936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.698578357696533,
                "transform": {
                    "location": {
                        "x": 941.5252685546875,
                        "y": 3497.7763671875,
                        "z": 370.7371826171875
                    },
                    "rotation": {
                        "roll": -3.0502596928272396e-05,
                        "pitch": 0.20836174488067627,
                        "yaw": 99.14977264404297
                    }
                },
                "velocity": {
                    "x": -1.2241848707199097,
                    "y": 7.600583553314209,
                    "z": 0.02463792823255062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.9087524414062,
                        "y": 3514.661865234375,
                        "z": 370.7843933105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013408990344032645,
                "transform": {
                    "location": {
                        "x": 964.8402099609375,
                        "y": 3373.8671875,
                        "z": 369.92877197265625
                    },
                    "rotation": {
                        "roll": -0.0002441422548145056,
                        "pitch": 0.6632660031318665,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 0.00036567324423231184,
                    "y": 7.502451626351103e-05,
                    "z": -0.0012878915295004845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.417524337768555,
                "transform": {
                    "location": {
                        "x": 956.3977661132812,
                        "y": 3425.810791015625,
                        "z": 370.38702392578125
                    },
                    "rotation": {
                        "roll": 0.0008086952730081975,
                        "pitch": 0.4503962993621826,
                        "yaw": 99.19583129882812
                    }
                },
                "velocity": {
                    "x": -0.8619072437286377,
                    "y": 5.348399639129639,
                    "z": 0.036119163036346436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998020172119141,
                "transform": {
                    "location": {
                        "x": 952.0556030273438,
                        "y": 3452.796875,
                        "z": 370.5505676269531
                    },
                    "rotation": {
                        "roll": -0.00012207787949591875,
                        "pitch": 0.29200422763824463,
                        "yaw": 99.14348602294922
                    }
                },
                "velocity": {
                    "x": -1.2711756229400635,
                    "y": 7.896249771118164,
                    "z": 0.04098883643746376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.1517915725708,
                "transform": {
                    "location": {
                        "x": 960.1842651367188,
                        "y": 3424.013916015625,
                        "z": 370.3648986816406
                    },
                    "rotation": {
                        "roll": -0.00024415762163698673,
                        "pitch": -0.3687140941619873,
                        "yaw": -80.8833236694336
                    }
                },
                "velocity": {
                    "x": 1.295158863067627,
                    "y": -8.048056602478027,
                    "z": -0.05516509711742401
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162637710571289,
                "transform": {
                    "location": {
                        "x": 949.8776245117188,
                        "y": 3440.87841796875,
                        "z": 370.4732666015625
                    },
                    "rotation": {
                        "roll": 5.77124155825004e-05,
                        "pitch": 0.5495433211326599,
                        "yaw": 99.13910675048828
                    }
                },
                "velocity": {
                    "x": -0.5026900172233582,
                    "y": 3.122384786605835,
                    "z": 0.017143946141004562
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650567054748535,
                "transform": {
                    "location": {
                        "x": 951.4984741210938,
                        "y": 3430.809814453125,
                        "z": 370.4076232910156
                    },
                    "rotation": {
                        "roll": 0.00023585508461110294,
                        "pitch": 0.06324071437120438,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": -0.5029132962226868,
                    "y": 3.124774217605591,
                    "z": 0.021161755546927452
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0000617504119873,
        "expert_target_speed": 6.732784378564306,
        "target_point": [
            51.45246139666825,
            -2.425759786819336
        ],
        "target_point_next": [
            102.24769850013519,
            -6.990613846075423
        ]
    },
    "410": {
        "acceleration": [
            -1.6312742233276367,
            6.5911865234375,
            0.03955133259296417
        ],
        "angular_velocity": [
            0.670376718044281,
            0.04386431351304054,
            -2.329557180404663
        ],
        "forward_vector": [
            -0.2449520081281662,
            0.9693883061408997,
            0.016878757625818253
        ],
        "right_vector": [
            -0.9695289134979248,
            -0.2449760138988495,
            -0.0006621657521463931
        ],
        "location": [
            952.2598266601562,
            3444.518310546875,
            370.4977722167969
        ],
        "rotation": [
            0.03794471174478531,
            0.9671274423599243,
            104.18106079101562
        ],
        "velocity": [
            -1.9208238124847412,
            7.625656604766846,
            0.04158856347203255
        ],
        "speed": 7.863854193233279,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.27352523803711,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                951.7367553710938,
                3454.7783203125,
                370.560302734375
            ],
            "velocity": [
                -1.2801268100738525,
                7.956133842468262,
                0.037346143275499344
            ],
            "speed_kmh": 29.010770395528766,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.649820804595947,
                "transform": {
                    "location": {
                        "x": 950.1466064453125,
                        "y": 3506.39208984375,
                        "z": 370.7454528808594
                    },
                    "rotation": {
                        "roll": -0.003997806925326586,
                        "pitch": -0.17504407465457916,
                        "yaw": -80.31424713134766
                    }
                },
                "velocity": {
                    "x": 1.1236742734909058,
                    "y": -6.554161071777344,
                    "z": -0.021019315347075462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.703630447387695,
                "transform": {
                    "location": {
                        "x": 956.7977294921875,
                        "y": 3465.505615234375,
                        "z": 370.5930480957031
                    },
                    "rotation": {
                        "roll": 0.0003027582715731114,
                        "pitch": -0.21475479006767273,
                        "yaw": -80.85359191894531
                    }
                },
                "velocity": {
                    "x": 1.3838516473770142,
                    "y": -8.592830657958984,
                    "z": -0.037413060665130615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043085098266602,
                "transform": {
                    "location": {
                        "x": 963.6461791992188,
                        "y": 3422.943359375,
                        "z": 370.36187744140625
                    },
                    "rotation": {
                        "roll": -0.00018311200255993754,
                        "pitch": -0.39038628339767456,
                        "yaw": -80.85722351074219
                    }
                },
                "velocity": {
                    "x": 1.2780396938323975,
                    "y": -7.940715312957764,
                    "z": -0.05364622920751572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045095443725586,
                "transform": {
                    "location": {
                        "x": 970.4296875,
                        "y": 3380.795654296875,
                        "z": 369.9970703125
                    },
                    "rotation": {
                        "roll": -0.00024414079962298274,
                        "pitch": -0.6333019137382507,
                        "yaw": -80.86707305908203
                    }
                },
                "velocity": {
                    "x": 1.2788214683532715,
                    "y": -7.942320823669434,
                    "z": -0.08786226063966751
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.571451663970947,
                "transform": {
                    "location": {
                        "x": 947.177001953125,
                        "y": 3504.45458984375,
                        "z": 370.7554931640625
                    },
                    "rotation": {
                        "roll": -0.000915522628929466,
                        "pitch": -0.16567988693714142,
                        "yaw": -80.27572631835938
                    }
                },
                "velocity": {
                    "x": 1.1169551610946655,
                    "y": -6.475806713104248,
                    "z": -0.017761239781975746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.1885986328125,
                        "y": 3365.607666015625,
                        "z": 369.83306884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058528900146484,
                "transform": {
                    "location": {
                        "x": 953.9532470703125,
                        "y": 3462.716064453125,
                        "z": 370.5941467285156
                    },
                    "rotation": {
                        "roll": 0.00010568222205620259,
                        "pitch": -0.2564394474029541,
                        "yaw": -80.83790588378906
                    }
                },
                "velocity": {
                    "x": 1.2830740213394165,
                    "y": -7.955641746520996,
                    "z": -0.03714535012841225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.201678276062012,
                "transform": {
                    "location": {
                        "x": 962.0517578125,
                        "y": 3390.677490234375,
                        "z": 370.11572265625
                    },
                    "rotation": {
                        "roll": 0.0003659076464828104,
                        "pitch": 0.4699101448059082,
                        "yaw": 99.1263198852539
                    }
                },
                "velocity": {
                    "x": -1.619975209236145,
                    "y": 10.071743965148926,
                    "z": 0.09947896748781204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.026932716369629,
                "transform": {
                    "location": {
                        "x": 958.8037109375,
                        "y": 3410.86279296875,
                        "z": 370.2820129394531
                    },
                    "rotation": {
                        "roll": 0.004258070606738329,
                        "pitch": 0.050140414386987686,
                        "yaw": 99.27599334716797
                    }
                },
                "velocity": {
                    "x": -0.6398773193359375,
                    "y": 3.9756693840026855,
                    "z": 0.028235338628292084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0322265625,
                "transform": {
                    "location": {
                        "x": 967.4560546875,
                        "y": 3378.817138671875,
                        "z": 370.0142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6299073100090027,
                        "yaw": -80.83854675292969
                    }
                },
                "velocity": {
                    "x": 1.2768412828445435,
                    "y": -7.929605484008789,
                    "z": -0.08771996200084686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.660637378692627,
                "transform": {
                    "location": {
                        "x": 941.2560424804688,
                        "y": 3499.44775390625,
                        "z": 370.7414855957031
                    },
                    "rotation": {
                        "roll": -0.0011902118567377329,
                        "pitch": 0.3694585859775543,
                        "yaw": 99.12482452392578
                    }
                },
                "velocity": {
                    "x": -0.8981929421424866,
                    "y": 5.588893890380859,
                    "z": 0.018168477341532707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.6432495117188,
                        "y": 3516.3115234375,
                        "z": 370.7889404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004707390908151865,
                "transform": {
                    "location": {
                        "x": 964.5853881835938,
                        "y": 3375.513916015625,
                        "z": 369.9478759765625
                    },
                    "rotation": {
                        "roll": 0.000410292181186378,
                        "pitch": 0.6609710454940796,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 4.795245695277117e-05,
                    "y": 0.00013460911577567458,
                    "z": -0.0047052218578755856
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.098732948303223,
                "transform": {
                    "location": {
                        "x": 956.1591186523438,
                        "y": 3427.29150390625,
                        "z": 370.3971252441406
                    },
                    "rotation": {
                        "roll": 0.0003716793144121766,
                        "pitch": 0.6090547442436218,
                        "yaw": 99.1704330444336
                    }
                },
                "velocity": {
                    "x": -1.1296361684799194,
                    "y": 7.008129596710205,
                    "z": 0.04532087221741676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058547019958496,
                "transform": {
                    "location": {
                        "x": 951.7367553710938,
                        "y": 3454.7783203125,
                        "z": 370.560302734375
                    },
                    "rotation": {
                        "roll": -0.0004577611107379198,
                        "pitch": 0.2698197662830353,
                        "yaw": 99.14111328125
                    }
                },
                "velocity": {
                    "x": -1.2801268100738525,
                    "y": 7.956133842468262,
                    "z": 0.037346143275499344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.553628921508789,
                "transform": {
                    "location": {
                        "x": 960.5274658203125,
                        "y": 3421.879638671875,
                        "z": 370.3502502441406
                    },
                    "rotation": {
                        "roll": 0.0006736682262271643,
                        "pitch": -0.37142565846443176,
                        "yaw": -80.92589569091797
                    }
                },
                "velocity": {
                    "x": 1.3559179306030273,
                    "y": -8.445268630981445,
                    "z": -0.05914181470870972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626603603363037,
                "transform": {
                    "location": {
                        "x": 949.7520751953125,
                        "y": 3441.65869140625,
                        "z": 370.47784423828125
                    },
                    "rotation": {
                        "roll": 9.981606854125857e-05,
                        "pitch": 0.5499804615974426,
                        "yaw": 99.13871765136719
                    }
                },
                "velocity": {
                    "x": -0.5024353861808777,
                    "y": 3.1224424839019775,
                    "z": 0.01822333224117756
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650004386901855,
                "transform": {
                    "location": {
                        "x": 951.372802734375,
                        "y": 3431.591064453125,
                        "z": 370.4127197265625
                    },
                    "rotation": {
                        "roll": 0.00019798887660726905,
                        "pitch": 0.06368467956781387,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.5029122829437256,
                    "y": 3.1247212886810303,
                    "z": 0.020552415400743484
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9976902008056641,
        "expert_target_speed": 8.511161080730595,
        "target_point": [
            49.71042410317487,
            -2.3388386508943277
        ],
        "target_point_next": [
            100.51329219014642,
            -6.817967932071401
        ]
    },
    "415": {
        "acceleration": [
            -1.9057750701904297,
            7.8360748291015625,
            0.03403209149837494
        ],
        "angular_velocity": [
            0.20034031569957733,
            0.04792879521846771,
            -0.27429553866386414
        ],
        "forward_vector": [
            -0.24347390234470367,
            0.9697932004928589,
            0.014886424876749516
        ],
        "right_vector": [
            -0.9699030518531799,
            -0.2434900403022766,
            -0.0007464950904250145
        ],
        "location": [
            951.7400512695312,
            3446.588623046875,
            370.5094299316406
        ],
        "rotation": [
            0.04277576133608818,
            0.8529608249664307,
            104.09326171875
        ],
        "velocity": [
            -2.190202236175537,
            8.756632804870605,
            0.04584355279803276
        ],
        "speed": 9.026383767305951,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.176663398742676,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                951.41796875,
                3456.760009765625,
                370.5696105957031
            ],
            "velocity": [
                -1.27043879032135,
                7.895892143249512,
                0.03713738173246384
            ],
            "speed_kmh": 28.79111262337811,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.477081298828125,
                "transform": {
                    "location": {
                        "x": 950.3968505859375,
                        "y": 3504.931884765625,
                        "z": 370.7413330078125
                    },
                    "rotation": {
                        "roll": -0.00201419391669333,
                        "pitch": -0.22323788702487946,
                        "yaw": -80.27665710449219
                    }
                },
                "velocity": {
                    "x": 0.9269641041755676,
                    "y": -5.398043155670166,
                    "z": -0.01693052239716053
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.189212799072266,
                "transform": {
                    "location": {
                        "x": 957.1315307617188,
                        "y": 3463.43212890625,
                        "z": 370.58441162109375
                    },
                    "rotation": {
                        "roll": 0.0006808252073824406,
                        "pitch": -0.2676682770252228,
                        "yaw": -80.87139129638672
                    }
                },
                "velocity": {
                    "x": 1.3003486394882202,
                    "y": -8.085229873657227,
                    "z": -0.03697063773870468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044745445251465,
                "transform": {
                    "location": {
                        "x": 963.9656982421875,
                        "y": 3420.9580078125,
                        "z": 370.3482360839844
                    },
                    "rotation": {
                        "roll": 0.00016814393165986985,
                        "pitch": -0.39035212993621826,
                        "yaw": -80.85679626464844
                    }
                },
                "velocity": {
                    "x": 1.2783178091049194,
                    "y": -7.942354679107666,
                    "z": -0.05330858752131462
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044928550720215,
                "transform": {
                    "location": {
                        "x": 970.7492065429688,
                        "y": 3378.810302734375,
                        "z": 369.9749450683594
                    },
                    "rotation": {
                        "roll": 0.0009355794172734022,
                        "pitch": -0.6325096487998962,
                        "yaw": -80.84568786621094
                    }
                },
                "velocity": {
                    "x": 1.2779614925384521,
                    "y": -7.94228458404541,
                    "z": -0.08833163976669312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.971494197845459,
                "transform": {
                    "location": {
                        "x": 947.4397583007812,
                        "y": 3502.903076171875,
                        "z": 370.75030517578125
                    },
                    "rotation": {
                        "roll": -0.007171629928052425,
                        "pitch": -0.12984871864318848,
                        "yaw": -80.37931823730469
                    }
                },
                "velocity": {
                    "x": 0.9826726913452148,
                    "y": -5.890053749084473,
                    "z": -0.019184326753020287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.923828125,
                        "y": 3367.252685546875,
                        "z": 369.8523864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00488567352295,
                "transform": {
                    "location": {
                        "x": 954.2726440429688,
                        "y": 3460.734619140625,
                        "z": 370.5851135253906
                    },
                    "rotation": {
                        "roll": -0.0001525735278846696,
                        "pitch": -0.25650089979171753,
                        "yaw": -80.84191131591797
                    }
                },
                "velocity": {
                    "x": 1.2740740776062012,
                    "y": -7.902756690979004,
                    "z": -0.03707904368638992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.293213844299316,
                "transform": {
                    "location": {
                        "x": 961.6604614257812,
                        "y": 3393.1123046875,
                        "z": 370.1387939453125
                    },
                    "rotation": {
                        "roll": -0.0002136156108463183,
                        "pitch": 0.6106120347976685,
                        "yaw": 99.13053131103516
                    }
                },
                "velocity": {
                    "x": -1.4763033390045166,
                    "y": 9.17475414276123,
                    "z": 0.09076154232025146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.84504508972168,
                "transform": {
                    "location": {
                        "x": 958.6307373046875,
                        "y": 3411.934326171875,
                        "z": 370.29052734375
                    },
                    "rotation": {
                        "roll": 0.0007329439977183938,
                        "pitch": 0.41681909561157227,
                        "yaw": 99.22415924072266
                    }
                },
                "velocity": {
                    "x": -0.7723000049591064,
                    "y": 4.782966613769531,
                    "z": 0.03525897115468979
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.74560546875,
                        "y": 3376.816162109375,
                        "z": 369.9810791015625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.284880638122559,
                "transform": {
                    "location": {
                        "x": 941.0438842773438,
                        "y": 3500.76806640625,
                        "z": 370.74664306640625
                    },
                    "rotation": {
                        "roll": -0.0006408705958165228,
                        "pitch": 0.2629212737083435,
                        "yaw": 99.12217712402344
                    }
                },
                "velocity": {
                    "x": -0.8379755020141602,
                    "y": 5.217993259429932,
                    "z": 0.01747713051736355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.3175048828125,
                        "y": 3518.33642578125,
                        "z": 370.7945556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.1926879882812,
                        "y": 3377.982666015625,
                        "z": 369.976318359375
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.275829315185547,
                "transform": {
                    "location": {
                        "x": 955.8505249023438,
                        "y": 3429.2080078125,
                        "z": 370.4094543457031
                    },
                    "rotation": {
                        "roll": 0.0011763194343075156,
                        "pitch": 0.5765293836593628,
                        "yaw": 99.15108489990234
                    }
                },
                "velocity": {
                    "x": -1.3159315586090088,
                    "y": 8.170368194580078,
                    "z": 0.05258969962596893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997531414031982,
                "transform": {
                    "location": {
                        "x": 951.41796875,
                        "y": 3456.760009765625,
                        "z": 370.5696105957031
                    },
                    "rotation": {
                        "roll": -0.0004272510705050081,
                        "pitch": 0.25116652250289917,
                        "yaw": 99.14057159423828
                    }
                },
                "velocity": {
                    "x": -1.27043879032135,
                    "y": 7.895892143249512,
                    "z": 0.03713738173246384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.148560523986816,
                "transform": {
                    "location": {
                        "x": 960.85693359375,
                        "y": 3419.827392578125,
                        "z": 370.33642578125
                    },
                    "rotation": {
                        "roll": 0.0007353971595875919,
                        "pitch": -0.39993488788604736,
                        "yaw": -80.92589569091797
                    }
                },
                "velocity": {
                    "x": 1.291361927986145,
                    "y": -8.045387268066406,
                    "z": -0.05625886470079422
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162585973739624,
                "transform": {
                    "location": {
                        "x": 949.6265258789062,
                        "y": 3442.43896484375,
                        "z": 370.482421875
                    },
                    "rotation": {
                        "roll": -0.0011291141854599118,
                        "pitch": 0.5497072339057922,
                        "yaw": 99.13764190673828
                    }
                },
                "velocity": {
                    "x": -0.5022974014282227,
                    "y": 3.122392177581787,
                    "z": 0.01770903542637825
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651298999786377,
                "transform": {
                    "location": {
                        "x": 951.2470703125,
                        "y": 3432.372314453125,
                        "z": 370.4178161621094
                    },
                    "rotation": {
                        "roll": 0.0005900012911297381,
                        "pitch": 0.0632338896393776,
                        "yaw": 99.14300537109375
                    }
                },
                "velocity": {
                    "x": -0.5028496980667114,
                    "y": 3.124861717224121,
                    "z": 0.020693644881248474
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9992361664772034,
        "expert_target_speed": 9.35570627435548,
        "target_point": [
            47.57938632385009,
            -2.262671592851028
        ],
        "target_point_next": [
            98.38905820815384,
            -6.663949587834033
        ]
    },
    "420": {
        "acceleration": [
            -0.8118963241577148,
            5.899848937988281,
            0.03356531262397766
        ],
        "angular_velocity": [
            0.062046781182289124,
            -0.4047916531562805,
            -2.769012689590454
        ],
        "forward_vector": [
            -0.23702868819236755,
            0.9713270664215088,
            0.01846911571919918
        ],
        "right_vector": [
            -0.9714996814727783,
            -0.23703187704086304,
            -0.002048066584393382
        ],
        "location": [
            951.1325073242188,
            3449.058349609375,
            370.5216369628906
        ],
        "rotation": [
            0.11736568063497543,
            1.058262586593628,
            103.713623046875
        ],
        "velocity": [
            -2.5677297115325928,
            10.689804077148438,
            0.055505771189928055
        ],
        "speed": 10.993868612972715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.683574676513672,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                951.09912109375,
                3458.74169921875,
                370.57855224609375
            ],
            "velocity": [
                -1.2802255153656006,
                7.956779479980469,
                0.03746954724192619
            ],
            "speed_kmh": 29.01312366070597,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.077605247497559,
                "transform": {
                    "location": {
                        "x": 950.6333618164062,
                        "y": 3503.532958984375,
                        "z": 370.73626708984375
                    },
                    "rotation": {
                        "roll": 0.0017115696100518107,
                        "pitch": -0.1636035144329071,
                        "yaw": -80.42845153808594
                    }
                },
                "velocity": {
                    "x": 0.9972020983695984,
                    "y": -5.995209217071533,
                    "z": -0.018377026543021202
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.937359809875488,
                "transform": {
                    "location": {
                        "x": 957.452392578125,
                        "y": 3461.436279296875,
                        "z": 370.57525634765625
                    },
                    "rotation": {
                        "roll": 0.0015038583660498261,
                        "pitch": -0.26614513993263245,
                        "yaw": -80.87591552734375
                    }
                },
                "velocity": {
                    "x": 1.2592633962631226,
                    "y": -7.836747169494629,
                    "z": -0.03644657880067825
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042815208435059,
                "transform": {
                    "location": {
                        "x": 964.2852172851562,
                        "y": 3418.97265625,
                        "z": 370.3346252441406
                    },
                    "rotation": {
                        "roll": 0.0001498007186455652,
                        "pitch": -0.3904135823249817,
                        "yaw": -80.85682678222656
                    }
                },
                "velocity": {
                    "x": 1.2779850959777832,
                    "y": -7.940450668334961,
                    "z": -0.05364413186907768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.9928588867188,
                        "y": 3376.740478515625,
                        "z": 369.9515075683594
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.38134765625,
                "transform": {
                    "location": {
                        "x": 947.6906127929688,
                        "y": 3501.40185546875,
                        "z": 370.74603271484375
                    },
                    "rotation": {
                        "roll": -0.002838128013536334,
                        "pitch": -0.20377185940742493,
                        "yaw": -80.47228240966797
                    }
                },
                "velocity": {
                    "x": 1.047536015510559,
                    "y": -6.294747352600098,
                    "z": -0.02059832029044628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.5267944335938,
                        "y": 3369.72021484375,
                        "z": 369.8814697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066251754760742,
                "transform": {
                    "location": {
                        "x": 954.5924682617188,
                        "y": 3458.75048828125,
                        "z": 370.5760803222656
                    },
                    "rotation": {
                        "roll": -0.0010681081330403686,
                        "pitch": -0.25662386417388916,
                        "yaw": -80.84178924560547
                    }
                },
                "velocity": {
                    "x": 1.2837952375411987,
                    "y": -7.963349342346191,
                    "z": -0.036833953112363815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.719069004058838,
                "transform": {
                    "location": {
                        "x": 961.3156127929688,
                        "y": 3395.25732421875,
                        "z": 370.1584777832031
                    },
                    "rotation": {
                        "roll": -0.00018314633052796125,
                        "pitch": 0.6527338027954102,
                        "yaw": 99.129150390625
                    }
                },
                "velocity": {
                    "x": -1.2249829769134521,
                    "y": 7.6209564208984375,
                    "z": 0.06684459745883942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.405121326446533,
                "transform": {
                    "location": {
                        "x": 958.4213256835938,
                        "y": 3413.2333984375,
                        "z": 370.3005065917969
                    },
                    "rotation": {
                        "roll": 0.0016213201452046633,
                        "pitch": 0.48227962851524353,
                        "yaw": 99.1795425415039
                    }
                },
                "velocity": {
                    "x": -0.8597398400306702,
                    "y": 5.336179256439209,
                    "z": 0.03706095740199089
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101085,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.0118408203125,
                        "y": 3374.75146484375,
                        "z": 369.935302734375
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.690586090087891,
                "transform": {
                    "location": {
                        "x": 940.8240966796875,
                        "y": 3502.133056640625,
                        "z": 370.7518615722656
                    },
                    "rotation": {
                        "roll": 2.9888833523727953e-05,
                        "pitch": 0.1405448019504547,
                        "yaw": 99.09477233886719
                    }
                },
                "velocity": {
                    "x": -0.9042062759399414,
                    "y": 5.618263244628906,
                    "z": 0.017225198447704315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.9866333007812,
                        "y": 3520.392822265625,
                        "z": 370.80029296875
                    },
                    "rotation": {
                        "roll": 6.6701311141059705e-09,
                        "pitch": 0.15530483424663544,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.8090209960938,
                        "y": 3380.385498046875,
                        "z": 370.00408935546875
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.45035171508789,
                "transform": {
                    "location": {
                        "x": 955.4978637695312,
                        "y": 3431.399658203125,
                        "z": 370.4237060546875
                    },
                    "rotation": {
                        "roll": 0.0012647133553400636,
                        "pitch": 0.5632514953613281,
                        "yaw": 99.1467056274414
                    }
                },
                "velocity": {
                    "x": -1.5019406080245972,
                    "y": 9.330032348632812,
                    "z": 0.06176808103919029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05920124053955,
                "transform": {
                    "location": {
                        "x": 951.09912109375,
                        "y": 3458.74169921875,
                        "z": 370.57855224609375
                    },
                    "rotation": {
                        "roll": -0.0009155343868769705,
                        "pitch": 0.2533453702926636,
                        "yaw": 99.14064025878906
                    }
                },
                "velocity": {
                    "x": -1.2802255153656006,
                    "y": 7.956779479980469,
                    "z": 0.03746954724192619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.414551734924316,
                "transform": {
                    "location": {
                        "x": 961.1727905273438,
                        "y": 3417.857666015625,
                        "z": 370.3229064941406
                    },
                    "rotation": {
                        "roll": 0.00021566329814959317,
                        "pitch": -0.4063347578048706,
                        "yaw": -80.87742614746094
                    }
                },
                "velocity": {
                    "x": 1.1754570007324219,
                    "y": -7.3206095695495605,
                    "z": -0.05055919662117958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626925468444824,
                "transform": {
                    "location": {
                        "x": 949.5009155273438,
                        "y": 3443.21923828125,
                        "z": 370.4869689941406
                    },
                    "rotation": {
                        "roll": 0.00041023045196197927,
                        "pitch": 0.5501921772956848,
                        "yaw": 99.13837432861328
                    }
                },
                "velocity": {
                    "x": -0.5023040771484375,
                    "y": 3.12249755859375,
                    "z": 0.01797587424516678
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652488708496094,
                "transform": {
                    "location": {
                        "x": 951.1212768554688,
                        "y": 3433.153564453125,
                        "z": 370.42291259765625
                    },
                    "rotation": {
                        "roll": 0.004863064270466566,
                        "pitch": 0.06541954725980759,
                        "yaw": 99.14300537109375
                    }
                },
                "velocity": {
                    "x": -0.5029295682907104,
                    "y": 3.1249661445617676,
                    "z": 0.02117619477212429
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.999653697013855,
        "expert_target_speed": 10.0,
        "target_point": [
            45.0499825615571,
            -1.9520972476193688
        ],
        "target_point_next": [
            95.8877012896531,
            -6.016621758891077
        ]
    },
    "425": {
        "acceleration": [
            0.7423925399780273,
            1.3702201843261719,
            0.00284634530544281
        ],
        "angular_velocity": [
            -1.3276238441467285,
            -0.7725132703781128,
            -5.0651164054870605
        ],
        "forward_vector": [
            -0.21839477121829987,
            0.9757399559020996,
            0.0153384143486619
        ],
        "right_vector": [
            -0.9758598804473877,
            -0.21834979951381683,
            -0.0045687127858400345
        ],
        "location": [
            950.4847412109375,
            3451.873779296875,
            370.53704833984375
        ],
        "rotation": [
            0.261799693107605,
            0.8788608908653259,
            102.61627960205078
        ],
        "velocity": [
            -2.5428061485290527,
            11.611302375793457,
            0.0610056109726429
        ],
        "speed": 11.886471552614086,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 52.78081130981445,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                940.5703735351562,
                3503.714599609375,
                370.7575988769531
            ],
            "velocity": [
                -1.165144681930542,
                7.237382888793945,
                0.022442197427153587
            ],
            "speed_kmh": 26.39017976671221,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8000874519348145,
                "transform": {
                    "location": {
                        "x": 950.9043579101562,
                        "y": 3501.9072265625,
                        "z": 370.7305908203125
                    },
                    "rotation": {
                        "roll": 8.43169036670588e-05,
                        "pitch": -0.08487192541360855,
                        "yaw": -80.54182434082031
                    }
                },
                "velocity": {
                    "x": 1.2772233486175537,
                    "y": -7.694763660430908,
                    "z": -0.026064809411764145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.77758264541626,
                "transform": {
                    "location": {
                        "x": 957.73388671875,
                        "y": 3459.686767578125,
                        "z": 370.56744384765625
                    },
                    "rotation": {
                        "roll": 0.0009614546434022486,
                        "pitch": -0.2880222201347351,
                        "yaw": -80.91597747802734
                    }
                },
                "velocity": {
                    "x": 1.075299859046936,
                    "y": -6.691668510437012,
                    "z": -0.030536551028490067
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045370101928711,
                "transform": {
                    "location": {
                        "x": 964.6049194335938,
                        "y": 3416.9873046875,
                        "z": 370.321044921875
                    },
                    "rotation": {
                        "roll": 0.00022285341401584446,
                        "pitch": -0.3904135823249817,
                        "yaw": -80.85307312011719
                    }
                },
                "velocity": {
                    "x": 1.2789428234100342,
                    "y": -7.942892074584961,
                    "z": -0.05242106318473816
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.3196411132812,
                        "y": 3374.682373046875,
                        "z": 369.9274597167969
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.018335342407227,
                "transform": {
                    "location": {
                        "x": 947.9707641601562,
                        "y": 3499.72119140625,
                        "z": 370.7408447265625
                    },
                    "rotation": {
                        "roll": -0.001342772739008069,
                        "pitch": -0.258666068315506,
                        "yaw": -80.52436065673828
                    }
                },
                "velocity": {
                    "x": 1.1510417461395264,
                    "y": -6.923271179199219,
                    "z": -0.02134927175939083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.2618408203125,
                        "y": 3371.365478515625,
                        "z": 369.9007263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004212379455566,
                "transform": {
                    "location": {
                        "x": 954.9121704101562,
                        "y": 3456.767822265625,
                        "z": 370.5670166015625
                    },
                    "rotation": {
                        "roll": 0.00034459447488188744,
                        "pitch": -0.2559203505516052,
                        "yaw": -80.84197235107422
                    }
                },
                "velocity": {
                    "x": 1.2739523649215698,
                    "y": -7.902097702026367,
                    "z": -0.036302756518125534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.938046455383301,
                "transform": {
                    "location": {
                        "x": 961.0344848632812,
                        "y": 3397.0068359375,
                        "z": 370.1745300292969
                    },
                    "rotation": {
                        "roll": 0.0004733880632556975,
                        "pitch": 0.5764542818069458,
                        "yaw": 99.14976501464844
                    }
                },
                "velocity": {
                    "x": -1.1008679866790771,
                    "y": 6.849888801574707,
                    "z": 0.06001799553632736
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7856903076171875,
                "transform": {
                    "location": {
                        "x": 958.191162109375,
                        "y": 3414.662353515625,
                        "z": 370.3108215332031
                    },
                    "rotation": {
                        "roll": 0.0014413808239623904,
                        "pitch": 0.5939805507659912,
                        "yaw": 99.15869903564453
                    }
                },
                "velocity": {
                    "x": -1.0782712697982788,
                    "y": 6.699293613433838,
                    "z": 0.048883046954870224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.330605506896973,
                "transform": {
                    "location": {
                        "x": 940.5703735351562,
                        "y": 3503.714599609375,
                        "z": 370.7575988769531
                    },
                    "rotation": {
                        "roll": 0.00019480296759866178,
                        "pitch": 0.022095661610364914,
                        "yaw": 99.15150451660156
                    }
                },
                "velocity": {
                    "x": -1.165144681930542,
                    "y": 7.237382888793945,
                    "z": 0.022442197427153587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.6557006835938,
                        "y": 3522.44921875,
                        "z": 370.80596923828125
                    },
                    "rotation": {
                        "roll": 6.6701311141059705e-09,
                        "pitch": 0.15530483424663544,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.732060432434082,
                "transform": {
                    "location": {
                        "x": 963.292724609375,
                        "y": 3383.608154296875,
                        "z": 370.03814697265625
                    },
                    "rotation": {
                        "roll": -0.014526373706758022,
                        "pitch": -0.16867151856422424,
                        "yaw": 99.2752914428711
                    }
                },
                "velocity": {
                    "x": -1.5548142194747925,
                    "y": 9.60654067993164,
                    "z": 0.0996684804558754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.69212532043457,
                "transform": {
                    "location": {
                        "x": 955.096923828125,
                        "y": 3433.889892578125,
                        "z": 370.4399108886719
                    },
                    "rotation": {
                        "roll": -0.0005798208294436336,
                        "pitch": 0.5682990550994873,
                        "yaw": 99.15000915527344
                    }
                },
                "velocity": {
                    "x": -1.6997015476226807,
                    "y": 10.55594539642334,
                    "z": 0.06765726208686829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997619152069092,
                "transform": {
                    "location": {
                        "x": 950.7802734375,
                        "y": 3460.72314453125,
                        "z": 370.5874938964844
                    },
                    "rotation": {
                        "roll": -0.0004272512160241604,
                        "pitch": 0.2550870478153229,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": -1.270462989807129,
                    "y": 7.8959808349609375,
                    "z": 0.03643903508782387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8268280029296875,
                "transform": {
                    "location": {
                        "x": 961.4485473632812,
                        "y": 3416.14501953125,
                        "z": 370.3111572265625
                    },
                    "rotation": {
                        "roll": 0.0002286037924932316,
                        "pitch": -0.41225653886795044,
                        "yaw": -80.92125701904297
                    }
                },
                "velocity": {
                    "x": 1.0835814476013184,
                    "y": -6.740133285522461,
                    "z": -0.04512697085738182
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.12238602340221405,
                "transform": {
                    "location": {
                        "x": 949.43310546875,
                        "y": 3443.640869140625,
                        "z": 370.49163818359375
                    },
                    "rotation": {
                        "roll": 0.0008266950608231127,
                        "pitch": 2.1134653091430664,
                        "yaw": 99.14122772216797
                    }
                },
                "velocity": {
                    "x": -0.01948167197406292,
                    "y": 0.12082026153802872,
                    "z": -0.001126098562963307
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649372577667236,
                "transform": {
                    "location": {
                        "x": 950.99560546875,
                        "y": 3433.934814453125,
                        "z": 370.42803955078125
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": 0.06339780986309052,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.50262051820755,
                    "y": 3.1247029304504395,
                    "z": 0.020814018324017525
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3590836822986603,
        "expert_target_speed": 10.0,
        "target_point": [
            42.19016983382803,
            -1.1061451988663258
        ],
        "target_point_next": [
            93.09640622848183,
            -4.196307186748806
        ]
    },
    "430": {
        "acceleration": [
            0.3412008285522461,
            -2.286968231201172,
            -0.022464990615844727
        ],
        "angular_velocity": [
            -1.8896763324737549,
            0.43384793400764465,
            -2.3818092346191406
        ],
        "forward_vector": [
            -0.19948242604732513,
            0.9798782467842102,
            0.006741352844983339
        ],
        "right_vector": [
            -0.9798964262008667,
            -0.1994546800851822,
            -0.004569838754832745
        ],
        "location": [
            949.8840942382812,
            3454.731689453125,
            370.5531921386719
        ],
        "rotation": [
            0.2618393301963806,
            0.3862540125846863,
            101.5069580078125
        ],
        "velocity": [
            -2.2902591228485107,
            11.206117630004883,
            0.05463182181119919
        ],
        "speed": 11.437760234735517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.82511520385742,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                940.2579956054688,
                3505.654541015625,
                370.7630920410156
            ],
            "velocity": [
                -1.3037259578704834,
                8.096997261047363,
                0.022439593449234962
            ],
            "speed_kmh": 29.5247344004935,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.340742111206055,
                "transform": {
                    "location": {
                        "x": 951.2443237304688,
                        "y": 3499.86083984375,
                        "z": 370.72406005859375
                    },
                    "rotation": {
                        "roll": -0.0006408653571270406,
                        "pitch": -0.12603063881397247,
                        "yaw": -80.5682144165039
                    }
                },
                "velocity": {
                    "x": 1.3652945756912231,
                    "y": -8.228195190429688,
                    "z": -0.027635889127850533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.304187297821045,
                "transform": {
                    "location": {
                        "x": 958.0103149414062,
                        "y": 3457.965576171875,
                        "z": 370.559326171875
                    },
                    "rotation": {
                        "roll": 0.0011489099124446511,
                        "pitch": -0.24954095482826233,
                        "yaw": -80.9051742553711
                    }
                },
                "velocity": {
                    "x": 1.1588643789291382,
                    "y": -7.211599349975586,
                    "z": -0.031959861516952515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042610168457031,
                "transform": {
                    "location": {
                        "x": 964.9244995117188,
                        "y": 3415.002197265625,
                        "z": 370.3070373535156
                    },
                    "rotation": {
                        "roll": 0.0007849846151657403,
                        "pitch": -0.4075027108192444,
                        "yaw": -80.85498809814453
                    }
                },
                "velocity": {
                    "x": 1.2772934436798096,
                    "y": -7.94033145904541,
                    "z": -0.05681149661540985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.74680233001709,
                "transform": {
                    "location": {
                        "x": 948.2958984375,
                        "y": 3497.752197265625,
                        "z": 370.7350769042969
                    },
                    "rotation": {
                        "roll": -0.0058593787252902985,
                        "pitch": -0.3407581150531769,
                        "yaw": -80.6151351928711
                    }
                },
                "velocity": {
                    "x": 1.4113584756851196,
                    "y": -8.632136344909668,
                    "z": -0.028988275676965714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.8648071289062,
                        "y": 3373.8330078125,
                        "z": 369.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065217971801758,
                "transform": {
                    "location": {
                        "x": 955.231689453125,
                        "y": 3454.78466796875,
                        "z": 370.55767822265625
                    },
                    "rotation": {
                        "roll": -0.0007324125035665929,
                        "pitch": -0.2705642580986023,
                        "yaw": -80.84757995605469
                    }
                },
                "velocity": {
                    "x": 1.281057357788086,
                    "y": -7.962723731994629,
                    "z": -0.04089079797267914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.473419666290283,
                "transform": {
                    "location": {
                        "x": 960.7501220703125,
                        "y": 3398.7724609375,
                        "z": 370.19073486328125
                    },
                    "rotation": {
                        "roll": 0.00043831983930431306,
                        "pitch": 0.4548768997192383,
                        "yaw": 99.12115478515625
                    }
                },
                "velocity": {
                    "x": -1.1874175071716309,
                    "y": 7.378217697143555,
                    "z": 0.06282483786344528
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.238581657409668,
                "transform": {
                    "location": {
                        "x": 957.8873901367188,
                        "y": 3416.551513671875,
                        "z": 370.3240966796875
                    },
                    "rotation": {
                        "roll": 0.001056124921888113,
                        "pitch": 0.6125245094299316,
                        "yaw": 99.12532043457031
                    }
                },
                "velocity": {
                    "x": -1.3068172931671143,
                    "y": 8.134089469909668,
                    "z": 0.05510987341403961
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.201314926147461,
                "transform": {
                    "location": {
                        "x": 940.2579956054688,
                        "y": 3505.654541015625,
                        "z": 370.7630920410156
                    },
                    "rotation": {
                        "roll": -6.103816849645227e-05,
                        "pitch": 0.055126454681158066,
                        "yaw": 99.14794158935547
                    }
                },
                "velocity": {
                    "x": -1.3037259578704834,
                    "y": 8.096997261047363,
                    "z": 0.022439593449234962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.3245849609375,
                        "y": 3524.505615234375,
                        "z": 370.8114318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.14107072353363037,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.150923252105713,
                "transform": {
                    "location": {
                        "x": 962.9412231445312,
                        "y": 3385.77001953125,
                        "z": 370.05999755859375
                    },
                    "rotation": {
                        "roll": 0.002004991052672267,
                        "pitch": 0.45734262466430664,
                        "yaw": 99.14442443847656
                    }
                },
                "velocity": {
                    "x": -0.6728363633155823,
                    "y": 4.0958356857299805,
                    "z": 0.039847563952207565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.533348083496094,
                "transform": {
                    "location": {
                        "x": 954.6587524414062,
                        "y": 3436.61279296875,
                        "z": 370.4568176269531
                    },
                    "rotation": {
                        "roll": 0.0008999095880426466,
                        "pitch": 0.48476582765579224,
                        "yaw": 99.14295196533203
                    }
                },
                "velocity": {
                    "x": -1.8324699401855469,
                    "y": 11.386636734008789,
                    "z": 0.06844625622034073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058284759521484,
                "transform": {
                    "location": {
                        "x": 950.4614868164062,
                        "y": 3462.704833984375,
                        "z": 370.5965270996094
                    },
                    "rotation": {
                        "roll": 0.00012646644609048963,
                        "pitch": 0.25441086292266846,
                        "yaw": 99.14100646972656
                    }
                },
                "velocity": {
                    "x": -1.2801181077957153,
                    "y": 7.95587158203125,
                    "z": 0.03686375543475151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.498819351196289,
                "transform": {
                    "location": {
                        "x": 961.7305297851562,
                        "y": 3414.389404296875,
                        "z": 370.2984313964844
                    },
                    "rotation": {
                        "roll": -0.0007934810128062963,
                        "pitch": -0.39121273159980774,
                        "yaw": -80.88190460205078
                    }
                },
                "velocity": {
                    "x": 1.19056236743927,
                    "y": -7.403512954711914,
                    "z": -0.05336083471775055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.7597227096557617,
                "transform": {
                    "location": {
                        "x": 949.3819580078125,
                        "y": 3443.958740234375,
                        "z": 370.4905700683594
                    },
                    "rotation": {
                        "roll": -0.00021362413826864213,
                        "pitch": 0.1419518142938614,
                        "yaw": 99.13968658447266
                    }
                },
                "velocity": {
                    "x": -0.2795613408088684,
                    "y": 1.7373424768447876,
                    "z": 0.010506810620427132
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164566993713379,
                "transform": {
                    "location": {
                        "x": 950.869873046875,
                        "y": 3434.716064453125,
                        "z": 370.43292236328125
                    },
                    "rotation": {
                        "roll": -0.0028381324373185635,
                        "pitch": 0.037449926137924194,
                        "yaw": 99.14356994628906
                    }
                },
                "velocity": {
                    "x": -0.5031930804252625,
                    "y": 3.1242477893829346,
                    "z": 0.0188792422413826
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5296906232833862,
        "expert_target_speed": 10.0,
        "target_point": [
            39.28338859670998,
            -0.3076032830185733
        ],
        "target_point_next": [
            90.23990915957778,
            -2.411651073768615
        ]
    },
    "435": {
        "acceleration": [
            -0.7612514495849609,
            -2.71942138671875,
            0.0061759352684021
        ],
        "angular_velocity": [
            -0.800849199295044,
            1.267392635345459,
            7.114400863647461
        ],
        "forward_vector": [
            -0.21153944730758667,
            0.9773675799369812,
            0.0019140230724588037
        ],
        "right_vector": [
            -0.9773684144020081,
            -0.21154160797595978,
            0.0010093359742313623
        ],
        "location": [
            949.3086547851562,
            3457.44091796875,
            370.5667419433594
        ],
        "rotation": [
            -0.0578308030962944,
            0.10966551303863525,
            102.21260833740234
        ],
        "velocity": [
            -2.360670566558838,
            10.536014556884766,
            0.04866013303399086
        ],
        "speed": 10.797238918663647,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.105499267578125,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.9320678710938,
                3507.678466796875,
                370.76812744140625
            ],
            "velocity": [
                -1.2852147817611694,
                7.980954647064209,
                0.024171942844986916
            ],
            "speed_kmh": 29.10171917979418,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8850507736206055,
                "transform": {
                    "location": {
                        "x": 951.5719604492188,
                        "y": 3497.867431640625,
                        "z": 370.71795654296875
                    },
                    "rotation": {
                        "roll": 0.0023179694544523954,
                        "pitch": -0.19943468272686005,
                        "yaw": -80.68016815185547
                    }
                },
                "velocity": {
                    "x": 1.2707884311676025,
                    "y": -7.781932830810547,
                    "z": -0.025302667170763016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9998273849487305,
                "transform": {
                    "location": {
                        "x": 958.3137817382812,
                        "y": 3456.076171875,
                        "z": 370.5505065917969
                    },
                    "rotation": {
                        "roll": 0.0002340695064049214,
                        "pitch": -0.24524475634098053,
                        "yaw": -80.87609100341797
                    }
                },
                "velocity": {
                    "x": 1.2702226638793945,
                    "y": -7.898242473602295,
                    "z": -0.03932445868849754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045578956604004,
                "transform": {
                    "location": {
                        "x": 965.2439575195312,
                        "y": 3413.016845703125,
                        "z": 370.2926940917969
                    },
                    "rotation": {
                        "roll": 0.000980159267783165,
                        "pitch": -0.4272419810295105,
                        "yaw": -80.85899353027344
                    }
                },
                "velocity": {
                    "x": 1.2772421836853027,
                    "y": -7.943338871002197,
                    "z": -0.05801572650671005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 942.0971069335938,
                        "y": 3535.760498046875,
                        "z": 371.2215881347656
                    },
                    "rotation": {
                        "roll": -6.670121344143354e-09,
                        "pitch": -0.12149539589881897,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.121895790100098,
                "transform": {
                    "location": {
                        "x": 948.6381225585938,
                        "y": 3495.662109375,
                        "z": 370.72662353515625
                    },
                    "rotation": {
                        "roll": -0.002258301479741931,
                        "pitch": -0.17217539250850677,
                        "yaw": -80.70038604736328
                    }
                },
                "velocity": {
                    "x": 1.308395504951477,
                    "y": -8.015761375427246,
                    "z": -0.02920273318886757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.6001586914062,
                        "y": 3375.47802734375,
                        "z": 369.9489440917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005599021911621,
                "transform": {
                    "location": {
                        "x": 955.5509643554688,
                        "y": 3452.801513671875,
                        "z": 370.5478515625
                    },
                    "rotation": {
                        "roll": -0.0008545053424313664,
                        "pitch": -0.2955900728702545,
                        "yaw": -80.85326385498047
                    }
                },
                "velocity": {
                    "x": 1.2723865509033203,
                    "y": -7.9037299156188965,
                    "z": -0.041332606226205826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.75704288482666,
                "transform": {
                    "location": {
                        "x": 960.4385986328125,
                        "y": 3400.71044921875,
                        "z": 370.2081298828125
                    },
                    "rotation": {
                        "roll": 0.0004233874205965549,
                        "pitch": 0.37555792927742004,
                        "yaw": 99.17711639404297
                    }
                },
                "velocity": {
                    "x": -1.3926692008972168,
                    "y": 8.645265579223633,
                    "z": 0.07517698407173157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.380091667175293,
                "transform": {
                    "location": {
                        "x": 957.53857421875,
                        "y": 3418.727783203125,
                        "z": 370.33892822265625
                    },
                    "rotation": {
                        "roll": 0.0015461050206795335,
                        "pitch": 0.5866790413856506,
                        "yaw": 99.0577621459961
                    }
                },
                "velocity": {
                    "x": -1.4833695888519287,
                    "y": 9.261853218078613,
                    "z": 0.06177399680018425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.083810806274414,
                "transform": {
                    "location": {
                        "x": 939.9320678710938,
                        "y": 3507.678466796875,
                        "z": 370.76812744140625
                    },
                    "rotation": {
                        "roll": 0.00022666445875074714,
                        "pitch": 0.16143150627613068,
                        "yaw": 99.14832305908203
                    }
                },
                "velocity": {
                    "x": -1.2852147817611694,
                    "y": 7.980954647064209,
                    "z": 0.024171942844986916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 936.9937133789062,
                        "y": 3526.561767578125,
                        "z": 370.8168640136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.14107072353363037,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.51904296875,
                        "y": 3388.401123046875,
                        "z": 370.0883483886719
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.652487754821777,
                "transform": {
                    "location": {
                        "x": 954.175048828125,
                        "y": 3439.61962890625,
                        "z": 370.4743347167969
                    },
                    "rotation": {
                        "roll": 0.0032524990383535624,
                        "pitch": 0.5093203186988831,
                        "yaw": 99.1365737915039
                    }
                },
                "velocity": {
                    "x": -2.0075736045837402,
                    "y": 12.49199104309082,
                    "z": 0.07252425700426102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998499870300293,
                "transform": {
                    "location": {
                        "x": 950.1424560546875,
                        "y": 3464.6865234375,
                        "z": 370.6051330566406
                    },
                    "rotation": {
                        "roll": -0.00018309605366084725,
                        "pitch": 0.24248535931110382,
                        "yaw": 99.14483642578125
                    }
                },
                "velocity": {
                    "x": -1.2711780071258545,
                    "y": 7.896772384643555,
                    "z": 0.033086538314819336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.504735946655273,
                "transform": {
                    "location": {
                        "x": 962.0430908203125,
                        "y": 3412.447509765625,
                        "z": 370.2843017578125
                    },
                    "rotation": {
                        "roll": -0.0004577671061269939,
                        "pitch": -0.39788582921028137,
                        "yaw": -80.90946960449219
                    }
                },
                "velocity": {
                    "x": 1.351330041885376,
                    "y": -8.39646053314209,
                    "z": -0.062348201870918274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.868490219116211,
                "transform": {
                    "location": {
                        "x": 949.3084106445312,
                        "y": 3444.416259765625,
                        "z": 370.4935607910156
                    },
                    "rotation": {
                        "roll": -0.0005493108183145523,
                        "pitch": 0.41263219714164734,
                        "yaw": 99.13807678222656
                    }
                },
                "velocity": {
                    "x": -0.29645225405693054,
                    "y": 1.8447953462600708,
                    "z": 0.010085277259349823
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649515628814697,
                "transform": {
                    "location": {
                        "x": 950.744140625,
                        "y": 3435.497314453125,
                        "z": 370.43756103515625
                    },
                    "rotation": {
                        "roll": 4.591201650328003e-05,
                        "pitch": 0.02536049112677574,
                        "yaw": 99.14237213134766
                    }
                },
                "velocity": {
                    "x": -0.5028076767921448,
                    "y": 3.1247081756591797,
                    "z": 0.017384110018610954
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4347262680530548,
        "expert_target_speed": 10.0,
        "target_point": [
            36.506975616305745,
            -0.7806888253658801
        ],
        "target_point_next": [
            87.43371882107351,
            -3.5121411012385924
        ]
    },
    "440": {
        "acceleration": [
            -1.3516855239868164,
            0.8967781066894531,
            0.004845038056373596
        ],
        "angular_velocity": [
            0.5925674438476562,
            0.6018080711364746,
            5.632177829742432
        ],
        "forward_vector": [
            -0.24151161313056946,
            0.9703941941261292,
            0.0027010408230125904
        ],
        "right_vector": [
            -0.9703816175460815,
            -0.24152275919914246,
            0.005128674209117889
        ],
        "location": [
            948.6864624023438,
            3460.04150390625,
            370.5783996582031
        ],
        "rotation": [
            -0.2938537299633026,
            0.15475842356681824,
            103.975830078125
        ],
        "velocity": [
            -2.6551287174224854,
            10.380245208740234,
            0.04851054027676582
        ],
        "speed": 10.714438814032967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 50.42155456542969,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.6161499023438,
                3509.64013671875,
                370.77386474609375
            ],
            "velocity": [
                -1.2575327157974243,
                7.8090667724609375,
                0.02153913490474224
            ],
            "speed_kmh": 28.474925059394494,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0575561523438,
                        "y": 3537.819580078125,
                        "z": 371.0410461425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.12685710191726685,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06737232208252,
                "transform": {
                    "location": {
                        "x": 951.8915405273438,
                        "y": 3495.911865234375,
                        "z": 370.7112121582031
                    },
                    "rotation": {
                        "roll": 0.0006017134874127805,
                        "pitch": -0.1851254403591156,
                        "yaw": -80.7257308959961
                    }
                },
                "velocity": {
                    "x": 1.2977283000946045,
                    "y": -7.96225643157959,
                    "z": -0.029422901570796967
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.539188385009766,
                "transform": {
                    "location": {
                        "x": 958.6552734375,
                        "y": 3453.951904296875,
                        "z": 370.54010009765625
                    },
                    "rotation": {
                        "roll": 0.00034113985020667315,
                        "pitch": -0.2750243842601776,
                        "yaw": -80.86064147949219
                    }
                },
                "velocity": {
                    "x": 1.3557828664779663,
                    "y": -8.430768013000488,
                    "z": -0.041738059371709824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042427062988281,
                "transform": {
                    "location": {
                        "x": 965.5634765625,
                        "y": 3411.031494140625,
                        "z": 370.27783203125
                    },
                    "rotation": {
                        "roll": 0.0008498351089656353,
                        "pitch": -0.4264223575592041,
                        "yaw": -80.85701751708984
                    }
                },
                "velocity": {
                    "x": 1.2779093980789185,
                    "y": -7.9400248527526855,
                    "z": -0.05982353165745735
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.4225463867188,
                        "y": 3533.7373046875,
                        "z": 370.8814697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.12685710191726685,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873640060424805,
                "transform": {
                    "location": {
                        "x": 948.9571533203125,
                        "y": 3493.7080078125,
                        "z": 370.7196044921875
                    },
                    "rotation": {
                        "roll": -0.002319333143532276,
                        "pitch": -0.1719636619091034,
                        "yaw": -80.72906494140625
                    }
                },
                "velocity": {
                    "x": 1.261286973953247,
                    "y": -7.771907806396484,
                    "z": -0.028565801680088043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.2029418945312,
                        "y": 3377.94580078125,
                        "z": 369.9771728515625
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064715385437012,
                "transform": {
                    "location": {
                        "x": 955.8703002929688,
                        "y": 3450.818359375,
                        "z": 370.5374450683594
                    },
                    "rotation": {
                        "roll": -0.0015258736675605178,
                        "pitch": -0.29507097601890564,
                        "yaw": -80.85594177246094
                    }
                },
                "velocity": {
                    "x": 1.2798733711242676,
                    "y": -7.962399959564209,
                    "z": -0.041802119463682175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.782590866088867,
                "transform": {
                    "location": {
                        "x": 960.06396484375,
                        "y": 3403.0361328125,
                        "z": 370.228271484375
                    },
                    "rotation": {
                        "roll": 0.001794576644897461,
                        "pitch": 0.3719857335090637,
                        "yaw": 99.1478271484375
                    }
                },
                "velocity": {
                    "x": -1.5546919107437134,
                    "y": 9.657883644104004,
                    "z": 0.08546213060617447
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.556275367736816,
                "transform": {
                    "location": {
                        "x": 957.1423950195312,
                        "y": 3421.19677734375,
                        "z": 370.35577392578125
                    },
                    "rotation": {
                        "roll": -0.0028076181188225746,
                        "pitch": 0.5799991488456726,
                        "yaw": 99.13028717041016
                    }
                },
                "velocity": {
                    "x": -1.6748586893081665,
                    "y": 10.422316551208496,
                    "z": 0.07155279070138931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.909701347351074,
                "transform": {
                    "location": {
                        "x": 939.6161499023438,
                        "y": 3509.64013671875,
                        "z": 370.77386474609375
                    },
                    "rotation": {
                        "roll": 0.0002789184800349176,
                        "pitch": 0.17600713670253754,
                        "yaw": 99.14808654785156
                    }
                },
                "velocity": {
                    "x": -1.2575327157974243,
                    "y": 7.8090667724609375,
                    "z": 0.02153913490474224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.406357288360596,
                "transform": {
                    "location": {
                        "x": 936.6940307617188,
                        "y": 3528.39453125,
                        "z": 370.8221130371094
                    },
                    "rotation": {
                        "roll": -0.048095691949129105,
                        "pitch": -0.3988625407218933,
                        "yaw": 99.32168579101562
                    }
                },
                "velocity": {
                    "x": -1.060610055923462,
                    "y": 6.317951679229736,
                    "z": 0.0027519415598362684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.255615234375,
                        "y": 3390.046142578125,
                        "z": 370.1064758300781
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.720312118530273,
                "transform": {
                    "location": {
                        "x": 953.6870727539062,
                        "y": 3442.654052734375,
                        "z": 370.49176025390625
                    },
                    "rotation": {
                        "roll": 0.0013612370239570737,
                        "pitch": 0.26956707239151,
                        "yaw": 99.13318634033203
                    }
                },
                "velocity": {
                    "x": -1.8606401681900024,
                    "y": 11.571480751037598,
                    "z": 0.0676494613289833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05878734588623,
                "transform": {
                    "location": {
                        "x": 949.8234252929688,
                        "y": 3466.66845703125,
                        "z": 370.6136169433594
                    },
                    "rotation": {
                        "roll": 0.00017622567247599363,
                        "pitch": 0.23422765731811523,
                        "yaw": 99.14505004882812
                    }
                },
                "velocity": {
                    "x": -1.280743956565857,
                    "y": 7.956295013427734,
                    "z": 0.033252593129873276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.446134567260742,
                "transform": {
                    "location": {
                        "x": 962.385986328125,
                        "y": 3410.31591796875,
                        "z": 370.2685546875
                    },
                    "rotation": {
                        "roll": -0.0013122579548507929,
                        "pitch": -0.4160473048686981,
                        "yaw": -80.90119934082031
                    }
                },
                "velocity": {
                    "x": 1.3417431116104126,
                    "y": -8.338638305664062,
                    "z": -0.06349113583564758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.861015796661377,
                "transform": {
                    "location": {
                        "x": 949.2371826171875,
                        "y": 3444.858642578125,
                        "z": 370.49603271484375
                    },
                    "rotation": {
                        "roll": -0.0008849937585182488,
                        "pitch": 0.47752583026885986,
                        "yaw": 99.13774871826172
                    }
                },
                "velocity": {
                    "x": -0.29551607370376587,
                    "y": 1.8373758792877197,
                    "z": 0.009985046461224556
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.610746383666992,
                "transform": {
                    "location": {
                        "x": 950.63671875,
                        "y": 3436.1650390625,
                        "z": 370.4416809082031
                    },
                    "rotation": {
                        "roll": 0.0017104794969782233,
                        "pitch": 0.3046605587005615,
                        "yaw": 99.14289093017578
                    }
                },
                "velocity": {
                    "x": -0.4147908389568329,
                    "y": 2.5775434970855713,
                    "z": 0.014670228585600853
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24707694351673126,
        "expert_target_speed": 10.0,
        "target_point": [
            33.79179944359095,
            -1.879303669100052
        ],
        "target_point_next": [
            84.61038582204421,
            -6.1764286935106725
        ]
    },
    "445": {
        "acceleration": [
            -0.5216312408447266,
            2.3174476623535156,
            0.006093606352806091
        ],
        "angular_velocity": [
            0.853507936000824,
            -0.5298353433609009,
            1.208571434020996
        ],
        "forward_vector": [
            -0.25394392013549805,
            0.9672008156776428,
            0.005929911509156227
        ],
        "right_vector": [
            -0.9672099351882935,
            -0.25396329164505005,
            0.00277176545932889
        ],
        "location": [
            948.0029296875,
            3462.68310546875,
            370.58984375
        ],
        "rotation": [
            -0.1588134467601776,
            0.3397608995437622,
            104.7112808227539
        ],
        "velocity": [
            -2.8153598308563232,
            10.792773246765137,
            0.0486900620162487
        ],
        "speed": 11.153932281186247,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.7066650390625,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.2971801757812,
                3511.62109375,
                370.7795715332031
            ],
            "velocity": [
                -1.289306879043579,
                8.00633430480957,
                0.021479548886418343
            ],
            "speed_kmh": 29.194238255050095,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3880004882812,
                        "y": 3535.76611328125,
                        "z": 370.9146423339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.12685710191726685,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.11856746673584,
                "transform": {
                    "location": {
                        "x": 952.2189331054688,
                        "y": 3493.90234375,
                        "z": 370.70416259765625
                    },
                    "rotation": {
                        "roll": 0.0015261902008205652,
                        "pitch": -0.20608045160770416,
                        "yaw": -80.75265502929688
                    }
                },
                "velocity": {
                    "x": 1.299422264099121,
                    "y": -8.013849258422852,
                    "z": -0.029279541224241257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.1668701171875,
                "transform": {
                    "location": {
                        "x": 958.9855346679688,
                        "y": 3451.8984375,
                        "z": 370.5297546386719
                    },
                    "rotation": {
                        "roll": -0.0003356845991220325,
                        "pitch": -0.3068530559539795,
                        "yaw": -80.85613250732422
                    }
                },
                "velocity": {
                    "x": 1.2973328828811646,
                    "y": -8.063061714172363,
                    "z": -0.041640132665634155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045201301574707,
                "transform": {
                    "location": {
                        "x": 965.8829956054688,
                        "y": 3409.0458984375,
                        "z": 370.26300048828125
                    },
                    "rotation": {
                        "roll": 0.0008835332118906081,
                        "pitch": -0.42455771565437317,
                        "yaw": -80.85664367675781
                    }
                },
                "velocity": {
                    "x": 1.2784289121627808,
                    "y": -7.9427490234375,
                    "z": -0.06015357747673988
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.7534790039062,
                        "y": 3531.68017578125,
                        "z": 370.8551025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.14107754826545715,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.084826469421387,
                "transform": {
                    "location": {
                        "x": 949.277099609375,
                        "y": 3491.736572265625,
                        "z": 370.7127990722656
                    },
                    "rotation": {
                        "roll": -0.0017089811153709888,
                        "pitch": -0.22570358216762543,
                        "yaw": -80.77735900878906
                    }
                },
                "velocity": {
                    "x": 1.2921334505081177,
                    "y": -7.980851650238037,
                    "z": -0.028749432414770126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.9381713867188,
                        "y": 3379.5908203125,
                        "z": 369.9960021972656
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006178855895996,
                "transform": {
                    "location": {
                        "x": 956.1892700195312,
                        "y": 3448.835205078125,
                        "z": 370.527099609375
                    },
                    "rotation": {
                        "roll": 0.00022822734899818897,
                        "pitch": -0.2938825190067291,
                        "yaw": -80.86228942871094
                    }
                },
                "velocity": {
                    "x": 1.271397352218628,
                    "y": -7.904476165771484,
                    "z": -0.041240207850933075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.43310832977295,
                "transform": {
                    "location": {
                        "x": 959.66162109375,
                        "y": 3405.536865234375,
                        "z": 370.24822998046875
                    },
                    "rotation": {
                        "roll": -0.00015258844359777868,
                        "pitch": 0.36443838477134705,
                        "yaw": 99.1568603515625
                    }
                },
                "velocity": {
                    "x": -1.6576958894729614,
                    "y": 10.300262451171875,
                    "z": 0.0799228847026825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.227449417114258,
                "transform": {
                    "location": {
                        "x": 956.7111206054688,
                        "y": 3423.8779296875,
                        "z": 370.3740539550781
                    },
                    "rotation": {
                        "roll": -0.002044687746092677,
                        "pitch": 0.5277208685874939,
                        "yaw": 99.1396713256836
                    }
                },
                "velocity": {
                    "x": -1.783721685409546,
                    "y": 11.084585189819336,
                    "z": 0.07696443051099777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.10951042175293,
                "transform": {
                    "location": {
                        "x": 939.2971801757812,
                        "y": 3511.62109375,
                        "z": 370.7795715332031
                    },
                    "rotation": {
                        "roll": -0.000274655845714733,
                        "pitch": 0.14592015743255615,
                        "yaw": 99.14808654785156
                    }
                },
                "velocity": {
                    "x": -1.289306879043579,
                    "y": 8.00633430480957,
                    "z": 0.021479548886418343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.610170364379883,
                "transform": {
                    "location": {
                        "x": 936.4224853515625,
                        "y": 3530.00244140625,
                        "z": 370.82269287109375
                    },
                    "rotation": {
                        "roll": -0.031433094292879105,
                        "pitch": -0.09683158993721008,
                        "yaw": 99.5746841430664
                    }
                },
                "velocity": {
                    "x": -1.1121877431869507,
                    "y": 6.515923976898193,
                    "z": 0.011289787478744984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.8585205078125,
                        "y": 3392.513916015625,
                        "z": 370.1303405761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.975382804870605,
                "transform": {
                    "location": {
                        "x": 953.2523803710938,
                        "y": 3445.358642578125,
                        "z": 370.50677490234375
                    },
                    "rotation": {
                        "roll": 0.00010761557496152818,
                        "pitch": 0.0679398849606514,
                        "yaw": 99.12271881103516
                    }
                },
                "velocity": {
                    "x": -1.5824083089828491,
                    "y": 9.848917961120605,
                    "z": 0.055398281663656235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999021053314209,
                "transform": {
                    "location": {
                        "x": 949.5045166015625,
                        "y": 3468.64990234375,
                        "z": 370.6218566894531
                    },
                    "rotation": {
                        "roll": -0.0011596744880080223,
                        "pitch": 0.2361128032207489,
                        "yaw": 99.14167022705078
                    }
                },
                "velocity": {
                    "x": -1.2686293125152588,
                    "y": 7.89771032333374,
                    "z": 0.03299998119473457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.101841926574707,
                "transform": {
                    "location": {
                        "x": 962.7133178710938,
                        "y": 3408.280029296875,
                        "z": 370.25341796875
                    },
                    "rotation": {
                        "roll": 0.00017701635078992695,
                        "pitch": -0.4335872232913971,
                        "yaw": -80.89073181152344
                    }
                },
                "velocity": {
                    "x": 1.2858681678771973,
                    "y": -7.998924255371094,
                    "z": -0.06001197546720505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.9752594232559204,
                "transform": {
                    "location": {
                        "x": 949.159912109375,
                        "y": 3445.3388671875,
                        "z": 370.4985046386719
                    },
                    "rotation": {
                        "roll": -0.000305180496070534,
                        "pitch": 0.4593711793422699,
                        "yaw": 99.13856506347656
                    }
                },
                "velocity": {
                    "x": -0.31357717514038086,
                    "y": 1.9501835107803345,
                    "z": 0.010167893953621387
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.853217601776123,
                "transform": {
                    "location": {
                        "x": 950.5281982421875,
                        "y": 3436.83935546875,
                        "z": 370.44525146484375
                    },
                    "rotation": {
                        "roll": -3.051575185963884e-05,
                        "pitch": -0.058500565588474274,
                        "yaw": 99.14349365234375
                    }
                },
                "velocity": {
                    "x": -0.45338359475135803,
                    "y": 2.8169164657592773,
                    "z": 0.016562584787607193
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06762798875570297,
        "expert_target_speed": 10.0,
        "target_point": [
            31.036306525265466,
            -2.3031979975412753
        ],
        "target_point_next": [
            81.79554781204988,
            -7.252281647039537
        ]
    },
    "450": {
        "acceleration": [
            0.007042884826660156,
            2.9084396362304688,
            -0.012079775333404541
        ],
        "angular_velocity": [
            0.5717926025390625,
            -0.7053488492965698,
            -4.2379302978515625
        ],
        "forward_vector": [
            -0.2454916089773178,
            0.9693642854690552,
            0.008171823807060719
        ],
        "right_vector": [
            -0.969398021697998,
            -0.2454925924539566,
            -0.0008976204553619027
        ],
        "location": [
            947.2891235351562,
            3465.4697265625,
            370.60162353515625
        ],
        "rotation": [
            0.05143158882856369,
            0.46821627020835876,
            104.21137237548828
        ],
        "velocity": [
            -2.869117021560669,
            11.480331420898438,
            0.048616476356983185
        ],
        "speed": 11.833420554390734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 48.853309631347656,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.9769287109375,
                3513.6103515625,
                370.7849426269531
            ],
            "velocity": [
                -1.2692434787750244,
                7.893718242645264,
                0.021310005336999893
            ],
            "speed_kmh": 28.782494364012003,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.579336166381836,
                "transform": {
                    "location": {
                        "x": 945.7108154296875,
                        "y": 3533.764404296875,
                        "z": 370.8203125
                    },
                    "rotation": {
                        "roll": -0.010681113228201866,
                        "pitch": -0.35498541593551636,
                        "yaw": -80.8316879272461
                    }
                },
                "velocity": {
                    "x": 1.0637437105178833,
                    "y": -6.489231586456299,
                    "z": -0.21444493532180786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.959395885467529,
                "transform": {
                    "location": {
                        "x": 952.5393676757812,
                        "y": 3491.926513671875,
                        "z": 370.6969909667969
                    },
                    "rotation": {
                        "roll": 0.00145377975422889,
                        "pitch": -0.21383272111415863,
                        "yaw": -80.79498291015625
                    }
                },
                "velocity": {
                    "x": 1.271821141242981,
                    "y": -7.8570733070373535,
                    "z": -0.029260043054819107
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.450791835784912,
                "transform": {
                    "location": {
                        "x": 959.3029174804688,
                        "y": 3449.92578125,
                        "z": 370.51953125
                    },
                    "rotation": {
                        "roll": 0.0008215290727093816,
                        "pitch": -0.31115609407424927,
                        "yaw": -80.85414123535156
                    }
                },
                "velocity": {
                    "x": 1.1840184926986694,
                    "y": -7.356013774871826,
                    "z": -0.03822842985391617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042692184448242,
                "transform": {
                    "location": {
                        "x": 966.2025756835938,
                        "y": 3407.060302734375,
                        "z": 370.2481994628906
                    },
                    "rotation": {
                        "roll": -0.0007934709428809583,
                        "pitch": -0.4246191680431366,
                        "yaw": -80.85739135742188
                    }
                },
                "velocity": {
                    "x": 1.2777949571609497,
                    "y": -7.9403076171875,
                    "z": -0.06048302352428436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.978592872619629,
                "transform": {
                    "location": {
                        "x": 943.0390625,
                        "y": 3529.95654296875,
                        "z": 370.8287353515625
                    },
                    "rotation": {
                        "roll": -0.046600330621004105,
                        "pitch": -0.42944130301475525,
                        "yaw": -80.57551574707031
                    }
                },
                "velocity": {
                    "x": 1.1816800832748413,
                    "y": -6.877357006072998,
                    "z": -0.07968553155660629
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.070993423461914,
                "transform": {
                    "location": {
                        "x": 949.6010131835938,
                        "y": 3489.73779296875,
                        "z": 370.7052917480469
                    },
                    "rotation": {
                        "roll": -0.0003967204538639635,
                        "pitch": -0.20575261116027832,
                        "yaw": -80.79540252685547
                    }
                },
                "velocity": {
                    "x": 1.2909389734268188,
                    "y": -7.967029094696045,
                    "z": -0.029348168522119522
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5410766601562,
                        "y": 3382.05859375,
                        "z": 370.0230407714844
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06463623046875,
                "transform": {
                    "location": {
                        "x": 956.5082397460938,
                        "y": 3446.8515625,
                        "z": 370.51678466796875
                    },
                    "rotation": {
                        "roll": -0.0002441424294374883,
                        "pitch": -0.29373225569725037,
                        "yaw": -80.8660659790039
                    }
                },
                "velocity": {
                    "x": 1.2801178693771362,
                    "y": -7.9622802734375,
                    "z": -0.041798681020736694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.708728790283203,
                "transform": {
                    "location": {
                        "x": 959.2368774414062,
                        "y": 3408.174072265625,
                        "z": 370.2679138183594
                    },
                    "rotation": {
                        "roll": -0.0003662233939394355,
                        "pitch": 0.3754349946975708,
                        "yaw": 99.13192749023438
                    }
                },
                "velocity": {
                    "x": -1.7019544839859009,
                    "y": 10.5723237991333,
                    "z": 0.07868631184101105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.287507057189941,
                "transform": {
                    "location": {
                        "x": 956.2803955078125,
                        "y": 3426.553466796875,
                        "z": 370.39178466796875
                    },
                    "rotation": {
                        "roll": -0.0010375892743468285,
                        "pitch": 0.3001936376094818,
                        "yaw": 99.1568832397461
                    }
                },
                "velocity": {
                    "x": -1.6353344917297363,
                    "y": 10.15647029876709,
                    "z": 0.06781625747680664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9951372146606445,
                "transform": {
                    "location": {
                        "x": 938.9769287109375,
                        "y": 3513.6103515625,
                        "z": 370.7849426269531
                    },
                    "rotation": {
                        "roll": -0.0004882936482317746,
                        "pitch": 0.15775686502456665,
                        "yaw": 99.14617156982422
                    }
                },
                "velocity": {
                    "x": -1.2692434787750244,
                    "y": 7.893718242645264,
                    "z": 0.021310005336999893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.096816062927246,
                "transform": {
                    "location": {
                        "x": 936.150390625,
                        "y": 3531.595458984375,
                        "z": 370.8252258300781
                    },
                    "rotation": {
                        "roll": -0.01654052920639515,
                        "pitch": 0.006017396226525307,
                        "yaw": 99.68388366699219
                    }
                },
                "velocity": {
                    "x": -1.0305335521697998,
                    "y": 6.009079456329346,
                    "z": 0.011427411809563637
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.5938110351562,
                        "y": 3394.158935546875,
                        "z": 370.14605712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.754815101623535,
                "transform": {
                    "location": {
                        "x": 952.8681030273438,
                        "y": 3447.75048828125,
                        "z": 370.5197448730469
                    },
                    "rotation": {
                        "roll": 3.192332951584831e-05,
                        "pitch": 0.20326641201972961,
                        "yaw": 99.12403869628906
                    }
                },
                "velocity": {
                    "x": -1.5468636751174927,
                    "y": 9.631263732910156,
                    "z": 0.04882945120334625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058198928833008,
                "transform": {
                    "location": {
                        "x": 949.1856079101562,
                        "y": 3470.6318359375,
                        "z": 370.6302185058594
                    },
                    "rotation": {
                        "roll": 0.00087208382319659,
                        "pitch": 0.2362835556268692,
                        "yaw": 99.14338684082031
                    }
                },
                "velocity": {
                    "x": -1.2805960178375244,
                    "y": 7.955726146697998,
                    "z": 0.032740019261837006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.129303455352783,
                "transform": {
                    "location": {
                        "x": 963.0239868164062,
                        "y": 3406.3466796875,
                        "z": 370.2391357421875
                    },
                    "rotation": {
                        "roll": 0.0010042956564575434,
                        "pitch": -0.45150962471961975,
                        "yaw": -80.8524169921875
                    }
                },
                "velocity": {
                    "x": 1.13166344165802,
                    "y": -7.038700580596924,
                    "z": -0.054808758199214935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.8729257583618164,
                "transform": {
                    "location": {
                        "x": 949.0867919921875,
                        "y": 3445.79345703125,
                        "z": 370.50091552734375
                    },
                    "rotation": {
                        "roll": 0.00027764818514697254,
                        "pitch": 0.5257879495620728,
                        "yaw": 99.13941192626953
                    }
                },
                "velocity": {
                    "x": -0.2976666986942291,
                    "y": 1.8490954637527466,
                    "z": 0.009569386951625347
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2607264518737793,
                "transform": {
                    "location": {
                        "x": 950.436279296875,
                        "y": 3437.409912109375,
                        "z": 370.4488525390625
                    },
                    "rotation": {
                        "roll": -0.0011596669210121036,
                        "pitch": 0.22477468848228455,
                        "yaw": 99.14301300048828
                    }
                },
                "velocity": {
                    "x": -0.35894718766212463,
                    "y": 2.232011556625366,
                    "z": 0.01286270096898079
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.011303985491394997,
        "expert_target_speed": 10.0,
        "target_point": [
            28.17864077875726,
            -2.0401563526765925
        ],
        "target_point_next": [
            78.97913206906021,
            -6.5461623051341515
        ]
    },
    "455": {
        "acceleration": [
            0.47913551330566406,
            2.1849632263183594,
            0.010897517204284668
        ],
        "angular_velocity": [
            0.045195575803518295,
            -0.49568575620651245,
            -3.8650527000427246
        ],
        "forward_vector": [
            -0.22808843851089478,
            0.9735975861549377,
            0.009126655757427216
        ],
        "right_vector": [
            -0.9736388325691223,
            -0.2280615121126175,
            -0.0039040502160787582
        ],
        "location": [
            946.574951171875,
            3468.43310546875,
            370.614013671875
        ],
        "rotation": [
            0.22369550168514252,
            0.5229260921478271,
            103.18511962890625
        ],
        "velocity": [
            -2.809992551803589,
            12.163331985473633,
            0.05074705183506012
        ],
        "speed": 12.483697494333864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 47.81523895263672,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.6585693359375,
                3515.588134765625,
                370.7904968261719
            ],
            "velocity": [
                -1.2769861221313477,
                7.945634365081787,
                0.020968180149793625
            ],
            "speed_kmh": 28.971443411539838,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.29476261138916,
                "transform": {
                    "location": {
                        "x": 945.9758911132812,
                        "y": 3532.1875,
                        "z": 370.82037353515625
                    },
                    "rotation": {
                        "roll": -0.021972669288516045,
                        "pitch": -0.2984655797481537,
                        "yaw": -80.50810241699219
                    }
                },
                "velocity": {
                    "x": 1.0548858642578125,
                    "y": -6.205681800842285,
                    "z": 0.027706889435648918
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.114994049072266,
                "transform": {
                    "location": {
                        "x": 952.86083984375,
                        "y": 3489.9404296875,
                        "z": 370.6895751953125
                    },
                    "rotation": {
                        "roll": 0.0007358174188993871,
                        "pitch": -0.2036420851945877,
                        "yaw": -80.80912780761719
                    }
                },
                "velocity": {
                    "x": 1.2945719957351685,
                    "y": -8.011015892028809,
                    "z": -0.029013508930802345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.689995765686035,
                "transform": {
                    "location": {
                        "x": 959.5767211914062,
                        "y": 3448.224853515625,
                        "z": 370.5107727050781
                    },
                    "rotation": {
                        "roll": 0.00044510321458801627,
                        "pitch": -0.3223302662372589,
                        "yaw": -80.85201263427734
                    }
                },
                "velocity": {
                    "x": 1.063410758972168,
                    "y": -6.6048455238342285,
                    "z": -0.034832049161195755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045507431030273,
                "transform": {
                    "location": {
                        "x": 966.5220947265625,
                        "y": 3405.074951171875,
                        "z": 370.2322692871094
                    },
                    "rotation": {
                        "roll": -0.0009765629656612873,
                        "pitch": -0.46920666098594666,
                        "yaw": -80.85716247558594
                    }
                },
                "velocity": {
                    "x": 1.2782374620437622,
                    "y": -7.943062782287598,
                    "z": -0.0636616125702858
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.738158702850342,
                "transform": {
                    "location": {
                        "x": 943.3284912109375,
                        "y": 3528.26513671875,
                        "z": 370.81829833984375
                    },
                    "rotation": {
                        "roll": -0.0071411156095564365,
                        "pitch": -0.15561218559741974,
                        "yaw": -80.25578308105469
                    }
                },
                "velocity": {
                    "x": 1.1373672485351562,
                    "y": -6.641472816467285,
                    "z": -0.004116763826459646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.974992752075195,
                "transform": {
                    "location": {
                        "x": 949.9204711914062,
                        "y": 3487.762451171875,
                        "z": 370.6979675292969
                    },
                    "rotation": {
                        "roll": -0.0010681175626814365,
                        "pitch": -0.20495347678661346,
                        "yaw": -80.81558990478516
                    }
                },
                "velocity": {
                    "x": 1.2709510326385498,
                    "y": -7.87300968170166,
                    "z": -0.03011416830122471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.2762451171875,
                        "y": 3383.70361328125,
                        "z": 370.0409240722656
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006470680236816,
                "transform": {
                    "location": {
                        "x": 956.8270263671875,
                        "y": 3444.86865234375,
                        "z": 370.5059814453125
                    },
                    "rotation": {
                        "roll": -0.00030518858693540096,
                        "pitch": -0.31255626678466797,
                        "yaw": -80.86634826660156
                    }
                },
                "velocity": {
                    "x": 1.2708522081375122,
                    "y": -7.904840469360352,
                    "z": -0.04474351927638054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.602019309997559,
                "transform": {
                    "location": {
                        "x": 958.8341674804688,
                        "y": 3410.677978515625,
                        "z": 370.2854309082031
                    },
                    "rotation": {
                        "roll": 0.0007309651700779796,
                        "pitch": 0.5036717653274536,
                        "yaw": 99.15398406982422
                    }
                },
                "velocity": {
                    "x": -1.5249766111373901,
                    "y": 9.479880332946777,
                    "z": 0.07127206772565842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.368339538574219,
                "transform": {
                    "location": {
                        "x": 955.8897705078125,
                        "y": 3428.97998046875,
                        "z": 370.4075622558594
                    },
                    "rotation": {
                        "roll": 0.0007705509196966887,
                        "pitch": 0.24212336540222168,
                        "yaw": 99.12674713134766
                    }
                },
                "velocity": {
                    "x": -1.4890209436416626,
                    "y": 9.249053001403809,
                    "z": 0.060163162648677826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.047623634338379,
                "transform": {
                    "location": {
                        "x": 938.6585693359375,
                        "y": 3515.588134765625,
                        "z": 370.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0007324271136894822,
                        "pitch": 0.1566845327615738,
                        "yaw": 99.14279174804688
                    }
                },
                "velocity": {
                    "x": -1.2769861221313477,
                    "y": 7.945634365081787,
                    "z": 0.020968180149793625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.179731369018555,
                "transform": {
                    "location": {
                        "x": 935.9205322265625,
                        "y": 3532.936279296875,
                        "z": 370.8288879394531
                    },
                    "rotation": {
                        "roll": -0.0062255761586129665,
                        "pitch": -0.2204921543598175,
                        "yaw": 99.72113037109375
                    }
                },
                "velocity": {
                    "x": -0.8770691752433777,
                    "y": 5.104925155639648,
                    "z": 0.01029825210571289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.1965942382812,
                        "y": 3396.62646484375,
                        "z": 370.1688537597656
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.686184883117676,
                "transform": {
                    "location": {
                        "x": 952.4623413085938,
                        "y": 3450.2744140625,
                        "z": 370.532958984375
                    },
                    "rotation": {
                        "roll": -0.0001525888656033203,
                        "pitch": 0.3890065848827362,
                        "yaw": 99.13807678222656
                    }
                },
                "velocity": {
                    "x": -1.6966612339019775,
                    "y": 10.550497055053711,
                    "z": 0.053904227912425995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998572826385498,
                "transform": {
                    "location": {
                        "x": 948.86669921875,
                        "y": 3472.61328125,
                        "z": 370.6385498046875
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": 0.23678898811340332,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -1.2709263563156128,
                    "y": 7.896884441375732,
                    "z": 0.033626995980739594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.785614013671875,
                "transform": {
                    "location": {
                        "x": 963.2952270507812,
                        "y": 3404.6640625,
                        "z": 370.2255859375
                    },
                    "rotation": {
                        "roll": 0.0010975919431075454,
                        "pitch": -0.4843764901161194,
                        "yaw": -80.89928436279297
                    }
                },
                "velocity": {
                    "x": 1.0785938501358032,
                    "y": -6.699101448059082,
                    "z": -0.056850288063287735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.042034387588501,
                "transform": {
                    "location": {
                        "x": 949.0089111328125,
                        "y": 3446.27783203125,
                        "z": 370.50335693359375
                    },
                    "rotation": {
                        "roll": -0.0006103593041189015,
                        "pitch": 0.43912649154663086,
                        "yaw": 99.13887023925781
                    }
                },
                "velocity": {
                    "x": -0.3244951665401459,
                    "y": 2.016061305999756,
                    "z": 0.01019457820802927
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2138240337371826,
                "transform": {
                    "location": {
                        "x": 950.34765625,
                        "y": 3437.961181640625,
                        "z": 370.4519958496094
                    },
                    "rotation": {
                        "roll": 0.0013598129153251648,
                        "pitch": 0.09010384976863861,
                        "yaw": 99.14347076416016
                    }
                },
                "velocity": {
                    "x": -0.3519349992275238,
                    "y": 2.1856279373168945,
                    "z": 0.01374879851937294
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.032135721296072006,
        "expert_target_speed": 10.0,
        "target_point": [
            25.162501188879073,
            -1.554535290028121
        ],
        "target_point_next": [
            76.03554937437048,
            -5.1499453217769595
        ]
    },
    "460": {
        "acceleration": [
            1.4620733261108398,
            -2.0682334899902344,
            0.006315261125564575
        ],
        "angular_velocity": [
            -1.127231240272522,
            -0.4922794997692108,
            -5.969191551208496
        ],
        "forward_vector": [
            -0.2079784870147705,
            0.9781193137168884,
            0.00524589978158474
        ],
        "right_vector": [
            -0.9781240224838257,
            -0.2079499363899231,
            -0.0055076624266803265
        ],
        "location": [
            945.9037475585938,
            3471.463134765625,
            370.6275329589844
        ],
        "rotation": [
            0.31557175517082214,
            0.3005692958831787,
            102.00408172607422
        ],
        "velocity": [
            -2.512633800506592,
            11.947606086730957,
            0.05175464600324631
        ],
        "speed": 12.208956540963639,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 46.659278869628906,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.3499145507812,
                3517.506591796875,
                370.79534912109375
            ],
            "velocity": [
                -1.149726390838623,
                7.145434856414795,
                0.020624198019504547
            ],
            "speed_kmh": 26.054534711352755,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.501608848571777,
                "transform": {
                    "location": {
                        "x": 946.2459106445312,
                        "y": 3530.608642578125,
                        "z": 370.8220520019531
                    },
                    "rotation": {
                        "roll": -0.01330566592514515,
                        "pitch": -0.1784386783838272,
                        "yaw": -80.32267761230469
                    }
                },
                "velocity": {
                    "x": 1.1013106107711792,
                    "y": -6.407649993896484,
                    "z": -0.007287883665412664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010704040527344,
                "transform": {
                    "location": {
                        "x": 953.182373046875,
                        "y": 3487.94921875,
                        "z": 370.68218994140625
                    },
                    "rotation": {
                        "roll": -0.0004577592189889401,
                        "pitch": -0.2136756330728531,
                        "yaw": -80.8279800415039
                    }
                },
                "velocity": {
                    "x": 1.276969075202942,
                    "y": -7.908213138580322,
                    "z": -0.029988668859004974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.322864532470703,
                "transform": {
                    "location": {
                        "x": 959.8528442382812,
                        "y": 3446.51025390625,
                        "z": 370.5013122558594
                    },
                    "rotation": {
                        "roll": 0.00012427901674527675,
                        "pitch": -0.2904059588909149,
                        "yaw": -80.85160827636719
                    }
                },
                "velocity": {
                    "x": 1.1642102003097534,
                    "y": -7.229612350463867,
                    "z": -0.040827687829732895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.8263549804688,
                        "y": 3403.072998046875,
                        "z": 370.2158203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.089874267578125,
                "transform": {
                    "location": {
                        "x": 943.6080322265625,
                        "y": 3526.625,
                        "z": 370.81854248046875
                    },
                    "rotation": {
                        "roll": 0.010959792882204056,
                        "pitch": -0.22988367080688477,
                        "yaw": -80.29788970947266
                    }
                },
                "velocity": {
                    "x": 1.0185980796813965,
                    "y": -6.004082679748535,
                    "z": -0.00465579004958272
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.082419395446777,
                "transform": {
                    "location": {
                        "x": 950.2407836914062,
                        "y": 3485.779541015625,
                        "z": 370.6903381347656
                    },
                    "rotation": {
                        "roll": -0.0008239781018346548,
                        "pitch": -0.2285791039466858,
                        "yaw": -80.82454681396484
                    }
                },
                "velocity": {
                    "x": 1.2862902879714966,
                    "y": -7.979351043701172,
                    "z": -0.03038467839360237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.8790893554688,
                        "y": 3386.171142578125,
                        "z": 370.06689453125
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065502166748047,
                "transform": {
                    "location": {
                        "x": 957.1459350585938,
                        "y": 3442.885009765625,
                        "z": 370.4947509765625
                    },
                    "rotation": {
                        "roll": 0.001498611643910408,
                        "pitch": -0.33456313610076904,
                        "yaw": -80.86644744873047
                    }
                },
                "velocity": {
                    "x": 1.2803257703781128,
                    "y": -7.963100910186768,
                    "z": -0.045981138944625854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.700950622558594,
                "transform": {
                    "location": {
                        "x": 958.473388671875,
                        "y": 3412.919677734375,
                        "z": 370.30206298828125
                    },
                    "rotation": {
                        "roll": 0.0003673505852930248,
                        "pitch": 0.5090335011482239,
                        "yaw": 99.12245178222656
                    }
                },
                "velocity": {
                    "x": -1.382288932800293,
                    "y": 8.590216636657715,
                    "z": 0.06322582066059113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.43490219116211,
                "transform": {
                    "location": {
                        "x": 955.5216674804688,
                        "y": 3431.265869140625,
                        "z": 370.422607421875
                    },
                    "rotation": {
                        "roll": 0.0012664227979257703,
                        "pitch": 0.3455938994884491,
                        "yaw": 99.15400695800781
                    }
                },
                "velocity": {
                    "x": -1.4998492002487183,
                    "y": 9.314726829528809,
                    "z": 0.06070474535226822
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.23737096786499,
                "transform": {
                    "location": {
                        "x": 938.3499145507812,
                        "y": 3517.506591796875,
                        "z": 370.79534912109375
                    },
                    "rotation": {
                        "roll": -9.155448788078502e-05,
                        "pitch": 0.2097141146659851,
                        "yaw": 99.14081573486328
                    }
                },
                "velocity": {
                    "x": -1.149726390838623,
                    "y": 7.145434856414795,
                    "z": 0.020624198019504547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.231442451477051,
                "transform": {
                    "location": {
                        "x": 935.7040405273438,
                        "y": 3534.22216796875,
                        "z": 370.8306884765625
                    },
                    "rotation": {
                        "roll": 0.015754258260130882,
                        "pitch": 0.0023837359622120857,
                        "yaw": 99.59220886230469
                    }
                },
                "velocity": {
                    "x": -0.862070620059967,
                    "y": 5.159914970397949,
                    "z": 0.009978141635656357
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.9317626953125,
                        "y": 3398.271728515625,
                        "z": 370.1835021972656
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.802987098693848,
                "transform": {
                    "location": {
                        "x": 952.0502319335938,
                        "y": 3452.836181640625,
                        "z": 370.54595947265625
                    },
                    "rotation": {
                        "roll": 0.00031024220515973866,
                        "pitch": 0.21642136573791504,
                        "yaw": 99.14038848876953
                    }
                },
                "velocity": {
                    "x": -1.5574452877044678,
                    "y": 9.67834186553955,
                    "z": 0.05104629322886467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058063507080078,
                "transform": {
                    "location": {
                        "x": 948.547607421875,
                        "y": 3474.59521484375,
                        "z": 370.6468811035156
                    },
                    "rotation": {
                        "roll": 0.00034075192525051534,
                        "pitch": 0.23514974117279053,
                        "yaw": 99.14727783203125
                    }
                },
                "velocity": {
                    "x": -1.28103768825531,
                    "y": 7.955516338348389,
                    "z": 0.03289805352687836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.541958332061768,
                "transform": {
                    "location": {
                        "x": 963.577880859375,
                        "y": 3402.90625,
                        "z": 370.2107849121094
                    },
                    "rotation": {
                        "roll": 0.00034117454197257757,
                        "pitch": -0.4797661304473877,
                        "yaw": -80.8641586303711
                    }
                },
                "velocity": {
                    "x": 1.1993457078933716,
                    "y": -7.445711612701416,
                    "z": -0.0639154389500618
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.295419692993164,
                "transform": {
                    "location": {
                        "x": 948.9240112304688,
                        "y": 3446.804931640625,
                        "z": 370.5060119628906
                    },
                    "rotation": {
                        "roll": -0.0001525885600131005,
                        "pitch": 0.3717261850833893,
                        "yaw": 99.13870239257812
                    }
                },
                "velocity": {
                    "x": -0.364644855260849,
                    "y": 2.266240119934082,
                    "z": 0.011884880252182484
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.9578578472137451,
                "transform": {
                    "location": {
                        "x": 950.2645874023438,
                        "y": 3438.476806640625,
                        "z": 370.4552001953125
                    },
                    "rotation": {
                        "roll": 0.0006688426365144551,
                        "pitch": 0.2086212933063507,
                        "yaw": 99.14325714111328
                    }
                },
                "velocity": {
                    "x": -0.31135717034339905,
                    "y": 1.932913064956665,
                    "z": 0.010527591221034527
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06805987656116486,
        "expert_target_speed": 10.0,
        "target_point": [
            22.085828138042185,
            -1.061905917540117
        ],
        "target_point_next": [
            73.02217565918251,
            -3.607982543518025
        ]
    },
    "465": {
        "acceleration": [
            1.373910903930664,
            -2.6474571228027344,
            -0.0007366389036178589
        ],
        "angular_velocity": [
            -0.5997429490089417,
            -0.15351295471191406,
            -2.5279624462127686
        ],
        "forward_vector": [
            -0.19007661938667297,
            0.9817683696746826,
            0.0012720819795504212
        ],
        "right_vector": [
            -0.981754720211029,
            -0.1900666207075119,
            -0.0056824516505002975
        ],
        "location": [
            945.3173217773438,
            3474.369384765625,
            370.6406555175781
        ],
        "rotation": [
            0.3255825340747833,
            0.0728849470615387,
            100.95726776123047
        ],
        "velocity": [
            -2.1663479804992676,
            11.328264236450195,
            0.04820939898490906
        ],
        "speed": 11.533543869229865,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 45.16862487792969,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.1159057617188,
                3518.9599609375,
                370.7984924316406
            ],
            "velocity": [
                -0.8226335048675537,
                5.110880374908447,
                0.013282508589327335
            ],
            "speed_kmh": 18.636042677410426,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.392240524291992,
                "transform": {
                    "location": {
                        "x": 946.491943359375,
                        "y": 3529.177734375,
                        "z": 370.8193359375
                    },
                    "rotation": {
                        "roll": 0.0019173622131347656,
                        "pitch": -0.30416879057884216,
                        "yaw": -80.26632690429688
                    }
                },
                "velocity": {
                    "x": 0.9033640027046204,
                    "y": -5.3160223960876465,
                    "z": -0.009896544739603996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070687294006348,
                "transform": {
                    "location": {
                        "x": 953.5023193359375,
                        "y": 3485.966796875,
                        "z": 370.6745300292969
                    },
                    "rotation": {
                        "roll": -9.154126746580005e-05,
                        "pitch": -0.2290913611650467,
                        "yaw": -80.83326721191406
                    }
                },
                "velocity": {
                    "x": 1.2857105731964111,
                    "y": -7.967559814453125,
                    "z": -0.03041643090546131
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.176596641540527,
                "transform": {
                    "location": {
                        "x": 960.1577758789062,
                        "y": 3444.61669921875,
                        "z": 370.49072265625
                    },
                    "rotation": {
                        "roll": 0.0009142978233285248,
                        "pitch": -0.3065798580646515,
                        "yaw": -80.85282897949219
                    }
                },
                "velocity": {
                    "x": 1.2999377250671387,
                    "y": -8.072473526000977,
                    "z": -0.04544893279671669
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101095,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.0874633789062,
                        "y": 3401.005126953125,
                        "z": 370.19854736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.235260963439941,
                "transform": {
                    "location": {
                        "x": 943.8403930664062,
                        "y": 3525.256103515625,
                        "z": 370.8171081542969
                    },
                    "rotation": {
                        "roll": 0.0006654521566815674,
                        "pitch": -0.39349400997161865,
                        "yaw": -80.35157775878906
                    }
                },
                "velocity": {
                    "x": 0.8733119964599609,
                    "y": -5.161885738372803,
                    "z": -0.014678316190838814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002659797668457,
                "transform": {
                    "location": {
                        "x": 950.5609741210938,
                        "y": 3483.794189453125,
                        "z": 370.6824951171875
                    },
                    "rotation": {
                        "roll": -0.0008849966689012945,
                        "pitch": -0.22720623016357422,
                        "yaw": -80.83476257324219
                    }
                },
                "velocity": {
                    "x": 1.27243971824646,
                    "y": -7.900787830352783,
                    "z": -0.0318925641477108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.6143798828125,
                        "y": 3387.816162109375,
                        "z": 370.0837097167969
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006326675415039,
                "transform": {
                    "location": {
                        "x": 957.46484375,
                        "y": 3440.9013671875,
                        "z": 370.4830322265625
                    },
                    "rotation": {
                        "roll": 0.0002099651173921302,
                        "pitch": -0.331783264875412,
                        "yaw": -80.86620330810547
                    }
                },
                "velocity": {
                    "x": 1.2708662748336792,
                    "y": -7.90468692779541,
                    "z": -0.04583695903420448
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.927443504333496,
                "transform": {
                    "location": {
                        "x": 958.1272583007812,
                        "y": 3415.07177734375,
                        "z": 370.3182373046875
                    },
                    "rotation": {
                        "roll": -0.00021360843675211072,
                        "pitch": 0.39022916555404663,
                        "yaw": 99.15784454345703
                    }
                },
                "velocity": {
                    "x": -1.4182496070861816,
                    "y": 8.813859939575195,
                    "z": 0.06077512726187706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.207862854003906,
                "transform": {
                    "location": {
                        "x": 955.1278686523438,
                        "y": 3433.711181640625,
                        "z": 370.43865966796875
                    },
                    "rotation": {
                        "roll": 0.001014342880807817,
                        "pitch": 0.4629843533039093,
                        "yaw": 99.13865661621094
                    }
                },
                "velocity": {
                    "x": -1.6222201585769653,
                    "y": 10.077934265136719,
                    "z": 0.06402406841516495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.17667818069458,
                "transform": {
                    "location": {
                        "x": 938.1159057617188,
                        "y": 3518.9599609375,
                        "z": 370.7984924316406
                    },
                    "rotation": {
                        "roll": -0.000762965704780072,
                        "pitch": 0.325308233499527,
                        "yaw": 99.14344024658203
                    }
                },
                "velocity": {
                    "x": -0.8226335048675537,
                    "y": 5.110880374908447,
                    "z": 0.013282508589327335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.513270854949951,
                "transform": {
                    "location": {
                        "x": 935.4279174804688,
                        "y": 3535.87646484375,
                        "z": 370.8316650390625
                    },
                    "rotation": {
                        "roll": 0.014779341407120228,
                        "pitch": 0.6664010286331177,
                        "yaw": 99.49176788330078
                    }
                },
                "velocity": {
                    "x": -1.2328026294708252,
                    "y": 7.411426067352295,
                    "z": 0.014148024842143059
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5347290039062,
                        "y": 3400.7392578125,
                        "z": 370.2052307128906
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.371565818786621,
                "transform": {
                    "location": {
                        "x": 951.6766967773438,
                        "y": 3455.1572265625,
                        "z": 370.5574035644531
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1933763027191162,
                        "yaw": 99.14026641845703
                    }
                },
                "velocity": {
                    "x": -1.4888005256652832,
                    "y": 9.252442359924316,
                    "z": 0.045086830854415894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9993815422058105,
                "transform": {
                    "location": {
                        "x": 948.2286376953125,
                        "y": 3476.576904296875,
                        "z": 370.65521240234375
                    },
                    "rotation": {
                        "roll": 0.00013154894986655563,
                        "pitch": 0.2362220734357834,
                        "yaw": 99.14656829833984
                    }
                },
                "velocity": {
                    "x": -1.2717257738113403,
                    "y": 7.897576808929443,
                    "z": 0.03322296962141991
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.8203125,
                        "y": 3400.83642578125,
                        "z": 370.2008056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.4874114990234375,
                "transform": {
                    "location": {
                        "x": 948.8287963867188,
                        "y": 3447.396484375,
                        "z": 370.5090637207031
                    },
                    "rotation": {
                        "roll": 0.0009597988100722432,
                        "pitch": 0.4042515456676483,
                        "yaw": 99.13973999023438
                    }
                },
                "velocity": {
                    "x": -0.3952785134315491,
                    "y": 2.455766201019287,
                    "z": 0.013527697883546352
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.184356451034546,
                "transform": {
                    "location": {
                        "x": 950.182373046875,
                        "y": 3438.98779296875,
                        "z": 370.4578552246094
                    },
                    "rotation": {
                        "roll": 0.00011759068001993,
                        "pitch": -0.045250002294778824,
                        "yaw": 99.14286041259766
                    }
                },
                "velocity": {
                    "x": -0.34697988629341125,
                    "y": 2.1565823554992676,
                    "z": 0.01305447518825531
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09614057093858719,
        "expert_target_speed": 10.0,
        "target_point": [
            19.136809726272404,
            -0.6815575964958804
        ],
        "target_point_next": [
            70.11117141598461,
            -2.2966288971292386
        ]
    },
    "470": {
        "acceleration": [
            0.6876230239868164,
            -0.01377105712890625,
            -0.0215892493724823
        ],
        "angular_velocity": [
            0.5418154001235962,
            0.23240026831626892,
            -4.965770721435547
        ],
        "forward_vector": [
            -0.174398273229599,
            0.984674870967865,
            0.0007946490659378469
        ],
        "right_vector": [
            -0.9846630096435547,
            -0.17439204454421997,
            -0.005108936689794064
        ],
        "location": [
            944.8095092773438,
            3477.1318359375,
            370.6524963378906
        ],
        "rotation": [
            0.29272186756134033,
            0.0455300398170948,
            100.04364776611328
        ],
        "velocity": [
            -1.9149712324142456,
            10.961362838745117,
            0.046024780720472336
        ],
        "speed": 11.127380199471776,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 43.65166473388672,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.9105834960938,
                3520.234619140625,
                370.80322265625
            ],
            "velocity": [
                -0.8295819759368896,
                5.151139259338379,
                0.014079771004617214
            ],
            "speed_kmh": 18.783115197524364,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.545137405395508,
                "transform": {
                    "location": {
                        "x": 946.7173461914062,
                        "y": 3527.839599609375,
                        "z": 370.8161926269531
                    },
                    "rotation": {
                        "roll": 0.006457539740949869,
                        "pitch": -0.15426664054393768,
                        "yaw": -80.39612579345703
                    }
                },
                "velocity": {
                    "x": 0.91754549741745,
                    "y": -5.468682765960693,
                    "z": -0.01294972375035286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033355712890625,
                "transform": {
                    "location": {
                        "x": 953.8231201171875,
                        "y": 3483.978271484375,
                        "z": 370.66650390625
                    },
                    "rotation": {
                        "roll": 0.000765480799600482,
                        "pitch": -0.2285449504852295,
                        "yaw": -80.83560180664062
                    }
                },
                "velocity": {
                    "x": 1.2780431509017944,
                    "y": -7.930970668792725,
                    "z": -0.03338180109858513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.54566478729248,
                "transform": {
                    "location": {
                        "x": 960.5016479492188,
                        "y": 3442.481201171875,
                        "z": 370.4783935546875
                    },
                    "rotation": {
                        "roll": 0.0017458872171118855,
                        "pitch": -0.31753548979759216,
                        "yaw": -80.84093475341797
                    }
                },
                "velocity": {
                    "x": 1.3588670492172241,
                    "y": -8.436792373657227,
                    "z": -0.048979222774505615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.722994804382324,
                "transform": {
                    "location": {
                        "x": 944.0615234375,
                        "y": 3523.94921875,
                        "z": 370.8110046386719
                    },
                    "rotation": {
                        "roll": -0.0013427690137177706,
                        "pitch": -0.1249992847442627,
                        "yaw": -80.3799057006836
                    }
                },
                "velocity": {
                    "x": 0.9533277750015259,
                    "y": -5.643007755279541,
                    "z": -0.017307758331298828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061055183410645,
                "transform": {
                    "location": {
                        "x": 950.88037109375,
                        "y": 3481.8125,
                        "z": 370.6744384765625
                    },
                    "rotation": {
                        "roll": -0.0008239780436269939,
                        "pitch": -0.22766385972499847,
                        "yaw": -80.84437561035156
                    }
                },
                "velocity": {
                    "x": 1.2826305627822876,
                    "y": -7.958291053771973,
                    "z": -0.0328277088701725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2173461914062,
                        "y": 3390.283935546875,
                        "z": 370.10870361328125
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065421104431152,
                "transform": {
                    "location": {
                        "x": 957.7840576171875,
                        "y": 3438.91796875,
                        "z": 370.4713439941406
                    },
                    "rotation": {
                        "roll": 0.00022311878274194896,
                        "pitch": -0.3309636414051056,
                        "yaw": -80.85734558105469
                    }
                },
                "velocity": {
                    "x": 1.2832695245742798,
                    "y": -7.9625468254089355,
                    "z": -0.04566477984189987
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.569632530212402,
                "transform": {
                    "location": {
                        "x": 957.7575073242188,
                        "y": 3417.36767578125,
                        "z": 370.3344421386719
                    },
                    "rotation": {
                        "roll": -0.00015258777420967817,
                        "pitch": 0.3235255479812622,
                        "yaw": 99.12850189208984
                    }
                },
                "velocity": {
                    "x": -1.5207445621490479,
                    "y": 9.447806358337402,
                    "z": 0.06435874849557877
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.377280235290527,
                "transform": {
                    "location": {
                        "x": 954.73974609375,
                        "y": 3436.121826171875,
                        "z": 370.4534606933594
                    },
                    "rotation": {
                        "roll": 0.0013366369530558586,
                        "pitch": 0.2664046883583069,
                        "yaw": 99.1549072265625
                    }
                },
                "velocity": {
                    "x": -1.4901281595230103,
                    "y": 9.257946968078613,
                    "z": 0.05763252079486847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.217531681060791,
                "transform": {
                    "location": {
                        "x": 937.9105834960938,
                        "y": 3520.234619140625,
                        "z": 370.80322265625
                    },
                    "rotation": {
                        "roll": 0.0005075375665910542,
                        "pitch": 0.17944954335689545,
                        "yaw": 99.14089965820312
                    }
                },
                "velocity": {
                    "x": -0.8295819759368896,
                    "y": 5.151139259338379,
                    "z": 0.014079771004617214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.432580947875977,
                "transform": {
                    "location": {
                        "x": 935.0958862304688,
                        "y": 3537.872802734375,
                        "z": 370.8358154296875
                    },
                    "rotation": {
                        "roll": 0.007553311064839363,
                        "pitch": 0.6296477913856506,
                        "yaw": 99.44245910644531
                    }
                },
                "velocity": {
                    "x": -1.381794810295105,
                    "y": 8.31857967376709,
                    "z": 0.01733771339058876
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2698974609375,
                        "y": 3402.38427734375,
                        "z": 370.21881103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.219864845275879,
                "transform": {
                    "location": {
                        "x": 951.287841796875,
                        "y": 3457.572509765625,
                        "z": 370.56878662109375
                    },
                    "rotation": {
                        "roll": -0.0006408886983990669,
                        "pitch": 0.3443644642829895,
                        "yaw": 99.14912414550781
                    }
                },
                "velocity": {
                    "x": -1.6246675252914429,
                    "y": 10.089799880981445,
                    "z": 0.045088060200214386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057859420776367,
                "transform": {
                    "location": {
                        "x": 947.9096069335938,
                        "y": 3478.55859375,
                        "z": 370.66339111328125
                    },
                    "rotation": {
                        "roll": -9.155462612397969e-05,
                        "pitch": 0.2316116988658905,
                        "yaw": 99.14473724365234
                    }
                },
                "velocity": {
                    "x": -1.2789132595062256,
                    "y": 7.955646991729736,
                    "z": 0.03398231416940689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.1481323242188,
                        "y": 3398.779052734375,
                        "z": 370.18280029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5231583118438721,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.6377201080322266,
                "transform": {
                    "location": {
                        "x": 948.727294921875,
                        "y": 3448.02734375,
                        "z": 370.512451171875
                    },
                    "rotation": {
                        "roll": -0.0007629499887116253,
                        "pitch": 0.4470905065536499,
                        "yaw": 99.13928985595703
                    }
                },
                "velocity": {
                    "x": -0.41897448897361755,
                    "y": 2.6041977405548096,
                    "z": 0.013493003323674202
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.4135398864746094,
                "transform": {
                    "location": {
                        "x": 950.0909423828125,
                        "y": 3439.555908203125,
                        "z": 370.4611511230469
                    },
                    "rotation": {
                        "roll": -0.00045776020851917565,
                        "pitch": -0.11044415086507797,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -0.3833397328853607,
                    "y": 2.3828656673431396,
                    "z": 0.013318815268576145
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10333713889122009,
        "expert_target_speed": 10.0,
        "target_point": [
            16.336565540313785,
            -0.39459934047025946
        ],
        "target_point_next": [
            67.33019918983864,
            -1.1966792602881
        ]
    },
    "475": {
        "acceleration": [
            0.8254623413085938,
            -2.3651504516601562,
            -0.016354918479919434
        ],
        "angular_velocity": [
            0.2761857211589813,
            0.2470676749944687,
            -0.48580828309059143
        ],
        "forward_vector": [
            -0.1620398610830307,
            0.9867748618125916,
            -0.004295097663998604
        ],
        "right_vector": [
            -0.9867724180221558,
            -0.16205769777297974,
            -0.004190963692963123
        ],
        "location": [
            944.3926391601562,
            3479.607421875,
            370.6636657714844
        ],
        "rotation": [
            0.24012742936611176,
            -0.24609170854091644,
            99.32540130615234
        ],
        "velocity": [
            -1.5072017908096313,
            9.394343376159668,
            0.03890293091535568
        ],
        "speed": 9.514480790217341,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 42.541194915771484,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.6879272460938,
                3521.61669921875,
                370.80755615234375
            ],
            "velocity": [
                -0.9221330881118774,
                5.733146667480469,
                0.013715419918298721
            ],
            "speed_kmh": 20.90465421371198,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.4815239906311035,
                "transform": {
                    "location": {
                        "x": 946.9774169921875,
                        "y": 3526.2861328125,
                        "z": 370.8123474121094
                    },
                    "rotation": {
                        "roll": 0.004816233646124601,
                        "pitch": 0.17850016057491302,
                        "yaw": -80.47557067871094
                    }
                },
                "velocity": {
                    "x": 1.2331846952438354,
                    "y": -7.379168510437012,
                    "z": -0.017989234998822212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068205833435059,
                "transform": {
                    "location": {
                        "x": 954.1431884765625,
                        "y": 3481.99169921875,
                        "z": 370.65850830078125
                    },
                    "rotation": {
                        "roll": 0.0004448996332939714,
                        "pitch": -0.22802585363388062,
                        "yaw": -80.84819030761719
                    }
                },
                "velocity": {
                    "x": 1.2831109762191772,
                    "y": -7.965456485748291,
                    "z": -0.03272169455885887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.141180992126465,
                "transform": {
                    "location": {
                        "x": 960.8319091796875,
                        "y": 3440.43115234375,
                        "z": 370.4666442871094
                    },
                    "rotation": {
                        "roll": 0.001129416050389409,
                        "pitch": -0.34363362193107605,
                        "yaw": -80.86293029785156
                    }
                },
                "velocity": {
                    "x": 1.2940990924835205,
                    "y": -8.037525177001953,
                    "z": -0.048160433769226074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.4375224113464355,
                "transform": {
                    "location": {
                        "x": 944.342529296875,
                        "y": 3522.2685546875,
                        "z": 370.80279541015625
                    },
                    "rotation": {
                        "roll": 0.018807221204042435,
                        "pitch": 0.2923184335231781,
                        "yaw": -80.69348907470703
                    }
                },
                "velocity": {
                    "x": 1.2090580463409424,
                    "y": -7.338566780090332,
                    "z": -0.018866118043661118
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007941246032715,
                "transform": {
                    "location": {
                        "x": 951.1998291015625,
                        "y": 3479.829345703125,
                        "z": 370.6664123535156
                    },
                    "rotation": {
                        "roll": -0.0006103595951572061,
                        "pitch": -0.22836053371429443,
                        "yaw": -80.84764862060547
                    }
                },
                "velocity": {
                    "x": 1.2735157012939453,
                    "y": -7.9059600830078125,
                    "z": -0.03287144750356674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.9525756835938,
                        "y": 3391.928955078125,
                        "z": 370.12451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006265640258789,
                "transform": {
                    "location": {
                        "x": 958.103271484375,
                        "y": 3436.9345703125,
                        "z": 370.4597473144531
                    },
                    "rotation": {
                        "roll": -0.0005493324133567512,
                        "pitch": -0.33032843470573425,
                        "yaw": -80.85779571533203
                    }
                },
                "velocity": {
                    "x": 1.2697868347167969,
                    "y": -7.904800891876221,
                    "z": -0.04533883556723595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.012282371520996,
                "transform": {
                    "location": {
                        "x": 957.3881225585938,
                        "y": 3419.6650390625,
                        "z": 370.3494873046875
                    },
                    "rotation": {
                        "roll": 0.0002910912153311074,
                        "pitch": 0.4192028343677521,
                        "yaw": 99.15587615966797
                    }
                },
                "velocity": {
                    "x": -1.4312779903411865,
                    "y": 8.897695541381836,
                    "z": 0.060747336596250534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.686310768127441,
                "transform": {
                    "location": {
                        "x": 954.3654174804688,
                        "y": 3438.44775390625,
                        "z": 370.46734619140625
                    },
                    "rotation": {
                        "roll": 0.000356523843947798,
                        "pitch": 0.35048431158065796,
                        "yaw": 99.13214111328125
                    }
                },
                "velocity": {
                    "x": -1.539209008216858,
                    "y": 9.56307601928711,
                    "z": 0.05510645732283592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.806848049163818,
                "transform": {
                    "location": {
                        "x": 937.6879272460938,
                        "y": 3521.61669921875,
                        "z": 370.80755615234375
                    },
                    "rotation": {
                        "roll": -0.0009460563887842,
                        "pitch": 0.11314208060503006,
                        "yaw": 99.1028060913086
                    }
                },
                "velocity": {
                    "x": -0.9221330881118774,
                    "y": 5.733146667480469,
                    "z": 0.013715419918298721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.936344623565674,
                "transform": {
                    "location": {
                        "x": 934.7635498046875,
                        "y": 3539.89306640625,
                        "z": 370.841552734375
                    },
                    "rotation": {
                        "roll": 0.018229059875011444,
                        "pitch": 0.1846473217010498,
                        "yaw": 99.3291244506836
                    }
                },
                "velocity": {
                    "x": -1.281481146812439,
                    "y": 7.832184791564941,
                    "z": 0.015962570905685425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.8834838867188,
                        "y": 3404.7861328125,
                        "z": 370.2387390136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.384976387023926,
                "transform": {
                    "location": {
                        "x": 950.8931274414062,
                        "y": 3460.023681640625,
                        "z": 370.5795593261719
                    },
                    "rotation": {
                        "roll": -6.103177656768821e-05,
                        "pitch": 0.18276219069957733,
                        "yaw": 99.14698028564453
                    }
                },
                "velocity": {
                    "x": -1.4922106266021729,
                    "y": 9.26548957824707,
                    "z": 0.042238567024469376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999630451202393,
                "transform": {
                    "location": {
                        "x": 947.5908203125,
                        "y": 3480.540283203125,
                        "z": 370.6715393066406
                    },
                    "rotation": {
                        "roll": 0.0005131952930241823,
                        "pitch": 0.2251025289297104,
                        "yaw": 99.13935852050781
                    }
                },
                "velocity": {
                    "x": -1.2706210613250732,
                    "y": 7.898010730743408,
                    "z": 0.032137058675289154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.9125313758850098,
                "transform": {
                    "location": {
                        "x": 948.6159057617188,
                        "y": 3448.7197265625,
                        "z": 370.5159606933594
                    },
                    "rotation": {
                        "roll": 0.0005752030992880464,
                        "pitch": 0.38718292117118835,
                        "yaw": 99.14070892333984
                    }
                },
                "velocity": {
                    "x": -0.46283578872680664,
                    "y": 2.8754827976226807,
                    "z": 0.014851856045424938
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.6438679695129395,
                "transform": {
                    "location": {
                        "x": 949.9902954101562,
                        "y": 3440.18115234375,
                        "z": 370.46478271484375
                    },
                    "rotation": {
                        "roll": 0.0004274947277735919,
                        "pitch": -0.12102411687374115,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -0.420011967420578,
                    "y": 2.6102511882781982,
                    "z": 0.01472476962953806
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10421039909124374,
        "expert_target_speed": 9.64423531585396,
        "target_point": [
            13.829809677853563,
            -0.19999976276125686
        ],
        "target_point_next": [
            64.82949106289972,
            -0.36279903642772204
        ]
    },
    "480": {
        "acceleration": [
            0.34912586212158203,
            0.34473419189453125,
            -0.007438883185386658
        ],
        "angular_velocity": [
            1.0266777276992798,
            0.3598383665084839,
            -4.641241550445557
        ],
        "forward_vector": [
            -0.15092091262340546,
            0.988545835018158,
            -8.630751835880801e-05
        ],
        "right_vector": [
            -0.9885406494140625,
            -0.15092039108276367,
            -0.0032194710802286863
        ],
        "location": [
            944.0302124023438,
            3481.93212890625,
            370.6720886230469
        ],
        "rotation": [
            0.18446242809295654,
            -0.004945056512951851,
            98.6802978515625
        ],
        "velocity": [
            -1.3862652778625488,
            9.28560733795166,
            0.03682440519332886
        ],
        "speed": 9.388516126376365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 41.83694076538086,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.4266357421875,
                3523.244384765625,
                370.8126525878906
            ],
            "velocity": [
                -1.187928318977356,
                7.383207321166992,
                0.01858876273036003
            ],
            "speed_kmh": 26.921470497779065,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.323124885559082,
                "transform": {
                    "location": {
                        "x": 947.314453125,
                        "y": 3524.266845703125,
                        "z": 370.8070983886719
                    },
                    "rotation": {
                        "roll": 0.0029050305020064116,
                        "pitch": 0.07317864149808884,
                        "yaw": -80.55902862548828
                    }
                },
                "velocity": {
                    "x": 1.368940830230713,
                    "y": -8.209748268127441,
                    "z": -0.02127726562321186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027334213256836,
                "transform": {
                    "location": {
                        "x": 954.4630737304688,
                        "y": 3480.005859375,
                        "z": 370.6504211425781
                    },
                    "rotation": {
                        "roll": -0.0001831092085922137,
                        "pitch": -0.22906404733657837,
                        "yaw": -80.85014343261719
                    }
                },
                "velocity": {
                    "x": 1.2765060663223267,
                    "y": -7.925118446350098,
                    "z": -0.03335423767566681
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.323519229888916,
                "transform": {
                    "location": {
                        "x": 961.1476440429688,
                        "y": 3438.4697265625,
                        "z": 370.4551086425781
                    },
                    "rotation": {
                        "roll": 0.0007214256911538541,
                        "pitch": -0.35335981845855713,
                        "yaw": -80.83611297607422
                    }
                },
                "velocity": {
                    "x": 1.1649231910705566,
                    "y": -7.230146408081055,
                    "z": -0.043260376900434494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.746501922607422,
                "transform": {
                    "location": {
                        "x": 944.6681518554688,
                        "y": 3520.28955078125,
                        "z": 370.79833984375
                    },
                    "rotation": {
                        "roll": 0.0055149211548268795,
                        "pitch": 0.1905486136674881,
                        "yaw": -80.74225616455078
                    }
                },
                "velocity": {
                    "x": 1.4152909517288208,
                    "y": -8.631205558776855,
                    "z": -0.022992076352238655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064115524291992,
                "transform": {
                    "location": {
                        "x": 951.5193481445312,
                        "y": 3477.845458984375,
                        "z": 370.65814208984375
                    },
                    "rotation": {
                        "roll": -0.0013732931111007929,
                        "pitch": -0.23635868728160858,
                        "yaw": -80.85022735595703
                    }
                },
                "velocity": {
                    "x": 1.2805655002593994,
                    "y": -7.9617204666137695,
                    "z": -0.03354089707136154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.5555419921875,
                        "y": 3394.396728515625,
                        "z": 370.1482849121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066362380981445,
                "transform": {
                    "location": {
                        "x": 958.4224243164062,
                        "y": 3434.950927734375,
                        "z": 370.4474792480469
                    },
                    "rotation": {
                        "roll": -0.0010986410779878497,
                        "pitch": -0.3558664917945862,
                        "yaw": -80.85968017578125
                    }
                },
                "velocity": {
                    "x": 1.2812464237213135,
                    "y": -7.963797569274902,
                    "z": -0.05040644854307175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.277063369750977,
                "transform": {
                    "location": {
                        "x": 957.0283203125,
                        "y": 3421.900146484375,
                        "z": 370.36517333984375
                    },
                    "rotation": {
                        "roll": -0.0009155314764939249,
                        "pitch": 0.37323567271232605,
                        "yaw": 99.12543487548828
                    }
                },
                "velocity": {
                    "x": -1.473757266998291,
                    "y": 9.159051895141602,
                    "z": 0.06095849722623825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.151658058166504,
                "transform": {
                    "location": {
                        "x": 953.9642944335938,
                        "y": 3440.93994140625,
                        "z": 370.4818420410156
                    },
                    "rotation": {
                        "roll": 0.0022133139427751303,
                        "pitch": 0.3951878845691681,
                        "yaw": 99.16102600097656
                    }
                },
                "velocity": {
                    "x": -1.6136428117752075,
                    "y": 10.022419929504395,
                    "z": 0.058443956077098846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.478186130523682,
                "transform": {
                    "location": {
                        "x": 937.4266357421875,
                        "y": 3523.244384765625,
                        "z": 370.8126525878906
                    },
                    "rotation": {
                        "roll": 0.00029272533720359206,
                        "pitch": -0.0019875848665833473,
                        "yaw": 99.11981201171875
                    }
                },
                "velocity": {
                    "x": -1.187928318977356,
                    "y": 7.383207321166992,
                    "z": 0.01858876273036003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.919755935668945,
                "transform": {
                    "location": {
                        "x": 934.4476318359375,
                        "y": 3541.826904296875,
                        "z": 370.8454895019531
                    },
                    "rotation": {
                        "roll": 0.011569283902645111,
                        "pitch": 0.0874469056725502,
                        "yaw": 99.27400970458984
                    }
                },
                "velocity": {
                    "x": -1.2741731405258179,
                    "y": 7.816573143005371,
                    "z": 0.014122352004051208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.486328125,
                        "y": 3407.253662109375,
                        "z": 370.25787353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026460647583008,
                "transform": {
                    "location": {
                        "x": 950.5506591796875,
                        "y": 3462.14990234375,
                        "z": 370.5890197753906
                    },
                    "rotation": {
                        "roll": -0.0006408676854334772,
                        "pitch": 0.07416219264268875,
                        "yaw": 99.1413345336914
                    }
                },
                "velocity": {
                    "x": -1.2755192518234253,
                    "y": 7.924379825592041,
                    "z": 0.036426275968551636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057904243469238,
                "transform": {
                    "location": {
                        "x": 947.2718505859375,
                        "y": 3482.522216796875,
                        "z": 370.679443359375
                    },
                    "rotation": {
                        "roll": 0.0014234784757718444,
                        "pitch": 0.22549185156822205,
                        "yaw": 99.1429443359375
                    }
                },
                "velocity": {
                    "x": -1.28044593334198,
                    "y": 7.955451488494873,
                    "z": 0.03275011107325554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 937.9659423828125,
                        "y": 3561.43017578125,
                        "z": 371.2599792480469
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1058311462402344,
                "transform": {
                    "location": {
                        "x": 948.4962158203125,
                        "y": 3449.463623046875,
                        "z": 370.5198669433594
                    },
                    "rotation": {
                        "roll": 0.0006704427069053054,
                        "pitch": 0.4077964127063751,
                        "yaw": 99.14000701904297
                    }
                },
                "velocity": {
                    "x": -0.4931575357913971,
                    "y": 3.0663933753967285,
                    "z": 0.014637432061135769
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.8734288215637207,
                "transform": {
                    "location": {
                        "x": 949.880615234375,
                        "y": 3440.863037109375,
                        "z": 370.4687805175781
                    },
                    "rotation": {
                        "roll": 0.001526684034615755,
                        "pitch": -0.12249260395765305,
                        "yaw": 99.14305114746094
                    }
                },
                "velocity": {
                    "x": -0.4567623436450958,
                    "y": 2.8368403911590576,
                    "z": 0.01727801375091076
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07551737129688263,
        "expert_target_speed": 9.569805084906745,
        "target_point": [
            11.478407630900879,
            -0.051708466728985325
        ],
        "target_point_next": [
            62.47668944652722,
            0.35969988720402135
        ]
    },
    "485": {
        "acceleration": [
            0.16029834747314453,
            0.8497238159179688,
            0.005300119519233704
        ],
        "angular_velocity": [
            0.5119332671165466,
            0.27114683389663696,
            0.2955858111381531
        ],
        "forward_vector": [
            -0.1421053260564804,
            0.9898419380187988,
            0.004372343886643648
        ],
        "right_vector": [
            -0.9898499250411987,
            -0.14209559559822083,
            -0.002462777541950345
        ],
        "location": [
            943.6856689453125,
            3484.298583984375,
            370.6806945800781
        ],
        "rotation": [
            0.14110825955867767,
            0.25051766633987427,
            98.16976928710938
        ],
        "velocity": [
            -1.3583685159683228,
            9.64206314086914,
            0.037276849150657654
        ],
        "speed": 9.73727614056833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 41.43682098388672,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.1106567382812,
                3525.210205078125,
                370.81732177734375
            ],
            "velocity": [
                -1.3069082498550415,
                8.13095760345459,
                0.020846767351031303
            ],
            "speed_kmh": 29.64724375760919,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8692169189453125,
                "transform": {
                    "location": {
                        "x": 947.6415405273438,
                        "y": 3522.2802734375,
                        "z": 370.8017578125
                    },
                    "rotation": {
                        "roll": 0.013057488948106766,
                        "pitch": -0.1859109103679657,
                        "yaw": -80.806396484375
                    }
                },
                "velocity": {
                    "x": 1.270249605178833,
                    "y": -7.76598596572876,
                    "z": -0.022383788600564003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075244903564453,
                "transform": {
                    "location": {
                        "x": 954.783203125,
                        "y": 3478.01806640625,
                        "z": 370.6421813964844
                    },
                    "rotation": {
                        "roll": 0.0013060980709269643,
                        "pitch": -0.2378203421831131,
                        "yaw": -80.85310363769531
                    }
                },
                "velocity": {
                    "x": 1.2835105657577515,
                    "y": -7.972519397735596,
                    "z": -0.03349951282143593
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8273420333862305,
                "transform": {
                    "location": {
                        "x": 961.4224853515625,
                        "y": 3436.762939453125,
                        "z": 370.44488525390625
                    },
                    "rotation": {
                        "roll": -0.0015868901973590255,
                        "pitch": -0.3634070158004761,
                        "yaw": -80.807861328125
                    }
                },
                "velocity": {
                    "x": 1.085899829864502,
                    "y": -6.740306854248047,
                    "z": -0.04103744029998779
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.9530029296875,
                        "y": 3563.3232421875,
                        "z": 371.1263122558594
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.291150093078613,
                "transform": {
                    "location": {
                        "x": 945.013427734375,
                        "y": 3518.1806640625,
                        "z": 370.79547119140625
                    },
                    "rotation": {
                        "roll": 0.0027247986290603876,
                        "pitch": -0.18029649555683136,
                        "yaw": -80.71418762207031
                    }
                },
                "velocity": {
                    "x": 1.3362292051315308,
                    "y": -8.182734489440918,
                    "z": -0.022601326927542686
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005056381225586,
                "transform": {
                    "location": {
                        "x": 951.8384399414062,
                        "y": 3475.863037109375,
                        "z": 370.64990234375
                    },
                    "rotation": {
                        "roll": -0.0012817520182579756,
                        "pitch": -0.23794329166412354,
                        "yaw": -80.85607147216797
                    }
                },
                "velocity": {
                    "x": 1.2721002101898193,
                    "y": -7.903264999389648,
                    "z": -0.03314037248492241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.2907104492188,
                        "y": 3396.041748046875,
                        "z": 370.16326904296875
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006880760192871,
                "transform": {
                    "location": {
                        "x": 958.741455078125,
                        "y": 3432.9677734375,
                        "z": 370.4349060058594
                    },
                    "rotation": {
                        "roll": 0.0005958130350336432,
                        "pitch": -0.37029868364334106,
                        "yaw": -80.85997009277344
                    }
                },
                "velocity": {
                    "x": 1.271855115890503,
                    "y": -7.905048847198486,
                    "z": -0.0522087998688221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.706445693969727,
                "transform": {
                    "location": {
                        "x": 956.64794921875,
                        "y": 3424.263427734375,
                        "z": 370.3815612792969
                    },
                    "rotation": {
                        "roll": 0.0006144747021608055,
                        "pitch": 0.3455255925655365,
                        "yaw": 99.16495513916016
                    }
                },
                "velocity": {
                    "x": -1.5452436208724976,
                    "y": 9.582443237304688,
                    "z": 0.06390459090471268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.01427936553955,
                "transform": {
                    "location": {
                        "x": 953.585205078125,
                        "y": 3443.294189453125,
                        "z": 370.49542236328125
                    },
                    "rotation": {
                        "roll": 0.001008780556730926,
                        "pitch": 0.2127535492181778,
                        "yaw": 99.1304702758789
                    }
                },
                "velocity": {
                    "x": -1.4330154657363892,
                    "y": 8.899495124816895,
                    "z": 0.05182751640677452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.235345840454102,
                "transform": {
                    "location": {
                        "x": 937.1106567382812,
                        "y": 3525.210205078125,
                        "z": 370.81732177734375
                    },
                    "rotation": {
                        "roll": 0.0003127830277662724,
                        "pitch": 0.0417802631855011,
                        "yaw": 99.12932586669922
                    }
                },
                "velocity": {
                    "x": -1.3069082498550415,
                    "y": 8.13095760345459,
                    "z": 0.020846767351031303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8286237716674805,
                "transform": {
                    "location": {
                        "x": 934.1278686523438,
                        "y": 3543.790283203125,
                        "z": 370.8486633300781
                    },
                    "rotation": {
                        "roll": 0.00953519344329834,
                        "pitch": 0.08057573437690735,
                        "yaw": 99.24418640136719
                    }
                },
                "velocity": {
                    "x": -1.2541474103927612,
                    "y": 7.727502346038818,
                    "z": 0.013316096737980843
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.0999145507812,
                        "y": 3409.655517578125,
                        "z": 370.2762756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.263157844543457,
                "transform": {
                    "location": {
                        "x": 950.2317504882812,
                        "y": 3464.130859375,
                        "z": 370.5980529785156
                    },
                    "rotation": {
                        "roll": -0.00012207726831547916,
                        "pitch": 0.228845477104187,
                        "yaw": 99.14387512207031
                    }
                },
                "velocity": {
                    "x": -1.3130961656570435,
                    "y": 8.15807819366455,
                    "z": 0.03622362017631531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999383449554443,
                "transform": {
                    "location": {
                        "x": 946.9530029296875,
                        "y": 3484.503662109375,
                        "z": 370.6874084472656
                    },
                    "rotation": {
                        "roll": 6.689501606160775e-05,
                        "pitch": 0.22602461278438568,
                        "yaw": 99.1431655883789
                    }
                },
                "velocity": {
                    "x": -1.2711442708969116,
                    "y": 7.897675514221191,
                    "z": 0.03246978670358658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.1642456054688,
                        "y": 3560.19677734375,
                        "z": 371.0273742675781
                    },
                    "rotation": {
                        "roll": 6.670109353734688e-09,
                        "pitch": -0.055693358182907104,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.282280921936035,
                "transform": {
                    "location": {
                        "x": 948.3704223632812,
                        "y": 3450.24560546875,
                        "z": 370.5238342285156
                    },
                    "rotation": {
                        "roll": -0.0006103432388044894,
                        "pitch": 0.40386906266212463,
                        "yaw": 99.14067077636719
                    }
                },
                "velocity": {
                    "x": -0.5215535759925842,
                    "y": 3.240532159805298,
                    "z": 0.01734272949397564
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.582561492919922,
                "transform": {
                    "location": {
                        "x": 949.7783203125,
                        "y": 3441.498779296875,
                        "z": 370.4727783203125
                    },
                    "rotation": {
                        "roll": 0.00015655450988560915,
                        "pitch": 0.137177512049675,
                        "yaw": 99.14373779296875
                    }
                },
                "velocity": {
                    "x": -0.4106356203556061,
                    "y": 2.5496702194213867,
                    "z": 0.01359168067574501
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6943612694740295,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.022949041798710823,
        "expert_target_speed": 9.797756609913712,
        "target_point": [
            9.087012062038244,
            0.04580495080578939
        ],
        "target_point_next": [
            60.079604220516046,
            0.9115704726866038
        ]
    },
    "490": {
        "acceleration": [
            -0.3818178176879883,
            4.772834777832031,
            0.025445744395256042
        ],
        "angular_velocity": [
            1.1085188388824463,
            0.22252382338047028,
            -1.9439473152160645
        ],
        "forward_vector": [
            -0.1347651332616806,
            0.9908347725868225,
            0.009207833558321
        ],
        "right_vector": [
            -0.9908772706985474,
            -0.13475222885608673,
            -0.002011195756494999
        ],
        "location": [
            943.337646484375,
            3486.8212890625,
            370.6893005371094
        ],
        "rotation": [
            0.11523798853158951,
            0.5275774598121643,
            97.74536895751953
        ],
        "velocity": [
            -1.4403845071792603,
            10.728513717651367,
            0.04010261595249176
        ],
        "speed": 10.824773167062467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 40.93434524536133,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.7864379882812,
                3527.227783203125,
                370.8215637207031
            ],
            "velocity": [
                -1.2757447957992554,
                7.938035011291504,
                0.021298332139849663
            ],
            "speed_kmh": 28.94372647112183,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.093934059143066,
                "transform": {
                    "location": {
                        "x": 947.960205078125,
                        "y": 3520.321533203125,
                        "z": 370.7962341308594
                    },
                    "rotation": {
                        "roll": 0.009047046303749084,
                        "pitch": -0.12252675741910934,
                        "yaw": -80.93803405761719
                    }
                },
                "velocity": {
                    "x": 1.2952687740325928,
                    "y": -7.989591121673584,
                    "z": -0.021910591050982475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022254943847656,
                "transform": {
                    "location": {
                        "x": 955.1029663085938,
                        "y": 3476.03173828125,
                        "z": 370.63385009765625
                    },
                    "rotation": {
                        "roll": 0.000741895753890276,
                        "pitch": -0.2396918088197708,
                        "yaw": -80.85372161865234
                    }
                },
                "velocity": {
                    "x": 1.2751935720443726,
                    "y": -7.920185565948486,
                    "z": -0.03332618623971939
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.525598526000977,
                "transform": {
                    "location": {
                        "x": 961.7059936523438,
                        "y": 3435.003662109375,
                        "z": 370.43365478515625
                    },
                    "rotation": {
                        "roll": 0.00010072047734865919,
                        "pitch": -0.3498832583427429,
                        "yaw": -80.80851745605469
                    }
                },
                "velocity": {
                    "x": 1.1973177194595337,
                    "y": -7.429598808288574,
                    "z": -0.04610425978899002
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.2835083007812,
                        "y": 3561.269287109375,
                        "z": 371.0023498535156
                    },
                    "rotation": {
                        "roll": 6.670109353734688e-09,
                        "pitch": -0.055693358182907104,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.946232795715332,
                "transform": {
                    "location": {
                        "x": 945.3385620117188,
                        "y": 3516.186279296875,
                        "z": 370.79095458984375
                    },
                    "rotation": {
                        "roll": 0.003449349431321025,
                        "pitch": -0.31027498841285706,
                        "yaw": -80.74131774902344
                    }
                },
                "velocity": {
                    "x": 1.2766001224517822,
                    "y": -7.842986106872559,
                    "z": -0.02171485871076584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065150260925293,
                "transform": {
                    "location": {
                        "x": 952.15771484375,
                        "y": 3473.879638671875,
                        "z": 370.64154052734375
                    },
                    "rotation": {
                        "roll": 3.0856179364491254e-05,
                        "pitch": -0.2381277084350586,
                        "yaw": -80.85627746582031
                    }
                },
                "velocity": {
                    "x": 1.2816534042358398,
                    "y": -7.962594985961914,
                    "z": -0.03302239999175072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.8935546875,
                        "y": 3398.50927734375,
                        "z": 370.1854553222656
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065858840942383,
                "transform": {
                    "location": {
                        "x": 959.0606079101562,
                        "y": 3430.983642578125,
                        "z": 370.421875
                    },
                    "rotation": {
                        "roll": 0.001074202940799296,
                        "pitch": -0.3690487742424011,
                        "yaw": -80.85973358154297
                    }
                },
                "velocity": {
                    "x": 1.281253457069397,
                    "y": -7.9632697105407715,
                    "z": -0.05299597606062889
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.760244369506836,
                "transform": {
                    "location": {
                        "x": 956.2562255859375,
                        "y": 3426.693115234375,
                        "z": 370.39752197265625
                    },
                    "rotation": {
                        "roll": 0.0005742938374169171,
                        "pitch": 0.35578453540802,
                        "yaw": 99.13729095458984
                    }
                },
                "velocity": {
                    "x": -1.5511343479156494,
                    "y": 9.635990142822266,
                    "z": 0.06367112696170807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.269411087036133,
                "transform": {
                    "location": {
                        "x": 953.2266845703125,
                        "y": 3445.5224609375,
                        "z": 370.5080261230469
                    },
                    "rotation": {
                        "roll": 0.001781877246685326,
                        "pitch": 0.3034652769565582,
                        "yaw": 99.15116119384766
                    }
                },
                "velocity": {
                    "x": -1.472014307975769,
                    "y": 9.151651382446289,
                    "z": 0.049297962337732315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039923667907715,
                "transform": {
                    "location": {
                        "x": 936.7864379882812,
                        "y": 3527.227783203125,
                        "z": 370.8215637207031
                    },
                    "rotation": {
                        "roll": -0.00015259253268595785,
                        "pitch": 0.14762769639492035,
                        "yaw": 99.13028717041016
                    }
                },
                "velocity": {
                    "x": -1.2757447957992554,
                    "y": 7.938035011291504,
                    "z": 0.021298332139849663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.2785749435424805,
                "transform": {
                    "location": {
                        "x": 933.8272705078125,
                        "y": 3545.64404296875,
                        "z": 370.8521728515625
                    },
                    "rotation": {
                        "roll": 0.00683817733079195,
                        "pitch": -0.06472969800233841,
                        "yaw": 99.2081069946289
                    }
                },
                "velocity": {
                    "x": -1.1635856628417969,
                    "y": 7.1849541664123535,
                    "z": 0.012536725960671902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.7131958007812,
                        "y": 3412.057373046875,
                        "z": 370.29345703125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.33525562286377,
                "transform": {
                    "location": {
                        "x": 949.8822631835938,
                        "y": 3466.3017578125,
                        "z": 370.6075744628906
                    },
                    "rotation": {
                        "roll": 1.4300997463578824e-05,
                        "pitch": 0.3651760518550873,
                        "yaw": 99.14981842041016
                    }
                },
                "velocity": {
                    "x": -1.4841457605361938,
                    "y": 9.216451644897461,
                    "z": 0.03648453578352928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06117057800293,
                "transform": {
                    "location": {
                        "x": 946.6342163085938,
                        "y": 3486.48583984375,
                        "z": 370.6953125
                    },
                    "rotation": {
                        "roll": -0.000762952258810401,
                        "pitch": 0.2181015908718109,
                        "yaw": 99.13870239257812
                    }
                },
                "velocity": {
                    "x": -1.280152440071106,
                    "y": 7.9588212966918945,
                    "z": 0.0289691723883152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.4945068359375,
                        "y": 3558.14501953125,
                        "z": 370.90447998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.06988649070262909,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.080536127090454,
                "transform": {
                    "location": {
                        "x": 948.245849609375,
                        "y": 3451.01953125,
                        "z": 370.5281066894531
                    },
                    "rotation": {
                        "roll": -0.0049743312411010265,
                        "pitch": 0.5703412294387817,
                        "yaw": 99.1403579711914
                    }
                },
                "velocity": {
                    "x": -0.48905977606773376,
                    "y": 3.041416645050049,
                    "z": 0.017561940476298332
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.747995376586914,
                "transform": {
                    "location": {
                        "x": 949.6713256835938,
                        "y": 3442.1630859375,
                        "z": 370.4764709472656
                    },
                    "rotation": {
                        "roll": -0.0007324214093387127,
                        "pitch": -0.06033788621425629,
                        "yaw": 99.1424331665039
                    }
                },
                "velocity": {
                    "x": -0.4362611174583435,
                    "y": 2.713099718093872,
                    "z": 0.015655869618058205
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03133845329284668,
        "expert_target_speed": 10.0,
        "target_point": [
            57.524609770038296,
            1.351744509549948
        ],
        "target_point_next": [
            83.77691974335085,
            1.9920305800209466
        ]
    },
    "495": {
        "acceleration": [
            -0.29930591583251953,
            3.1523513793945312,
            -0.0019884109497070312
        ],
        "angular_velocity": [
            -0.08010654896497726,
            0.1575775444507599,
            0.22169074416160583
        ],
        "forward_vector": [
            -0.13064636290073395,
            0.9913730621337891,
            0.010537071153521538
        ],
        "right_vector": [
            -0.9914289712905884,
            -0.1306401938199997,
            -0.001275357324630022
        ],
        "location": [
            942.9654541015625,
            3489.624267578125,
            370.6994323730469
        ],
        "rotation": [
            0.07307666540145874,
            0.6037408709526062,
            97.50736236572266
        ],
        "velocity": [
            -1.5227690935134888,
            11.607836723327637,
            0.04132504388689995
        ],
        "speed": 11.707292560946513,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 40.09217071533203,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.4712524414062,
                3529.186767578125,
                370.8265686035156
            ],
            "velocity": [
                -1.2594540119171143,
                7.8284173011779785,
                0.02042890526354313
            ],
            "speed_kmh": 28.54479005174753,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092907905578613,
                "transform": {
                    "location": {
                        "x": 948.2855224609375,
                        "y": 3518.311279296875,
                        "z": 370.7906799316406
                    },
                    "rotation": {
                        "roll": 0.0058831418864429,
                        "pitch": -0.15542776882648468,
                        "yaw": -80.97135925292969
                    }
                },
                "velocity": {
                    "x": 1.2896920442581177,
                    "y": -7.9894537925720215,
                    "z": -0.022084588184952736
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077079772949219,
                "transform": {
                    "location": {
                        "x": 955.4227905273438,
                        "y": 3474.044921875,
                        "z": 370.62548828125
                    },
                    "rotation": {
                        "roll": 0.0003141647030133754,
                        "pitch": -0.2384282350540161,
                        "yaw": -80.85829162597656
                    }
                },
                "velocity": {
                    "x": 1.2832272052764893,
                    "y": -7.9744181632995605,
                    "z": -0.03462386503815651
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.527852058410645,
                "transform": {
                    "location": {
                        "x": 962.0206298828125,
                        "y": 3433.05517578125,
                        "z": 370.4210510253906
                    },
                    "rotation": {
                        "roll": 7.728124182904139e-05,
                        "pitch": -0.3431350290775299,
                        "yaw": -80.89122009277344
                    }
                },
                "velocity": {
                    "x": 1.3559002876281738,
                    "y": -8.419196128845215,
                    "z": -0.05414610728621483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.6141357421875,
                        "y": 3559.2158203125,
                        "z": 370.87841796875
                    },
                    "rotation": {
                        "roll": 6.670109353734688e-09,
                        "pitch": -0.055693358182907104,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.011330604553223,
                "transform": {
                    "location": {
                        "x": 945.65771484375,
                        "y": 3514.2255859375,
                        "z": 370.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0006250648875720799,
                        "pitch": -0.1627497375011444,
                        "yaw": -80.7590560913086
                    }
                },
                "velocity": {
                    "x": 1.2862637042999268,
                    "y": -7.9073686599731445,
                    "z": -0.021309547126293182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003328323364258,
                "transform": {
                    "location": {
                        "x": 952.4768676757812,
                        "y": 3471.896728515625,
                        "z": 370.6332092285156
                    },
                    "rotation": {
                        "roll": 2.5613426259951666e-06,
                        "pitch": -0.23630404472351074,
                        "yaw": -80.85631561279297
                    }
                },
                "velocity": {
                    "x": 1.271809458732605,
                    "y": -7.901564121246338,
                    "z": -0.032285917550325394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.6287231445312,
                        "y": 3400.154541015625,
                        "z": 370.199951171875
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006077766418457,
                "transform": {
                    "location": {
                        "x": 959.3798217773438,
                        "y": 3429.00048828125,
                        "z": 370.4088439941406
                    },
                    "rotation": {
                        "roll": 0.00039942754665389657,
                        "pitch": -0.3677646815776825,
                        "yaw": -80.85652923583984
                    }
                },
                "velocity": {
                    "x": 1.2721761465072632,
                    "y": -7.904190540313721,
                    "z": -0.05119159445166588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.048112869262695,
                "transform": {
                    "location": {
                        "x": 955.8865356445312,
                        "y": 3428.9921875,
                        "z": 370.4120178222656
                    },
                    "rotation": {
                        "roll": 0.0012341367546468973,
                        "pitch": 0.42276135087013245,
                        "yaw": 99.15814971923828
                    }
                },
                "velocity": {
                    "x": -1.439680576324463,
                    "y": 8.932653427124023,
                    "z": 0.058155953884124756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.319104194641113,
                "transform": {
                    "location": {
                        "x": 952.8373413085938,
                        "y": 3447.94189453125,
                        "z": 370.5209045410156
                    },
                    "rotation": {
                        "roll": 0.0010036915773525834,
                        "pitch": 0.42306190729141235,
                        "yaw": 99.13874053955078
                    }
                },
                "velocity": {
                    "x": -1.6402238607406616,
                    "y": 10.187780380249023,
                    "z": 0.05194492265582085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.929108142852783,
                "transform": {
                    "location": {
                        "x": 936.4712524414062,
                        "y": 3529.186767578125,
                        "z": 370.8265686035156
                    },
                    "rotation": {
                        "roll": 0.00019277341198176146,
                        "pitch": 0.15076959133148193,
                        "yaw": 99.13970184326172
                    }
                },
                "velocity": {
                    "x": -1.2594540119171143,
                    "y": 7.8284173011779785,
                    "z": 0.02042890526354313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.205089092254639,
                "transform": {
                    "location": {
                        "x": 933.53857421875,
                        "y": 3547.42626953125,
                        "z": 370.8548889160156
                    },
                    "rotation": {
                        "roll": 0.0033563454635441303,
                        "pitch": -0.0023495848290622234,
                        "yaw": 99.19776916503906
                    }
                },
                "velocity": {
                    "x": -1.1504274606704712,
                    "y": 7.112643241882324,
                    "z": 0.011395931243896484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.3267822265625,
                        "y": 3414.459228515625,
                        "z": 370.3103942871094
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.29732608795166,
                "transform": {
                    "location": {
                        "x": 949.4872436523438,
                        "y": 3468.75390625,
                        "z": 370.6178283691406
                    },
                    "rotation": {
                        "roll": -0.0010681090643629432,
                        "pitch": 0.3918684124946594,
                        "yaw": 99.15245819091797
                    }
                },
                "velocity": {
                    "x": -1.6375607252120972,
                    "y": 10.166194915771484,
                    "z": 0.0425613597035408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.243170738220215,
                "transform": {
                    "location": {
                        "x": 946.3125,
                        "y": 3488.485595703125,
                        "z": 370.7030029296875
                    },
                    "rotation": {
                        "roll": -0.0003967333468608558,
                        "pitch": 0.18574698269367218,
                        "yaw": 99.1382064819336
                    }
                },
                "velocity": {
                    "x": -1.3091062307357788,
                    "y": 8.138505935668945,
                    "z": 0.028861340135335922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.931201457977295,
                "transform": {
                    "location": {
                        "x": 938.798583984375,
                        "y": 3556.280029296875,
                        "z": 370.8851013183594
                    },
                    "rotation": {
                        "roll": -0.04858396574854851,
                        "pitch": -0.5128173828125,
                        "yaw": -80.70413970947266
                    }
                },
                "velocity": {
                    "x": 1.1534862518310547,
                    "y": -6.833968162536621,
                    "z": -0.08889219164848328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1734628677368164,
                "transform": {
                    "location": {
                        "x": 948.12060546875,
                        "y": 3451.798095703125,
                        "z": 370.5320739746094
                    },
                    "rotation": {
                        "roll": -0.0005798396305181086,
                        "pitch": 0.48352956771850586,
                        "yaw": 99.14120483398438
                    }
                },
                "velocity": {
                    "x": -0.5043429732322693,
                    "y": 3.1330840587615967,
                    "z": 0.017006034031510353
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.693551540374756,
                "transform": {
                    "location": {
                        "x": 949.563232421875,
                        "y": 3442.8349609375,
                        "z": 370.48046875
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": 0.03599509596824646,
                        "yaw": 99.14231872558594
                    }
                },
                "velocity": {
                    "x": -0.42806434631347656,
                    "y": 2.6592659950256348,
                    "z": 0.016889838501811028
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0834336131811142,
        "expert_target_speed": 10.0,
        "target_point": [
            54.69091849787128,
            1.587904236748657
        ],
        "target_point_next": [
            80.9403422544196,
            2.337235696171895
        ]
    },
    "500": {
        "acceleration": [
            -0.37669897079467773,
            3.039398193359375,
            0.03412872552871704
        ],
        "angular_velocity": [
            -0.0935116782784462,
            0.16596944630146027,
            -0.5018351078033447
        ],
        "forward_vector": [
            -0.12933780252933502,
            0.9915486574172974,
            0.010150734335184097
        ],
        "right_vector": [
            -0.9916003346443176,
            -0.12933847308158875,
            -0.0005917124799452722
        ],
        "location": [
            942.5726928710938,
            3492.62548828125,
            370.7102966308594
        ],
        "rotation": [
            0.03390437737107277,
            0.5816042423248291,
            97.43171691894531
        ],
        "velocity": [
            -1.6135900020599365,
            12.372364044189453,
            0.04525995999574661
        ],
        "speed": 12.477141689373404,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 39.077972412109375,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.151611328125,
                3531.172119140625,
                370.8316650390625
            ],
            "velocity": [
                -1.2896695137023926,
                8.00981330871582,
                0.017354097217321396
            ],
            "speed_kmh": 29.206775341730058,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.954011917114258,
                "transform": {
                    "location": {
                        "x": 948.60302734375,
                        "y": 3516.341552734375,
                        "z": 370.78521728515625
                    },
                    "rotation": {
                        "roll": 0.0028135699685662985,
                        "pitch": -0.17108939588069916,
                        "yaw": -81.02599334716797
                    }
                },
                "velocity": {
                    "x": 1.2647795677185059,
                    "y": -7.852780818939209,
                    "z": -0.021742844954133034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02221393585205,
                "transform": {
                    "location": {
                        "x": 955.7423706054688,
                        "y": 3472.05810546875,
                        "z": 370.61712646484375
                    },
                    "rotation": {
                        "roll": -0.000732437358237803,
                        "pitch": -0.23751981556415558,
                        "yaw": -80.86225891113281
                    }
                },
                "velocity": {
                    "x": 1.2740118503570557,
                    "y": -7.920337200164795,
                    "z": -0.032717831432819366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.444097518920898,
                "transform": {
                    "location": {
                        "x": 962.3637084960938,
                        "y": 3430.922119140625,
                        "z": 370.40728759765625
                    },
                    "rotation": {
                        "roll": 0.002582703484222293,
                        "pitch": -0.3625805675983429,
                        "yaw": -80.92948913574219
                    }
                },
                "velocity": {
                    "x": 1.3389155864715576,
                    "y": -8.337085723876953,
                    "z": -0.05562569200992584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.370697498321533,
                "transform": {
                    "location": {
                        "x": 941.8804321289062,
                        "y": 3557.6259765625,
                        "z": 370.8860168457031
                    },
                    "rotation": {
                        "roll": -0.01055906992405653,
                        "pitch": -0.17858894169330597,
                        "yaw": -80.53697967529297
                    }
                },
                "velocity": {
                    "x": 1.0728626251220703,
                    "y": -6.278751850128174,
                    "z": 0.10967731475830078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.177815437316895,
                "transform": {
                    "location": {
                        "x": 945.983154296875,
                        "y": 3512.2197265625,
                        "z": 370.7781677246094
                    },
                    "rotation": {
                        "roll": 0.003215519478544593,
                        "pitch": -0.09667449444532394,
                        "yaw": -80.79035186767578
                    }
                },
                "velocity": {
                    "x": 1.3068002462387085,
                    "y": -8.072698593139648,
                    "z": -0.021932076662778854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064249038696289,
                "transform": {
                    "location": {
                        "x": 952.7960815429688,
                        "y": 3469.913330078125,
                        "z": 370.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0006713919574394822,
                        "pitch": -0.23693925142288208,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.2814475297927856,
                    "y": -7.961714744567871,
                    "z": -0.03341547027230263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2315673828125,
                        "y": 3402.6220703125,
                        "z": 370.2206115722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065890312194824,
                "transform": {
                    "location": {
                        "x": 959.69921875,
                        "y": 3427.0166015625,
                        "z": 370.3959655761719
                    },
                    "rotation": {
                        "roll": -0.0006408903864212334,
                        "pitch": -0.3686526119709015,
                        "yaw": -80.85633850097656
                    }
                },
                "velocity": {
                    "x": 1.281665325164795,
                    "y": -7.963230609893799,
                    "z": -0.05363711342215538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.49335765838623,
                "transform": {
                    "location": {
                        "x": 955.5205078125,
                        "y": 3431.265869140625,
                        "z": 370.427490234375
                    },
                    "rotation": {
                        "roll": 0.001533364411443472,
                        "pitch": 0.34103816747665405,
                        "yaw": 99.12590789794922
                    }
                },
                "velocity": {
                    "x": -1.508187174797058,
                    "y": 9.372594833374023,
                    "z": 0.06055111810564995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.74343490600586,
                "transform": {
                    "location": {
                        "x": 952.4314575195312,
                        "y": 3450.4619140625,
                        "z": 370.53369140625
                    },
                    "rotation": {
                        "roll": -0.00033569656079635024,
                        "pitch": 0.2598203718662262,
                        "yaw": 99.1592025756836
                    }
                },
                "velocity": {
                    "x": -1.5488417148590088,
                    "y": 9.61940860748291,
                    "z": 0.05098685249686241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.112993240356445,
                "transform": {
                    "location": {
                        "x": 936.151611328125,
                        "y": 3531.172119140625,
                        "z": 370.8316650390625
                    },
                    "rotation": {
                        "roll": -0.0002136306866304949,
                        "pitch": 0.12621505558490753,
                        "yaw": 99.14617919921875
                    }
                },
                "velocity": {
                    "x": -1.2896695137023926,
                    "y": 8.00981330871582,
                    "z": 0.017354097217321396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.939247131347656,
                "transform": {
                    "location": {
                        "x": 933.2554321289062,
                        "y": 3549.177978515625,
                        "z": 370.85748291015625
                    },
                    "rotation": {
                        "roll": 0.003849936183542013,
                        "pitch": -0.005436830222606659,
                        "yaw": 99.179931640625
                    }
                },
                "velocity": {
                    "x": -1.1055045127868652,
                    "y": 6.850614547729492,
                    "z": 0.009390401653945446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.9401245117188,
                        "y": 3416.86083984375,
                        "z": 370.3268737792969
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.147807121276855,
                "transform": {
                    "location": {
                        "x": 949.0985107421875,
                        "y": 3471.168701171875,
                        "z": 370.627685546875
                    },
                    "rotation": {
                        "roll": 0.0005782200023531914,
                        "pitch": 0.14376181364059448,
                        "yaw": 99.14288330078125
                    }
                },
                "velocity": {
                    "x": -1.4540401697158813,
                    "y": 9.031425476074219,
                    "z": 0.03866825997829437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.082149505615234,
                "transform": {
                    "location": {
                        "x": 945.9683227539062,
                        "y": 3490.623779296875,
                        "z": 370.71112060546875
                    },
                    "rotation": {
                        "roll": -0.0009460371220484376,
                        "pitch": 0.13569536805152893,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -1.442981243133545,
                    "y": 8.966726303100586,
                    "z": 0.03263295069336891
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.702178955078125,
                "transform": {
                    "location": {
                        "x": 939.0853881835938,
                        "y": 3554.598876953125,
                        "z": 370.86907958984375
                    },
                    "rotation": {
                        "roll": -0.04946897551417351,
                        "pitch": -0.2711789906024933,
                        "yaw": -80.33091735839844
                    }
                },
                "velocity": {
                    "x": 1.143352746963501,
                    "y": -6.603828430175781,
                    "z": -0.03738832846283913
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1713767051696777,
                "transform": {
                    "location": {
                        "x": 947.9951171875,
                        "y": 3452.57763671875,
                        "z": 370.5361633300781
                    },
                    "rotation": {
                        "roll": -0.002288816962391138,
                        "pitch": 0.5083436369895935,
                        "yaw": 99.14015197753906
                    }
                },
                "velocity": {
                    "x": -0.5032312870025635,
                    "y": 3.1311514377593994,
                    "z": 0.01671881601214409
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.6833550930023193,
                "transform": {
                    "location": {
                        "x": 949.4571533203125,
                        "y": 3443.493896484375,
                        "z": 370.4844055175781
                    },
                    "rotation": {
                        "roll": 0.001855030539445579,
                        "pitch": 0.04615841433405876,
                        "yaw": 99.1424560546875
                    }
                },
                "velocity": {
                    "x": -0.426544189453125,
                    "y": 2.649188280105591,
                    "z": 0.01601777970790863
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13005059957504272,
        "expert_target_speed": 10.0,
        "target_point": [
            51.66196271463986,
            1.6588557163699233
        ],
        "target_point_next": [
            77.91037401466203,
            2.44285151469645
        ]
    },
    "505": {
        "acceleration": [
            -0.5303645133972168,
            2.9784393310546875,
            -0.01960545778274536
        ],
        "angular_velocity": [
            -0.1545984447002411,
            0.19845403730869293,
            0.7689453363418579
        ],
        "forward_vector": [
            -0.13105332851409912,
            0.9913290739059448,
            0.00957843940705061
        ],
        "right_vector": [
            -0.9913742542266846,
            -0.1310616284608841,
            0.00024020623823162168
        ],
        "location": [
            942.1533203125,
            3495.816162109375,
            370.7215576171875
        ],
        "rotation": [
            -0.013763436116278172,
            0.5488125085830688,
            97.53081512451172
        ],
        "velocity": [
            -1.7400041818618774,
            13.122062683105469,
            0.04421057552099228
        ],
        "speed": 13.236923494991043,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 37.87427520751953,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.83154296875,
                3533.158935546875,
                370.8359680175781
            ],
            "velocity": [
                -1.2701268196105957,
                7.885679721832275,
                0.017176026478409767
            ],
            "speed_kmh": 28.754392800146036,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.12813663482666,
                "transform": {
                    "location": {
                        "x": 948.9239501953125,
                        "y": 3514.3515625,
                        "z": 370.77972412109375
                    },
                    "rotation": {
                        "roll": -0.0005798341007903218,
                        "pitch": -0.14171959459781647,
                        "yaw": -80.99897766113281
                    }
                },
                "velocity": {
                    "x": 1.2959603071212769,
                    "y": -8.024128913879395,
                    "z": -0.021170640364289284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074411392211914,
                "transform": {
                    "location": {
                        "x": 956.0619506835938,
                        "y": 3470.0712890625,
                        "z": 370.60882568359375
                    },
                    "rotation": {
                        "roll": -0.001556402537971735,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.86259460449219
                    }
                },
                "velocity": {
                    "x": 1.2821601629257202,
                    "y": -7.971893310546875,
                    "z": -0.0331265889108181
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.098494529724121,
                "transform": {
                    "location": {
                        "x": 962.6904296875,
                        "y": 3428.88720703125,
                        "z": 370.3941650390625
                    },
                    "rotation": {
                        "roll": 0.0008194139809347689,
                        "pitch": -0.38064640760421753,
                        "yaw": -80.92696380615234
                    }
                },
                "velocity": {
                    "x": 1.283945918083191,
                    "y": -7.9958953857421875,
                    "z": -0.05250837653875351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.14461088180542,
                "transform": {
                    "location": {
                        "x": 942.1429443359375,
                        "y": 3556.083984375,
                        "z": 370.89886474609375
                    },
                    "rotation": {
                        "roll": -0.0034179671201854944,
                        "pitch": -0.09293154627084732,
                        "yaw": -80.35099029541016
                    }
                },
                "velocity": {
                    "x": 1.0400886535644531,
                    "y": -6.055915355682373,
                    "z": 0.018728626891970634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04807186126709,
                "transform": {
                    "location": {
                        "x": 946.3071899414062,
                        "y": 3510.2177734375,
                        "z": 370.7730712890625
                    },
                    "rotation": {
                        "roll": 0.002354565542191267,
                        "pitch": -0.17916950583457947,
                        "yaw": -80.81700897216797
                    }
                },
                "velocity": {
                    "x": 1.2835110425949097,
                    "y": -7.9450364112854,
                    "z": -0.0214497409760952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005548477172852,
                "transform": {
                    "location": {
                        "x": 953.115234375,
                        "y": 3467.930908203125,
                        "z": 370.6166076660156
                    },
                    "rotation": {
                        "roll": -0.00015258666826412082,
                        "pitch": -0.23751981556415558,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.272155523300171,
                    "y": -7.903756141662598,
                    "z": -0.03285042196512222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.9669189453125,
                        "y": 3404.26708984375,
                        "z": 370.2342834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.942626953125,
                        "y": 3424.998779296875,
                        "z": 370.3797607421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.152697563171387,
                "transform": {
                    "location": {
                        "x": 955.1436767578125,
                        "y": 3433.608642578125,
                        "z": 370.4422607421875
                    },
                    "rotation": {
                        "roll": 2.094461342494469e-05,
                        "pitch": 0.38837137818336487,
                        "yaw": 99.15995025634766
                    }
                },
                "velocity": {
                    "x": -1.454249382019043,
                    "y": 9.036230087280273,
                    "z": 0.059739310294389725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.923839569091797,
                "transform": {
                    "location": {
                        "x": 952.0678100585938,
                        "y": 3452.7216796875,
                        "z": 370.5453796386719
                    },
                    "rotation": {
                        "roll": -0.0001831087574828416,
                        "pitch": 0.18932600319385529,
                        "yaw": 99.12495422363281
                    }
                },
                "velocity": {
                    "x": -1.4176075458526611,
                    "y": 8.810408592224121,
                    "z": 0.04480596259236336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987330913543701,
                "transform": {
                    "location": {
                        "x": 935.83154296875,
                        "y": 3533.158935546875,
                        "z": 370.8359680175781
                    },
                    "rotation": {
                        "roll": 0.0004121201054658741,
                        "pitch": 0.12111973762512207,
                        "yaw": 99.14982604980469
                    }
                },
                "velocity": {
                    "x": -1.2701268196105957,
                    "y": 7.885679721832275,
                    "z": 0.017176026478409767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.639480113983154,
                "transform": {
                    "location": {
                        "x": 932.9857788085938,
                        "y": 3550.847412109375,
                        "z": 370.85986328125
                    },
                    "rotation": {
                        "roll": 0.001600004150532186,
                        "pitch": -0.05660860612988472,
                        "yaw": 99.17645263671875
                    }
                },
                "velocity": {
                    "x": -1.0589021444320679,
                    "y": 6.554489612579346,
                    "z": 0.009629611857235432
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5537109375,
                        "y": 3419.2626953125,
                        "z": 370.3433837890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.446761131286621,
                "transform": {
                    "location": {
                        "x": 948.7553100585938,
                        "y": 3473.30126953125,
                        "z": 370.6365966796875
                    },
                    "rotation": {
                        "roll": 0.0005635253619402647,
                        "pitch": 0.12957550585269928,
                        "yaw": 99.13667297363281
                    }
                },
                "velocity": {
                    "x": -1.341572642326355,
                    "y": 8.339461326599121,
                    "z": 0.0366111658513546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.897266387939453,
                "transform": {
                    "location": {
                        "x": 945.5907592773438,
                        "y": 3492.96923828125,
                        "z": 370.71990966796875
                    },
                    "rotation": {
                        "roll": -9.156075975624844e-05,
                        "pitch": 0.12156370282173157,
                        "yaw": 99.14682006835938
                    }
                },
                "velocity": {
                    "x": -1.5733888149261475,
                    "y": 9.771342277526855,
                    "z": 0.03459300845861435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.555758953094482,
                "transform": {
                    "location": {
                        "x": 939.3739624023438,
                        "y": 3552.923583984375,
                        "z": 370.8625793457031
                    },
                    "rotation": {
                        "roll": 8.926636655814946e-05,
                        "pitch": -0.15682797133922577,
                        "yaw": -80.24348449707031
                    }
                },
                "velocity": {
                    "x": 1.0986123085021973,
                    "y": -6.46303129196167,
                    "z": -0.016010284423828125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101028,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627962589263916,
                "transform": {
                    "location": {
                        "x": 947.8695068359375,
                        "y": 3453.3583984375,
                        "z": 370.5401916503906
                    },
                    "rotation": {
                        "roll": 0.004168900661170483,
                        "pitch": 0.5087329745292664,
                        "yaw": 99.1413345336914
                    }
                },
                "velocity": {
                    "x": -0.5023082494735718,
                    "y": 3.122612237930298,
                    "z": 0.016061648726463318
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 101027,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.9214541912078857,
                "transform": {
                    "location": {
                        "x": 949.3458251953125,
                        "y": 3444.185546875,
                        "z": 370.4881591796875
                    },
                    "rotation": {
                        "roll": -3.051913154195063e-05,
                        "pitch": -0.11264347285032272,
                        "yaw": 99.14289855957031
                    }
                },
                "velocity": {
                    "x": -0.46441829204559326,
                    "y": 2.884270191192627,
                    "z": 0.014000672847032547
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1650778353214264,
        "expert_target_speed": 10.0,
        "target_point": [
            48.44663972683269,
            1.5718919830223816
        ],
        "target_point_next": [
            74.6963680337887,
            2.310477792469859
        ]
    },
    "510": {
        "acceleration": [
            0.06669282913208008,
            -1.7636680603027344,
            -0.006871744990348816
        ],
        "angular_velocity": [
            -1.3620007038116455,
            -0.06204348802566528,
            0.5712152123451233
        ],
        "forward_vector": [
            -0.13415585458278656,
            0.9909343123435974,
            0.007165966089814901
        ],
        "right_vector": [
            -0.9909587502479553,
            -0.1341646909713745,
            0.0007664381992071867
        ],
        "location": [
            941.7062377929688,
            3499.152099609375,
            370.73297119140625
        ],
        "rotation": [
            -0.043914806097745895,
            0.41058313846588135,
            97.71000671386719
        ],
        "velocity": [
            -1.8054397106170654,
            13.310211181640625,
            0.044260330498218536
        ],
        "speed": 13.432100887372167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.51382064819336,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.5131225585938,
                3535.13671875,
                370.8401184082031
            ],
            "velocity": [
                -1.2798211574554443,
                7.949360370635986,
                0.01716769114136696
            ],
            "speed_kmh": 28.986275222266524,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.980308532714844,
                "transform": {
                    "location": {
                        "x": 949.2437133789062,
                        "y": 3512.3642578125,
                        "z": 370.7741394042969
                    },
                    "rotation": {
                        "roll": 0.00285270344465971,
                        "pitch": -0.17041321098804474,
                        "yaw": -81.03569793701172
                    }
                },
                "velocity": {
                    "x": 1.26705002784729,
                    "y": -7.879051208496094,
                    "z": -0.02138829231262207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025578498840332,
                "transform": {
                    "location": {
                        "x": 956.3817138671875,
                        "y": 3468.084228515625,
                        "z": 370.6004943847656
                    },
                    "rotation": {
                        "roll": -0.0009765654103830457,
                        "pitch": -0.23848970234394073,
                        "yaw": -80.85801696777344
                    }
                },
                "velocity": {
                    "x": 1.2750459909439087,
                    "y": -7.923577785491943,
                    "z": -0.032816819846630096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.9542236328125,
                        "y": 3426.81982421875,
                        "z": 370.3854064941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.399737358093262,
                "transform": {
                    "location": {
                        "x": 942.3953857421875,
                        "y": 3554.612060546875,
                        "z": 370.9006042480469
                    },
                    "rotation": {
                        "roll": -0.0017394962487742305,
                        "pitch": -0.14904837310314178,
                        "yaw": -80.28233337402344
                    }
                },
                "velocity": {
                    "x": 0.916134774684906,
                    "y": -5.321452617645264,
                    "z": -0.002075901022180915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058589935302734,
                "transform": {
                    "location": {
                        "x": 946.627685546875,
                        "y": 3508.233154296875,
                        "z": 370.767333984375
                    },
                    "rotation": {
                        "roll": 0.00027701767976395786,
                        "pitch": -0.18981777131557465,
                        "yaw": -80.83177185058594
                    }
                },
                "velocity": {
                    "x": 1.2840421199798584,
                    "y": -7.95560359954834,
                    "z": -0.02190614677965641
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063780784606934,
                "transform": {
                    "location": {
                        "x": 953.4344482421875,
                        "y": 3465.947021484375,
                        "z": 370.6082458496094
                    },
                    "rotation": {
                        "roll": -0.0003662186791189015,
                        "pitch": -0.2381618469953537,
                        "yaw": -80.85581970214844
                    }
                },
                "velocity": {
                    "x": 1.2814723253250122,
                    "y": -7.961236476898193,
                    "z": -0.03329332172870636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.5697631835938,
                        "y": 3406.73486328125,
                        "z": 370.2535705566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101101,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.264892578125,
                        "y": 3422.940185546875,
                        "z": 370.3653564453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.103616714477539,
                "transform": {
                    "location": {
                        "x": 954.7840576171875,
                        "y": 3435.841064453125,
                        "z": 370.4563903808594
                    },
                    "rotation": {
                        "roll": -0.0009765755385160446,
                        "pitch": 0.35447314381599426,
                        "yaw": 99.12629699707031
                    }
                },
                "velocity": {
                    "x": -1.4447153806686401,
                    "y": 8.988092422485352,
                    "z": 0.053165748715400696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.639968872070312,
                "transform": {
                    "location": {
                        "x": 951.7012939453125,
                        "y": 3454.999267578125,
                        "z": 370.5568542480469
                    },
                    "rotation": {
                        "roll": -0.0006713838083669543,
                        "pitch": 0.32679039239883423,
                        "yaw": 99.1539077758789
                    }
                },
                "velocity": {
                    "x": -1.5313618183135986,
                    "y": 9.517452239990234,
                    "z": 0.04518025368452072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051743507385254,
                "transform": {
                    "location": {
                        "x": 935.5131225585938,
                        "y": 3535.13671875,
                        "z": 370.8401184082031
                    },
                    "rotation": {
                        "roll": 0.0003535630530677736,
                        "pitch": 0.11518430709838867,
                        "yaw": 99.14653778076172
                    }
                },
                "velocity": {
                    "x": -1.2798211574554443,
                    "y": 7.949360370635986,
                    "z": 0.01716769114136696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.256314754486084,
                "transform": {
                    "location": {
                        "x": 932.7266845703125,
                        "y": 3552.4521484375,
                        "z": 370.8619689941406
                    },
                    "rotation": {
                        "roll": 0.0011472791666164994,
                        "pitch": -0.07388215512037277,
                        "yaw": 99.17010498046875
                    }
                },
                "velocity": {
                    "x": -0.9969775080680847,
                    "y": 6.176362991333008,
                    "z": 0.007160043343901634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2888793945312,
                        "y": 3420.90771484375,
                        "z": 370.35467529296875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.179814338684082,
                "transform": {
                    "location": {
                        "x": 948.407470703125,
                        "y": 3475.463623046875,
                        "z": 370.64599609375
                    },
                    "rotation": {
                        "roll": -0.0003967300581280142,
                        "pitch": 0.3009449541568756,
                        "yaw": 99.14009094238281
                    }
                },
                "velocity": {
                    "x": -1.4578640460968018,
                    "y": 9.06323528289795,
                    "z": 0.037398938089609146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.501201629638672,
                "transform": {
                    "location": {
                        "x": 945.1829223632812,
                        "y": 3495.502197265625,
                        "z": 370.7286376953125
                    },
                    "rotation": {
                        "roll": 0.00010007851960835978,
                        "pitch": 0.12841437757015228,
                        "yaw": 99.14751434326172
                    }
                },
                "velocity": {
                    "x": -1.66943359375,
                    "y": 10.367596626281738,
                    "z": 0.034038715064525604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.372612476348877,
                "transform": {
                    "location": {
                        "x": 939.6107788085938,
                        "y": 3551.5244140625,
                        "z": 370.8606872558594
                    },
                    "rotation": {
                        "roll": 0.008539068512618542,
                        "pitch": -0.4394133687019348,
                        "yaw": -80.33483123779297
                    }
                },
                "velocity": {
                    "x": 0.8909509778022766,
                    "y": -5.298213958740234,
                    "z": -0.010059937834739685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19908149540424347,
        "expert_target_speed": 10.0,
        "target_point": [
            45.08555949885813,
            1.4248485237017157
        ],
        "target_point_next": [
            71.33746971383009,
            2.0813203448607904
        ]
    },
    "515": {
        "acceleration": [
            0.26412487030029297,
            -3.0974578857421875,
            -0.01708984375
        ],
        "angular_velocity": [
            -1.0770889520645142,
            -0.13874197006225586,
            1.453964114189148
        ],
        "forward_vector": [
            -0.1373777985572815,
            0.9905179142951965,
            0.0012356039369478822
        ],
        "right_vector": [
            -0.9905180335044861,
            -0.13737906515598297,
            0.0009965536883100867
        ],
        "location": [
            941.2623291015625,
            3502.388671875,
            370.74468994140625
        ],
        "rotation": [
            -0.057098377496004105,
            0.07079491019248962,
            97.89614868164062
        ],
        "velocity": [
            -1.750122308731079,
            12.59981632232666,
            0.03929140046238899
        ],
        "speed": 12.720782187109704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 35.193233489990234,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.2040405273438,
                3537.056396484375,
                370.8436279296875
            ],
            "velocity": [
                -1.1513723134994507,
                7.151280879974365,
                0.01605718582868576
            ],
            "speed_kmh": 26.076212839154497,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.081518173217773,
                "transform": {
                    "location": {
                        "x": 949.5626220703125,
                        "y": 3510.38330078125,
                        "z": 370.7684631347656
                    },
                    "rotation": {
                        "roll": -0.00057983462465927,
                        "pitch": -0.1621691733598709,
                        "yaw": -81.02110290527344
                    }
                },
                "velocity": {
                    "x": 1.2856343984603882,
                    "y": -7.978570461273193,
                    "z": -0.022160835564136505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07357406616211,
                "transform": {
                    "location": {
                        "x": 956.7015991210938,
                        "y": 3466.097412109375,
                        "z": 370.59210205078125
                    },
                    "rotation": {
                        "roll": -0.0007934559835121036,
                        "pitch": -0.23751981556415558,
                        "yaw": -80.8536605834961
                    }
                },
                "velocity": {
                    "x": 1.283303141593933,
                    "y": -7.970859050750732,
                    "z": -0.033581871539354324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101102,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.2575073242188,
                        "y": 3424.7587890625,
                        "z": 370.3735046386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5343756675720215,
                "transform": {
                    "location": {
                        "x": 942.6131591796875,
                        "y": 3553.33203125,
                        "z": 370.8990783691406
                    },
                    "rotation": {
                        "roll": 0.006289390381425619,
                        "pitch": -0.08582132309675217,
                        "yaw": -80.328857421875
                    }
                },
                "velocity": {
                    "x": 0.9117047190666199,
                    "y": -5.4587626457214355,
                    "z": -0.004249830264598131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0789155960083,
                "transform": {
                    "location": {
                        "x": 946.9492797851562,
                        "y": 3506.240478515625,
                        "z": 370.7611999511719
                    },
                    "rotation": {
                        "roll": 5.7396478950977325e-05,
                        "pitch": -0.15597419440746307,
                        "yaw": -80.8345718383789
                    }
                },
                "velocity": {
                    "x": 1.2869924306869507,
                    "y": -7.975714683532715,
                    "z": -0.022415336221456528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005684852600098,
                "transform": {
                    "location": {
                        "x": 953.7534790039062,
                        "y": 3463.964599609375,
                        "z": 370.599609375
                    },
                    "rotation": {
                        "roll": -0.00024412818311247975,
                        "pitch": -0.2482568770647049,
                        "yaw": -80.85918426513672
                    }
                },
                "velocity": {
                    "x": 1.2716195583343506,
                    "y": -7.903970718383789,
                    "z": -0.0350794643163681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.1832885742188,
                        "y": 3409.13671875,
                        "z": 370.272216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.467907905578613,
                "transform": {
                    "location": {
                        "x": 954.4166259765625,
                        "y": 3438.12646484375,
                        "z": 370.4703369140625
                    },
                    "rotation": {
                        "roll": 0.0010893495054915547,
                        "pitch": 0.2947158217430115,
                        "yaw": 99.15465545654297
                    }
                },
                "velocity": {
                    "x": -1.5037729740142822,
                    "y": 9.34757137298584,
                    "z": 0.053497884422540665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.628799438476562,
                "transform": {
                    "location": {
                        "x": 951.3139038085938,
                        "y": 3457.406494140625,
                        "z": 370.56787109375
                    },
                    "rotation": {
                        "roll": 0.0005565064493566751,
                        "pitch": 0.2689181864261627,
                        "yaw": 99.13162994384766
                    }
                },
                "velocity": {
                    "x": -1.5295311212539673,
                    "y": 9.50644588470459,
                    "z": 0.042483139783144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.243392467498779,
                "transform": {
                    "location": {
                        "x": 935.2040405273438,
                        "y": 3537.056396484375,
                        "z": 370.8436279296875
                    },
                    "rotation": {
                        "roll": -0.0004882805806118995,
                        "pitch": 0.16966189444065094,
                        "yaw": 99.14606475830078
                    }
                },
                "velocity": {
                    "x": -1.1513723134994507,
                    "y": 7.151280879974365,
                    "z": 0.01605718582868576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.622802257537842,
                "transform": {
                    "location": {
                        "x": 932.4872436523438,
                        "y": 3553.93701171875,
                        "z": 370.8638916015625
                    },
                    "rotation": {
                        "roll": 0.0010795004200190306,
                        "pitch": -0.150202676653862,
                        "yaw": 99.16072845458984
                    }
                },
                "velocity": {
                    "x": -0.8951033353805542,
                    "y": 5.551095008850098,
                    "z": 0.006150874774903059
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.90234375,
                        "y": 3423.3095703125,
                        "z": 370.3710021972656
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.337011337280273,
                "transform": {
                    "location": {
                        "x": 948.01904296875,
                        "y": 3477.87841796875,
                        "z": 370.6561584472656
                    },
                    "rotation": {
                        "roll": 0.0002463461714796722,
                        "pitch": 0.39342570304870605,
                        "yaw": 99.14067840576172
                    }
                },
                "velocity": {
                    "x": -1.6418408155441284,
                    "y": 10.205705642700195,
                    "z": 0.04171309247612953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.611188888549805,
                "transform": {
                    "location": {
                        "x": 944.7630004882812,
                        "y": 3498.10986328125,
                        "z": 370.7369689941406
                    },
                    "rotation": {
                        "roll": 0.00043150424608029425,
                        "pitch": 0.16243554651737213,
                        "yaw": 99.1476058959961
                    }
                },
                "velocity": {
                    "x": -1.6869597434997559,
                    "y": 10.476181030273438,
                    "z": 0.033687133342027664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.435418128967285,
                "transform": {
                    "location": {
                        "x": 939.8352661132812,
                        "y": 3550.18994140625,
                        "z": 370.8576965332031
                    },
                    "rotation": {
                        "roll": 0.005561066325753927,
                        "pitch": -0.2138054072856903,
                        "yaw": -80.39879608154297
                    }
                },
                "velocity": {
                    "x": 0.9002587795257568,
                    "y": -5.3603363037109375,
                    "z": -0.00986103992909193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2426343858242035,
        "expert_target_speed": 10.0,
        "target_point": [
            41.82308123245963,
            1.2833270913995412
        ],
        "target_point_next": [
            68.07698531461247,
            1.8545237580942917
        ]
    },
    "520": {
        "acceleration": [
            0.27607202529907227,
            -3.02398681640625,
            -0.024177804589271545
        ],
        "angular_velocity": [
            -0.35296282172203064,
            -0.014051392674446106,
            -0.5857531428337097
        ],
        "forward_vector": [
            -0.14021752774715424,
            0.9901193380355835,
            -0.0016559353098273277
        ],
        "right_vector": [
            -0.9901204109191895,
            -0.1402159482240677,
            0.0010354351252317429
        ],
        "location": [
            940.8345336914062,
            3505.43701171875,
            370.75445556640625
        ],
        "rotation": [
            -0.05932615324854851,
            -0.09487815201282501,
            98.0604476928711
        ],
        "velocity": [
            -1.681567907333374,
            11.834108352661133,
            0.03470922261476517
        ],
        "speed": 11.952982520253995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 33.57670211791992,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.9718627929688,
                3538.497802734375,
                370.8455505371094
            ],
            "velocity": [
                -0.7870398759841919,
                4.8868279457092285,
                0.009187287651002407
            ],
            "speed_kmh": 17.819310366149505,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.018695831298828,
                "transform": {
                    "location": {
                        "x": 949.8828125,
                        "y": 3508.394287109375,
                        "z": 370.76263427734375
                    },
                    "rotation": {
                        "roll": 0.0019306172616779804,
                        "pitch": -0.16818657517433167,
                        "yaw": -81.03471374511719
                    }
                },
                "velocity": {
                    "x": 1.272358775138855,
                    "y": -7.917073726654053,
                    "z": -0.0228299368172884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023566246032715,
                "transform": {
                    "location": {
                        "x": 957.021240234375,
                        "y": 3464.111083984375,
                        "z": 370.58343505859375
                    },
                    "rotation": {
                        "roll": -6.104540807427838e-05,
                        "pitch": -0.25243693590164185,
                        "yaw": -80.85770416259766
                    }
                },
                "velocity": {
                    "x": 1.2749184370040894,
                    "y": -7.921550273895264,
                    "z": -0.03524632006883621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.9271416664123535,
                "transform": {
                    "location": {
                        "x": 942.8524780273438,
                        "y": 3551.903564453125,
                        "z": 370.8969421386719
                    },
                    "rotation": {
                        "roll": 0.0017005872214213014,
                        "pitch": -0.03521645441651344,
                        "yaw": -80.45679473876953
                    }
                },
                "velocity": {
                    "x": 0.9729936718940735,
                    "y": -5.846726417541504,
                    "z": -0.009192323312163353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.098161697387695,
                "transform": {
                    "location": {
                        "x": 947.2713012695312,
                        "y": 3504.2431640625,
                        "z": 370.75543212890625
                    },
                    "rotation": {
                        "roll": 0.0012894035317003727,
                        "pitch": -0.1644914299249649,
                        "yaw": -80.8428955078125
                    }
                },
                "velocity": {
                    "x": 1.2877464294433594,
                    "y": -7.995081424713135,
                    "z": -0.024554461240768433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064586639404297,
                "transform": {
                    "location": {
                        "x": 954.0725708007812,
                        "y": 3461.9814453125,
                        "z": 370.59075927734375
                    },
                    "rotation": {
                        "roll": -0.00036620593164116144,
                        "pitch": -0.25973159074783325,
                        "yaw": -80.86290740966797
                    }
                },
                "velocity": {
                    "x": 1.2805297374725342,
                    "y": -7.962186336517334,
                    "z": -0.037238359451293945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.9186401367188,
                        "y": 3410.78173828125,
                        "z": 370.28466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.143651962280273,
                "transform": {
                    "location": {
                        "x": 954.02685546875,
                        "y": 3440.549072265625,
                        "z": 370.48468017578125
                    },
                    "rotation": {
                        "roll": 0.0019501864444464445,
                        "pitch": 0.26515474915504456,
                        "yaw": 99.12349700927734
                    }
                },
                "velocity": {
                    "x": -1.6109195947647095,
                    "y": 10.014752388000488,
                    "z": 0.05790407955646515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.07759952545166,
                "transform": {
                    "location": {
                        "x": 950.9259033203125,
                        "y": 3459.8154296875,
                        "z": 370.5787658691406
                    },
                    "rotation": {
                        "roll": -0.0010681136045604944,
                        "pitch": 0.31549325585365295,
                        "yaw": 99.15884399414062
                    }
                },
                "velocity": {
                    "x": -1.601936936378479,
                    "y": 9.949361801147461,
                    "z": 0.044826019555330276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.949808597564697,
                "transform": {
                    "location": {
                        "x": 934.9718627929688,
                        "y": 3538.497802734375,
                        "z": 370.8455505371094
                    },
                    "rotation": {
                        "roll": 0.0003975706349592656,
                        "pitch": 0.30437371134757996,
                        "yaw": 99.14701843261719
                    }
                },
                "velocity": {
                    "x": -0.7870398759841919,
                    "y": 4.8868279457092285,
                    "z": 0.009187287651002407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.067787170410156,
                "transform": {
                    "location": {
                        "x": 932.279296875,
                        "y": 3555.228271484375,
                        "z": 370.8655090332031
                    },
                    "rotation": {
                        "roll": 0.0011718313908204436,
                        "pitch": -0.19994693994522095,
                        "yaw": 99.15306091308594
                    }
                },
                "velocity": {
                    "x": -0.8059970140457153,
                    "y": 5.003279209136963,
                    "z": 0.005483074113726616
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.5051879882812,
                        "y": 3425.77734375,
                        "z": 370.38787841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.401857376098633,
                "transform": {
                    "location": {
                        "x": 947.6036987304688,
                        "y": 3480.4599609375,
                        "z": 370.66656494140625
                    },
                    "rotation": {
                        "roll": -0.0003051742969546467,
                        "pitch": 0.2776471674442291,
                        "yaw": 99.13920593261719
                    }
                },
                "velocity": {
                    "x": -1.6521732807159424,
                    "y": 10.269726753234863,
                    "z": 0.04099995642900467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.916607856750488,
                "transform": {
                    "location": {
                        "x": 944.3359985351562,
                        "y": 3500.7626953125,
                        "z": 370.7457580566406
                    },
                    "rotation": {
                        "roll": -0.00012207675899844617,
                        "pitch": 0.15957370400428772,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -1.7346280813217163,
                    "y": 10.77785587310791,
                    "z": 0.03485628217458725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.625285625457764,
                "transform": {
                    "location": {
                        "x": 940.1165161132812,
                        "y": 3548.5126953125,
                        "z": 370.8526916503906
                    },
                    "rotation": {
                        "roll": 0.004282111302018166,
                        "pitch": 0.42285698652267456,
                        "yaw": -80.52507019042969
                    }
                },
                "velocity": {
                    "x": 1.257413387298584,
                    "y": -7.52088737487793,
                    "z": -0.011851005256175995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.28778913617134094,
        "expert_target_speed": 10.0,
        "target_point": [
            38.74838114732054,
            1.1672298372155474
        ],
        "target_point_next": [
            65.00381553162832,
            1.663123453058926
        ]
    },
    "525": {
        "acceleration": [
            0.08023500442504883,
            -1.4916229248046875,
            -0.004331246018409729
        ],
        "angular_velocity": [
            0.32713910937309265,
            -0.025333743542432785,
            2.1854748725891113
        ],
        "forward_vector": [
            -0.14336955547332764,
            0.9896678328514099,
            -0.0016660680994391441
        ],
        "right_vector": [
            -0.9896689653396606,
            -0.14336806535720825,
            0.0009747152798809111
        ],
        "location": [
            940.421875,
            3508.313720703125,
            370.76275634765625
        ],
        "rotation": [
            -0.0558471605181694,
            -0.09545871615409851,
            98.24288940429688
        ],
        "velocity": [
            -1.6370536088943481,
            11.27535629272461,
            0.03293010592460632
        ],
        "speed": 11.393577315587867,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.78337860107422,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.7952270507812,
                3539.594970703125,
                370.848388671875
            ],
            "velocity": [
                -0.7172026634216309,
                4.45480489730835,
                0.00917906779795885
            ],
            "speed_kmh": 16.243840913733482,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062579154968262,
                "transform": {
                    "location": {
                        "x": 950.2017822265625,
                        "y": 3506.4111328125,
                        "z": 370.75677490234375
                    },
                    "rotation": {
                        "roll": -9.1547604824882e-05,
                        "pitch": -0.16924524307250977,
                        "yaw": -81.02921295166016
                    }
                },
                "velocity": {
                    "x": 1.2812058925628662,
                    "y": -7.96009635925293,
                    "z": -0.023570580407977104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075562477111816,
                "transform": {
                    "location": {
                        "x": 957.341064453125,
                        "y": 3462.1240234375,
                        "z": 370.5744934082031
                    },
                    "rotation": {
                        "roll": 0.0006802776479162276,
                        "pitch": -0.25805819034576416,
                        "yaw": -80.85813903808594
                    }
                },
                "velocity": {
                    "x": 1.2830132246017456,
                    "y": -7.972907543182373,
                    "z": -0.036537908017635345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.123212814331055,
                "transform": {
                    "location": {
                        "x": 943.1372680664062,
                        "y": 3550.195556640625,
                        "z": 370.89306640625
                    },
                    "rotation": {
                        "roll": 0.0020593786612153053,
                        "pitch": 0.10549226403236389,
                        "yaw": -80.52873229980469
                    }
                },
                "velocity": {
                    "x": 1.3317006826400757,
                    "y": -8.013304710388184,
                    "z": -0.01042216271162033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051400184631348,
                "transform": {
                    "location": {
                        "x": 947.5922241210938,
                        "y": 3502.251220703125,
                        "z": 370.7491760253906
                    },
                    "rotation": {
                        "roll": 0.0004822713090106845,
                        "pitch": -0.18896400928497314,
                        "yaw": -80.84794616699219
                    }
                },
                "velocity": {
                    "x": 1.27986478805542,
                    "y": -7.948984622955322,
                    "z": -0.02511887066066265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005478858947754,
                "transform": {
                    "location": {
                        "x": 954.3914794921875,
                        "y": 3459.998291015625,
                        "z": 370.5816955566406
                    },
                    "rotation": {
                        "roll": -3.0522711313096806e-05,
                        "pitch": -0.25622087717056274,
                        "yaw": -80.86321258544922
                    }
                },
                "velocity": {
                    "x": 1.2711966037750244,
                    "y": -7.903825283050537,
                    "z": -0.03604109212756157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.4102172851562,
                        "y": 3413.940185546875,
                        "z": 370.3067932128906
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.934131622314453,
                "transform": {
                    "location": {
                        "x": 953.6262817382812,
                        "y": 3443.039306640625,
                        "z": 370.4986877441406
                    },
                    "rotation": {
                        "roll": 0.0007176756043918431,
                        "pitch": 0.334105521440506,
                        "yaw": 99.15694427490234
                    }
                },
                "velocity": {
                    "x": -1.5783910751342773,
                    "y": 9.807777404785156,
                    "z": 0.0561264231801033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.18374252319336,
                "transform": {
                    "location": {
                        "x": 950.5174560546875,
                        "y": 3462.352783203125,
                        "z": 370.59027099609375
                    },
                    "rotation": {
                        "roll": 0.0004806404176633805,
                        "pitch": 0.2836918830871582,
                        "yaw": 99.13423919677734
                    }
                },
                "velocity": {
                    "x": -1.6180663108825684,
                    "y": 10.054271697998047,
                    "z": 0.045613497495651245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.51217794418335,
                "transform": {
                    "location": {
                        "x": 934.7952270507812,
                        "y": 3539.594970703125,
                        "z": 370.848388671875
                    },
                    "rotation": {
                        "roll": -9.154769213637337e-05,
                        "pitch": 0.1858084499835968,
                        "yaw": 99.14488983154297
                    }
                },
                "velocity": {
                    "x": -0.7172026634216309,
                    "y": 4.45480489730835,
                    "z": 0.00917906779795885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.8622260093688965,
                "transform": {
                    "location": {
                        "x": 932.071044921875,
                        "y": 3556.520751953125,
                        "z": 370.865966796875
                    },
                    "rotation": {
                        "roll": 0.0006814923835918307,
                        "pitch": 0.09487815201282501,
                        "yaw": 99.15263366699219
                    }
                },
                "velocity": {
                    "x": -0.9324464201927185,
                    "y": 5.787590026855469,
                    "z": 0.006176633760333061
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1292114257812,
                        "y": 3428.113037109375,
                        "z": 370.4035949707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.593240737915039,
                "transform": {
                    "location": {
                        "x": 947.1895141601562,
                        "y": 3483.03466796875,
                        "z": 370.67694091796875
                    },
                    "rotation": {
                        "roll": -0.0014953737845644355,
                        "pitch": 0.26518890261650085,
                        "yaw": 99.1413803100586
                    }
                },
                "velocity": {
                    "x": -1.6836488246917725,
                    "y": 10.458504676818848,
                    "z": 0.041941214352846146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.061117172241211,
                "transform": {
                    "location": {
                        "x": 943.897216796875,
                        "y": 3503.489501953125,
                        "z": 370.75433349609375
                    },
                    "rotation": {
                        "roll": -3.0522514862241223e-05,
                        "pitch": 0.15185558795928955,
                        "yaw": 99.13858032226562
                    }
                },
                "velocity": {
                    "x": -1.7567704916000366,
                    "y": 10.920666694641113,
                    "z": 0.03316843882203102
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.41555404663086,
                "transform": {
                    "location": {
                        "x": 940.4501342773438,
                        "y": 3546.492431640625,
                        "z": 370.8495178222656
                    },
                    "rotation": {
                        "roll": 0.017451481893658638,
                        "pitch": 0.3769717812538147,
                        "yaw": -80.6136245727539
                    }
                },
                "velocity": {
                    "x": 1.3652921915054321,
                    "y": -8.304056167602539,
                    "z": -0.013185958378016949
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.31217023730278015,
        "expert_target_speed": 10.0,
        "target_point": [
            35.845747486854435,
            1.0479104434959146
        ],
        "target_point_next": [
            62.10262744510686,
            1.4602210604427022
        ]
    },
    "530": {
        "acceleration": [
            -0.007183551788330078,
            -0.8400726318359375,
            0.0025106221437454224
        ],
        "angular_velocity": [
            0.27363890409469604,
            0.04151720926165581,
            -0.9657643437385559
        ],
        "forward_vector": [
            -0.14589270949363708,
            0.9893004298210144,
            0.0001233816146850586
        ],
        "right_vector": [
            -0.989300012588501,
            -0.14589276909828186,
            0.0009251818410120904
        ],
        "location": [
            940.0128173828125,
            3511.10498046875,
            370.7702941894531
        ],
        "rotation": [
            -0.053009022027254105,
            0.00706924544647336,
            98.38897705078125
        ],
        "velocity": [
            -1.6403379440307617,
            11.072317123413086,
            0.03306319937109947
        ],
        "speed": 11.193163764193468,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.203527450561523,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.5982055664062,
                3540.819091796875,
                370.85211181640625
            ],
            "velocity": [
                -0.8323943614959717,
                5.170680999755859,
                0.009452437981963158
            ],
            "speed_kmh": 18.854142672855737,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021517753601074,
                "transform": {
                    "location": {
                        "x": 950.5216064453125,
                        "y": 3504.425537109375,
                        "z": 370.7508544921875
                    },
                    "rotation": {
                        "roll": -0.0015258736675605178,
                        "pitch": -0.16979166865348816,
                        "yaw": -81.02265930175781
                    }
                },
                "velocity": {
                    "x": 1.277366042137146,
                    "y": -7.919117450714111,
                    "z": -0.025684455409646034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02294635772705,
                "transform": {
                    "location": {
                        "x": 957.6607666015625,
                        "y": 3460.137451171875,
                        "z": 370.5654602050781
                    },
                    "rotation": {
                        "roll": 0.0022128967102617025,
                        "pitch": -0.25710880756378174,
                        "yaw": -80.85785675048828
                    }
                },
                "velocity": {
                    "x": 1.2746987342834473,
                    "y": -7.9209513664245605,
                    "z": -0.036780595779418945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.296422958374023,
                "transform": {
                    "location": {
                        "x": 943.4813842773438,
                        "y": 3548.1220703125,
                        "z": 370.8910217285156
                    },
                    "rotation": {
                        "roll": 0.005626538768410683,
                        "pitch": -0.024656981229782104,
                        "yaw": -80.59207916259766
                    }
                },
                "velocity": {
                    "x": 1.3432444334030151,
                    "y": -8.186949729919434,
                    "z": -0.013584956526756287
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091669082641602,
                "transform": {
                    "location": {
                        "x": 947.9130859375,
                        "y": 3500.259033203125,
                        "z": 370.7426452636719
                    },
                    "rotation": {
                        "roll": 0.00022395006089936942,
                        "pitch": -0.19125211238861084,
                        "yaw": -80.8529281616211
                    }
                },
                "velocity": {
                    "x": 1.2862728834152222,
                    "y": -7.98874044418335,
                    "z": -0.025297241285443306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063843727111816,
                "transform": {
                    "location": {
                        "x": 954.71044921875,
                        "y": 3458.014892578125,
                        "z": 370.5727233886719
                    },
                    "rotation": {
                        "roll": 7.385215576505288e-05,
                        "pitch": -0.25656238198280334,
                        "yaw": -80.86321258544922
                    }
                },
                "velocity": {
                    "x": 1.2804290056228638,
                    "y": -7.961452484130859,
                    "z": -0.03672148287296295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.0237426757812,
                        "y": 3416.342041015625,
                        "z": 370.32330322265625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.597414016723633,
                "transform": {
                    "location": {
                        "x": 953.2388916015625,
                        "y": 3445.445556640625,
                        "z": 370.5119323730469
                    },
                    "rotation": {
                        "roll": -9.158214379567653e-05,
                        "pitch": 0.33704251050949097,
                        "yaw": 99.12796020507812
                    }
                },
                "velocity": {
                    "x": -1.5251058340072632,
                    "y": 9.475324630737305,
                    "z": 0.051209017634391785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.194811820983887,
                "transform": {
                    "location": {
                        "x": 950.1167602539062,
                        "y": 3464.843017578125,
                        "z": 370.60113525390625
                    },
                    "rotation": {
                        "roll": 0.0010173077462241054,
                        "pitch": 0.25206127762794495,
                        "yaw": 99.1474380493164
                    }
                },
                "velocity": {
                    "x": -1.6187424659729004,
                    "y": 10.06537914276123,
                    "z": 0.04475189000368118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.237261772155762,
                "transform": {
                    "location": {
                        "x": 934.5982055664062,
                        "y": 3540.819091796875,
                        "z": 370.85211181640625
                    },
                    "rotation": {
                        "roll": -0.00018310615269001573,
                        "pitch": 0.04825528338551521,
                        "yaw": 99.1450424194336
                    }
                },
                "velocity": {
                    "x": -0.8323943614959717,
                    "y": 5.170680999755859,
                    "z": 0.009452437981963158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.361220836639404,
                "transform": {
                    "location": {
                        "x": 931.81201171875,
                        "y": 3558.12890625,
                        "z": 370.8669128417969
                    },
                    "rotation": {
                        "roll": 0.0010870960541069508,
                        "pitch": 0.3054597079753876,
                        "yaw": 99.14962768554688
                    }
                },
                "velocity": {
                    "x": -1.0112425088882446,
                    "y": 6.280325412750244,
                    "z": 0.005762062035501003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.7427368164062,
                        "y": 3430.514892578125,
                        "z": 370.4193420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.675957679748535,
                "transform": {
                    "location": {
                        "x": 946.7640991210938,
                        "y": 3485.6787109375,
                        "z": 370.68743896484375
                    },
                    "rotation": {
                        "roll": -0.0009765525464899838,
                        "pitch": 0.2451901137828827,
                        "yaw": 99.13866424560547
                    }
                },
                "velocity": {
                    "x": -1.6956318616867065,
                    "y": 10.540361404418945,
                    "z": 0.0411839559674263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.00609302520752,
                "transform": {
                    "location": {
                        "x": 943.4605102539062,
                        "y": 3506.204345703125,
                        "z": 370.7622985839844
                    },
                    "rotation": {
                        "roll": 0.00020487986330408603,
                        "pitch": 0.16664977371692657,
                        "yaw": 99.13823699951172
                    }
                },
                "velocity": {
                    "x": -1.7479290962219238,
                    "y": 10.866358757019043,
                    "z": 0.03275919705629349
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.869621276855469,
                "transform": {
                    "location": {
                        "x": 940.7794189453125,
                        "y": 3544.48779296875,
                        "z": 370.84796142578125
                    },
                    "rotation": {
                        "roll": 0.010673696175217628,
                        "pitch": -0.06164928525686264,
                        "yaw": -80.69515228271484
                    }
                },
                "velocity": {
                    "x": 1.2723058462142944,
                    "y": -7.766080379486084,
                    "z": -0.013268232345581055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3282638490200043,
        "expert_target_speed": 10.0,
        "target_point": [
            33.027230711900074,
            0.9590239480042291
        ],
        "target_point_next": [
            59.28507690133602,
            1.3043624469430384
        ]
    },
    "535": {
        "acceleration": [
            0.04544973373413086,
            -1.0983467102050781,
            -0.006178282201290131
        ],
        "angular_velocity": [
            0.039656586945056915,
            -0.02150648646056652,
            2.3362319469451904
        ],
        "forward_vector": [
            -0.14891298115253448,
            0.9888501167297363,
            0.0005774497403763235
        ],
        "right_vector": [
            -0.9888498783111572,
            -0.1489134430885315,
            0.0008564720628783107
        ],
        "location": [
            939.6044311523438,
            3513.8388671875,
            370.7779846191406
        ],
        "rotation": [
            -0.049072250723838806,
            0.03308543562889099,
            98.5639419555664
        ],
        "velocity": [
            -1.631280779838562,
            10.803350448608398,
            0.029336966574192047
        ],
        "speed": 10.925816120460658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 28.79641342163086,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.38232421875,
                3542.15771484375,
                370.8544921875
            ],
            "velocity": [
                -0.9114081859588623,
                5.678674697875977,
                0.010014399886131287
            ],
            "speed_kmh": 20.704886499601827,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068994522094727,
                "transform": {
                    "location": {
                        "x": 950.841064453125,
                        "y": 3502.43994140625,
                        "z": 370.7445983886719
                    },
                    "rotation": {
                        "roll": 0.0007998766959644854,
                        "pitch": -0.1859109103679657,
                        "yaw": -81.02776336669922
                    }
                },
                "velocity": {
                    "x": 1.2816147804260254,
                    "y": -7.966523170471191,
                    "z": -0.02513074316084385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076415061950684,
                "transform": {
                    "location": {
                        "x": 957.9805297851562,
                        "y": 3458.150146484375,
                        "z": 370.556396484375
                    },
                    "rotation": {
                        "roll": 4.6691216084582265e-06,
                        "pitch": -0.25768935680389404,
                        "yaw": -80.85796356201172
                    }
                },
                "velocity": {
                    "x": 1.2831370830535889,
                    "y": -7.973751544952393,
                    "z": -0.03647468611598015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.751120090484619,
                "transform": {
                    "location": {
                        "x": 943.803466796875,
                        "y": 3546.158447265625,
                        "z": 370.88861083984375
                    },
                    "rotation": {
                        "roll": 0.003342677606269717,
                        "pitch": -0.12099679559469223,
                        "yaw": -80.69585418701172
                    }
                },
                "velocity": {
                    "x": 1.2489278316497803,
                    "y": -7.649827003479004,
                    "z": -0.013696965761482716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065888404846191,
                "transform": {
                    "location": {
                        "x": 948.2340698242188,
                        "y": 3498.2646484375,
                        "z": 370.7359924316406
                    },
                    "rotation": {
                        "roll": 0.0009462662856094539,
                        "pitch": -0.18673735857009888,
                        "yaw": -80.8593978881836
                    }
                },
                "velocity": {
                    "x": 1.2811297178268433,
                    "y": -7.963454246520996,
                    "z": -0.02565850131213665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005500793457031,
                "transform": {
                    "location": {
                        "x": 955.0293579101562,
                        "y": 3456.0322265625,
                        "z": 370.5636901855469
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.25652822852134705,
                        "yaw": -80.8633041381836
                    }
                },
                "velocity": {
                    "x": 1.2711751461029053,
                    "y": -7.903844833374023,
                    "z": -0.03728221729397774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.6371459960938,
                        "y": 3418.74365234375,
                        "z": 370.33978271484375
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.913400650024414,
                "transform": {
                    "location": {
                        "x": 952.8541870117188,
                        "y": 3447.836181640625,
                        "z": 370.525146484375
                    },
                    "rotation": {
                        "roll": -0.0003051873645745218,
                        "pitch": 0.2681053876876831,
                        "yaw": 99.1563720703125
                    }
                },
                "velocity": {
                    "x": -1.574851393699646,
                    "y": 9.787384033203125,
                    "z": 0.049734801054000854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.280339241027832,
                "transform": {
                    "location": {
                        "x": 949.706787109375,
                        "y": 3467.392333984375,
                        "z": 370.6119689941406
                    },
                    "rotation": {
                        "roll": 0.00024961112649179995,
                        "pitch": 0.2507362365722656,
                        "yaw": 99.12651062011719
                    }
                },
                "velocity": {
                    "x": -1.6328474283218384,
                    "y": 10.149744987487793,
                    "z": 0.04312821477651596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.751357078552246,
                "transform": {
                    "location": {
                        "x": 934.38232421875,
                        "y": 3542.15771484375,
                        "z": 370.8544921875
                    },
                    "rotation": {
                        "roll": -0.0009765636641532183,
                        "pitch": 0.03070169873535633,
                        "yaw": 99.09982299804688
                    }
                },
                "velocity": {
                    "x": -0.9114081859588623,
                    "y": 5.678674697875977,
                    "z": 0.010014399886131287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.424306869506836,
                "transform": {
                    "location": {
                        "x": 931.5770874023438,
                        "y": 3559.587646484375,
                        "z": 370.869873046875
                    },
                    "rotation": {
                        "roll": 3.928698424715549e-05,
                        "pitch": -0.09924264252185822,
                        "yaw": 99.14807891845703
                    }
                },
                "velocity": {
                    "x": -0.862424910068512,
                    "y": 5.355305194854736,
                    "z": 0.0059596155770123005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.3561401367188,
                        "y": 3432.916748046875,
                        "z": 370.43475341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.501662254333496,
                "transform": {
                    "location": {
                        "x": 946.3449096679688,
                        "y": 3488.2822265625,
                        "z": 370.6973876953125
                    },
                    "rotation": {
                        "roll": -0.00030517909908667207,
                        "pitch": 0.19250203669071198,
                        "yaw": 99.1503677368164
                    }
                },
                "velocity": {
                    "x": -1.6699045896530151,
                    "y": 10.367969512939453,
                    "z": 0.039389848709106445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.045877456665039,
                "transform": {
                    "location": {
                        "x": 943.0232543945312,
                        "y": 3508.9228515625,
                        "z": 370.7702941894531
                    },
                    "rotation": {
                        "roll": 0.0006349232280626893,
                        "pitch": 0.1605367511510849,
                        "yaw": 99.1406478881836
                    }
                },
                "velocity": {
                    "x": -1.7567015886306763,
                    "y": 10.905243873596191,
                    "z": 0.032620981335639954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002516746520996,
                "transform": {
                    "location": {
                        "x": 941.0958251953125,
                        "y": 3542.55029296875,
                        "z": 370.8447570800781
                    },
                    "rotation": {
                        "roll": 0.011971709318459034,
                        "pitch": -0.08261113613843918,
                        "yaw": -80.71781921386719
                    }
                },
                "velocity": {
                    "x": 1.2850548028945923,
                    "y": -7.898652076721191,
                    "z": -0.014390506781637669
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35317113995552063,
        "expert_target_speed": 10.0,
        "target_point": [
            30.265786330171007,
            0.8614526581375586
        ],
        "target_point_next": [
            56.52456457747457,
            1.1266132620401486
        ]
    },
    "540": {
        "acceleration": [
            0.04242897033691406,
            -1.0630607604980469,
            0.004565231502056122
        ],
        "angular_velocity": [
            0.026425831019878387,
            0.01743841916322708,
            -1.199587345123291
        ],
        "forward_vector": [
            -0.15127994120121002,
            0.9884907007217407,
            0.0006960629252716899
        ],
        "right_vector": [
            -0.9884905219078064,
            -0.151280477643013,
            0.0008149268105626106
        ],
        "location": [
            939.198486328125,
            3516.5048828125,
            370.78521728515625
        ],
        "rotation": [
            -0.046691883355379105,
            0.039881471544504166,
            98.70111083984375
        ],
        "velocity": [
            -1.6201975345611572,
            10.53373908996582,
            0.02950752153992653
        ],
        "speed": 10.657612268537076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.651269912719727,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.13623046875,
                3543.688720703125,
                370.8575744628906
            ],
            "velocity": [
                -1.1190696954727173,
                6.9557976722717285,
                0.01013111136853695
            ],
            "speed_kmh": 25.36289829276213,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01426887512207,
                "transform": {
                    "location": {
                        "x": 951.1603393554688,
                        "y": 3500.45556640625,
                        "z": 370.7380676269531
                    },
                    "rotation": {
                        "roll": -0.0005493196076713502,
                        "pitch": -0.18936015665531158,
                        "yaw": -81.03535461425781
                    }
                },
                "velocity": {
                    "x": 1.2739074230194092,
                    "y": -7.91233491897583,
                    "z": -0.025058511644601822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023411750793457,
                "transform": {
                    "location": {
                        "x": 958.3002319335938,
                        "y": 3456.16357421875,
                        "z": 370.5473327636719
                    },
                    "rotation": {
                        "roll": 0.0003031060623470694,
                        "pitch": -0.2596154808998108,
                        "yaw": -80.85801696777344
                    }
                },
                "velocity": {
                    "x": 1.2747923135757446,
                    "y": -7.921398639678955,
                    "z": -0.038432274013757706
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.172459602355957,
                "transform": {
                    "location": {
                        "x": 944.1231689453125,
                        "y": 3544.2001953125,
                        "z": 370.8849792480469
                    },
                    "rotation": {
                        "roll": 0.0001897146285045892,
                        "pitch": -0.06817211210727692,
                        "yaw": -80.73301696777344
                    }
                },
                "velocity": {
                    "x": 1.3158433437347412,
                    "y": -8.065821647644043,
                    "z": -0.013186855241656303
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.089065551757812,
                "transform": {
                    "location": {
                        "x": 948.5548095703125,
                        "y": 3496.270751953125,
                        "z": 370.7293395996094
                    },
                    "rotation": {
                        "roll": 0.0003071934334002435,
                        "pitch": -0.18979045748710632,
                        "yaw": -80.8616714477539
                    }
                },
                "velocity": {
                    "x": 1.2847583293914795,
                    "y": -7.986344337463379,
                    "z": -0.02604052983224392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06592082977295,
                "transform": {
                    "location": {
                        "x": 955.348388671875,
                        "y": 3454.048583984375,
                        "z": 370.5541076660156
                    },
                    "rotation": {
                        "roll": -0.0008544775773771107,
                        "pitch": -0.2810964286327362,
                        "yaw": -80.86311340332031
                    }
                },
                "velocity": {
                    "x": 1.2807133197784424,
                    "y": -7.963491439819336,
                    "z": -0.040766481310129166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2506103515625,
                        "y": 3421.1455078125,
                        "z": 370.3562316894531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.041701316833496,
                "transform": {
                    "location": {
                        "x": 952.4517211914062,
                        "y": 3450.33642578125,
                        "z": 370.5378723144531
                    },
                    "rotation": {
                        "roll": -0.0006103617488406599,
                        "pitch": 0.27531808614730835,
                        "yaw": 99.127197265625
                    }
                },
                "velocity": {
                    "x": -1.5935676097869873,
                    "y": 9.914313316345215,
                    "z": 0.05195433646440506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.045927047729492,
                "transform": {
                    "location": {
                        "x": 949.3055419921875,
                        "y": 3469.885498046875,
                        "z": 370.62237548828125
                    },
                    "rotation": {
                        "roll": 0.0001647060998948291,
                        "pitch": 0.21538999676704407,
                        "yaw": 99.15345764160156
                    }
                },
                "velocity": {
                    "x": -1.5958575010299683,
                    "y": 9.918277740478516,
                    "z": 0.0407596193253994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0452494621276855,
                "transform": {
                    "location": {
                        "x": 934.13623046875,
                        "y": 3543.688720703125,
                        "z": 370.8575744628906
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.04184173792600632,
                        "yaw": 99.1167221069336
                    }
                },
                "velocity": {
                    "x": -1.1190696954727173,
                    "y": 6.9557976722717285,
                    "z": 0.01013111136853695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.70822811126709,
                "transform": {
                    "location": {
                        "x": 931.38623046875,
                        "y": 3560.772705078125,
                        "z": 370.87139892578125
                    },
                    "rotation": {
                        "roll": -0.00036620604805648327,
                        "pitch": -0.2642873227596283,
                        "yaw": 99.15953826904297
                    }
                },
                "velocity": {
                    "x": -0.7495081424713135,
                    "y": 4.648186683654785,
                    "z": 0.0035286711063236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9696655273438,
                        "y": 3435.318603515625,
                        "z": 370.4500427246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.734048843383789,
                "transform": {
                    "location": {
                        "x": 945.9230346679688,
                        "y": 3490.90087890625,
                        "z": 370.7070617675781
                    },
                    "rotation": {
                        "roll": -0.0007019144832156599,
                        "pitch": 0.23305970430374146,
                        "yaw": 99.15216064453125
                    }
                },
                "velocity": {
                    "x": -1.7071927785873413,
                    "y": 10.597352981567383,
                    "z": 0.03765905275940895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.125020027160645,
                "transform": {
                    "location": {
                        "x": 942.58154296875,
                        "y": 3511.666748046875,
                        "z": 370.77825927734375
                    },
                    "rotation": {
                        "roll": -0.0002746492391452193,
                        "pitch": 0.15118622779846191,
                        "yaw": 99.14173126220703
                    }
                },
                "velocity": {
                    "x": -1.7693021297454834,
                    "y": 10.983381271362305,
                    "z": 0.03110148385167122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.137177467346191,
                "transform": {
                    "location": {
                        "x": 941.4224243164062,
                        "y": 3540.540771484375,
                        "z": 370.8408508300781
                    },
                    "rotation": {
                        "roll": 0.008380352519452572,
                        "pitch": -0.05352818965911865,
                        "yaw": -80.78923034667969
                    }
                },
                "velocity": {
                    "x": 1.3022632598876953,
                    "y": -8.032282829284668,
                    "z": -0.014173220843076706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3704192638397217,
        "expert_target_speed": 10.0,
        "target_point": [
            27.57101804117723,
            0.791044150811425
        ],
        "target_point_next": [
            53.83035577863717,
            0.9933478258576187
        ]
    },
    "545": {
        "acceleration": [
            0.05360126495361328,
            -1.04156494140625,
            -0.0002864748239517212
        ],
        "angular_velocity": [
            0.024423282593488693,
            -0.04955149441957474,
            2.512455463409424
        ],
        "forward_vector": [
            -0.1542125791311264,
            0.9880374073982239,
            0.0007691382197663188
        ],
        "right_vector": [
            -0.9880372881889343,
            -0.15421317517757416,
            0.0007771101663820446
        ],
        "location": [
            938.7957763671875,
            3519.104248046875,
            370.7923889160156
        ],
        "rotation": [
            -0.0445251502096653,
            0.04406837746500969,
            98.87113189697266
        ],
        "velocity": [
            -1.6079021692276,
            10.271749496459961,
            0.02936387062072754
        ],
        "speed": 10.396835436989099,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.925291061401367,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.8341674804688,
                3545.568359375,
                370.8601379394531
            ],
            "velocity": [
                -1.2397257089614868,
                7.703134536743164,
                0.01239197701215744
            ],
            "speed_kmh": 28.08815768096809,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07456111907959,
                "transform": {
                    "location": {
                        "x": 951.4801635742188,
                        "y": 3498.46923828125,
                        "z": 370.7314758300781
                    },
                    "rotation": {
                        "roll": 0.0017910264432430267,
                        "pitch": -0.18698324263095856,
                        "yaw": -81.024169921875
                    }
                },
                "velocity": {
                    "x": 1.2821320295333862,
                    "y": -7.972076416015625,
                    "z": -0.025961289182305336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077475547790527,
                "transform": {
                    "location": {
                        "x": 958.6199951171875,
                        "y": 3454.1767578125,
                        "z": 370.5375671386719
                    },
                    "rotation": {
                        "roll": -0.0003356974048074335,
                        "pitch": -0.28997567296028137,
                        "yaw": -80.85596466064453
                    }
                },
                "velocity": {
                    "x": 1.2851293087005615,
                    "y": -7.974483966827393,
                    "z": -0.04079192876815796
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030750274658203,
                "transform": {
                    "location": {
                        "x": 944.449951171875,
                        "y": 3542.187744140625,
                        "z": 370.8816223144531
                    },
                    "rotation": {
                        "roll": 0.002210160018876195,
                        "pitch": -0.10418769717216492,
                        "yaw": -80.78135681152344
                    }
                },
                "velocity": {
                    "x": 1.2843087911605835,
                    "y": -7.927375793457031,
                    "z": -0.01449845265597105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061055183410645,
                "transform": {
                    "location": {
                        "x": 948.8753051757812,
                        "y": 3494.278076171875,
                        "z": 370.72259521484375
                    },
                    "rotation": {
                        "roll": -0.00012206371320644394,
                        "pitch": -0.20309565961360931,
                        "yaw": -80.86455535888672
                    }
                },
                "velocity": {
                    "x": 1.2798439264297485,
                    "y": -7.958754062652588,
                    "z": -0.028930630534887314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006257057189941,
                "transform": {
                    "location": {
                        "x": 955.6672973632812,
                        "y": 3452.0654296875,
                        "z": 370.54400634765625
                    },
                    "rotation": {
                        "roll": 3.110979378107004e-05,
                        "pitch": -0.29632091522216797,
                        "yaw": -80.86347961425781
                    }
                },
                "velocity": {
                    "x": 1.2712894678115845,
                    "y": -7.904572486877441,
                    "z": -0.04129665344953537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.8641357421875,
                        "y": 3423.54736328125,
                        "z": 370.3726806640625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.58877182006836,
                "transform": {
                    "location": {
                        "x": 952.0653686523438,
                        "y": 3452.7392578125,
                        "z": 370.54998779296875
                    },
                    "rotation": {
                        "roll": 0.000603347783908248,
                        "pitch": 0.3296932280063629,
                        "yaw": 99.15384674072266
                    }
                },
                "velocity": {
                    "x": -1.5228549242019653,
                    "y": 9.466947555541992,
                    "z": 0.048663556575775146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.464739799499512,
                "transform": {
                    "location": {
                        "x": 948.8976440429688,
                        "y": 3472.4208984375,
                        "z": 370.6331481933594
                    },
                    "rotation": {
                        "roll": -0.0009155367151834071,
                        "pitch": 0.2847778797149658,
                        "yaw": 99.1298599243164
                    }
                },
                "velocity": {
                    "x": -1.6624462604522705,
                    "y": 10.331758499145508,
                    "z": 0.04259857162833214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8022661209106445,
                "transform": {
                    "location": {
                        "x": 933.8341674804688,
                        "y": 3545.568359375,
                        "z": 370.8601379394531
                    },
                    "rotation": {
                        "roll": 0.0003967151860706508,
                        "pitch": -0.0012226038379594684,
                        "yaw": 99.12874603271484
                    }
                },
                "velocity": {
                    "x": -1.2397257089614868,
                    "y": 7.703134536743164,
                    "z": 0.01239197701215744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.10839319229126,
                "transform": {
                    "location": {
                        "x": 931.1838989257812,
                        "y": 3562.02783203125,
                        "z": 370.87164306640625
                    },
                    "rotation": {
                        "roll": -0.0005493169883266091,
                        "pitch": 0.06433355063199997,
                        "yaw": 99.16114044189453
                    }
                },
                "velocity": {
                    "x": -0.8131428956985474,
                    "y": 5.043258190155029,
                    "z": 0.005085964221507311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5831298828125,
                        "y": 3437.72021484375,
                        "z": 370.4644775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.628063201904297,
                "transform": {
                    "location": {
                        "x": 945.4965209960938,
                        "y": 3493.549072265625,
                        "z": 370.7165832519531
                    },
                    "rotation": {
                        "roll": -0.00048827481805346906,
                        "pitch": 0.20209161937236786,
                        "yaw": 99.14766693115234
                    }
                },
                "velocity": {
                    "x": -1.6896463632583618,
                    "y": 10.492829322814941,
                    "z": 0.03673630580306053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.888501167297363,
                "transform": {
                    "location": {
                        "x": 942.1445922851562,
                        "y": 3514.381591796875,
                        "z": 370.7856140136719
                    },
                    "rotation": {
                        "roll": -0.0004272489168215543,
                        "pitch": 0.17207977175712585,
                        "yaw": 99.14163208007812
                    }
                },
                "velocity": {
                    "x": -1.729887843132019,
                    "y": 10.750165939331055,
                    "z": 0.02945227548480034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.932619094848633,
                "transform": {
                    "location": {
                        "x": 941.7426147460938,
                        "y": 3538.5654296875,
                        "z": 370.83734130859375
                    },
                    "rotation": {
                        "roll": 0.004036723170429468,
                        "pitch": -0.15755879878997803,
                        "yaw": -80.7781753540039
                    }
                },
                "velocity": {
                    "x": 1.2691017389297485,
                    "y": -7.830422878265381,
                    "z": -0.017540616914629936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3747260272502899,
        "expert_target_speed": 10.0,
        "target_point": [
            24.942870705303395,
            0.7121716930013453
        ],
        "target_point_next": [
            51.20269322877112,
            0.8365349629093588
        ]
    },
    "550": {
        "acceleration": [
            -0.08978128433227539,
            -0.11981964111328125,
            -0.024311654269695282
        ],
        "angular_velocity": [
            0.21317312121391296,
            0.05168931558728218,
            -1.4565244913101196
        ],
        "forward_vector": [
            -0.15638649463653564,
            0.9876956343650818,
            0.000806093099527061
        ],
        "right_vector": [
            -0.987695574760437,
            -0.1563870757818222,
            0.0007281078142113984
        ],
        "location": [
            938.3963012695312,
            3521.636474609375,
            370.79931640625
        ],
        "rotation": [
            -0.0417175218462944,
            0.04618573561310768,
            98.99722290039062
        ],
        "velocity": [
            -1.5980523824691772,
            10.036199569702148,
            0.027915047481656075
        ],
        "speed": 10.1626312153893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.1888370513916,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.544189453125,
                3547.371826171875,
                370.8617858886719
            ],
            "velocity": [
                -1.0767327547073364,
                6.68552827835083,
                0.011678008362650871
            ],
            "speed_kmh": 24.37808206102186,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011479377746582,
                "transform": {
                    "location": {
                        "x": 951.7992553710938,
                        "y": 3496.48486328125,
                        "z": 370.7248229980469
                    },
                    "rotation": {
                        "roll": 0.0007963218376971781,
                        "pitch": -0.19241325557231903,
                        "yaw": -81.04200744628906
                    }
                },
                "velocity": {
                    "x": 1.272199273109436,
                    "y": -7.909780502319336,
                    "z": -0.026136664673686028
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.9110717773438,
                        "y": 3452.15673828125,
                        "z": 370.5311584472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.958677291870117,
                "transform": {
                    "location": {
                        "x": 944.767578125,
                        "y": 3540.2265625,
                        "z": 370.8780517578125
                    },
                    "rotation": {
                        "roll": 0.0010894779115915298,
                        "pitch": -0.12972576916217804,
                        "yaw": -80.80870056152344
                    }
                },
                "velocity": {
                    "x": 1.26963472366333,
                    "y": -7.8567376136779785,
                    "z": -0.015623655170202255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092812538146973,
                "transform": {
                    "location": {
                        "x": 949.1959228515625,
                        "y": 3492.2841796875,
                        "z": 370.71527099609375
                    },
                    "rotation": {
                        "roll": 0.00016963528469204903,
                        "pitch": -0.2111484557390213,
                        "yaw": -80.86485290527344
                    }
                },
                "velocity": {
                    "x": 1.2848737239837646,
                    "y": -7.990109920501709,
                    "z": -0.029371188953518867
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8985595703125,
                        "y": 3450.010009765625,
                        "z": 370.53070068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.4776611328125,
                        "y": 3425.94921875,
                        "z": 370.3890686035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.030008316040039,
                "transform": {
                    "location": {
                        "x": 951.6754760742188,
                        "y": 3455.1611328125,
                        "z": 370.5625
                    },
                    "rotation": {
                        "roll": -0.0003356959205120802,
                        "pitch": 0.23503363132476807,
                        "yaw": 99.12541198730469
                    }
                },
                "velocity": {
                    "x": -1.5932191610336304,
                    "y": 9.902559280395508,
                    "z": 0.045173365622758865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.077216148376465,
                "transform": {
                    "location": {
                        "x": 948.487548828125,
                        "y": 3474.969970703125,
                        "z": 370.6437683105469
                    },
                    "rotation": {
                        "roll": -0.0007934475434012711,
                        "pitch": 0.20496030151844025,
                        "yaw": 99.1498031616211
                    }
                },
                "velocity": {
                    "x": -1.6003832817077637,
                    "y": 9.949239730834961,
                    "z": 0.04118887707591057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7716898918151855,
                "transform": {
                    "location": {
                        "x": 933.544189453125,
                        "y": 3547.371826171875,
                        "z": 370.8617858886719
                    },
                    "rotation": {
                        "roll": 0.0008648825460113585,
                        "pitch": 0.1573675572872162,
                        "yaw": 99.13362884521484
                    }
                },
                "velocity": {
                    "x": -1.0767327547073364,
                    "y": 6.68552827835083,
                    "z": 0.011678008362650871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.701475143432617,
                "transform": {
                    "location": {
                        "x": 930.9815673828125,
                        "y": 3563.268310546875,
                        "z": 370.8728332519531
                    },
                    "rotation": {
                        "roll": -0.02288818173110485,
                        "pitch": -0.016938868910074234,
                        "yaw": 99.3974838256836
                    }
                },
                "velocity": {
                    "x": -0.7702653408050537,
                    "y": 4.637946605682373,
                    "z": 0.0028873442206531763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.196533203125,
                        "y": 3440.1220703125,
                        "z": 370.4788513183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.440764427185059,
                "transform": {
                    "location": {
                        "x": 945.0802612304688,
                        "y": 3496.134521484375,
                        "z": 370.7255859375
                    },
                    "rotation": {
                        "roll": 0.0009182505891658366,
                        "pitch": 0.1648329496383667,
                        "yaw": 99.1435775756836
                    }
                },
                "velocity": {
                    "x": -1.6584136486053467,
                    "y": 10.308150291442871,
                    "z": 0.03552248701453209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.102869033813477,
                "transform": {
                    "location": {
                        "x": 941.7077026367188,
                        "y": 3517.095458984375,
                        "z": 370.7933654785156
                    },
                    "rotation": {
                        "roll": 0.000728471262846142,
                        "pitch": 0.14353641867637634,
                        "yaw": 99.14543914794922
                    }
                },
                "velocity": {
                    "x": -1.7647974491119385,
                    "y": 10.961676597595215,
                    "z": 0.028877438977360725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.068397521972656,
                "transform": {
                    "location": {
                        "x": 942.0617065429688,
                        "y": 3536.592529296875,
                        "z": 370.8329162597656
                    },
                    "rotation": {
                        "roll": 0.006335703656077385,
                        "pitch": -0.10226842015981674,
                        "yaw": -80.83362579345703
                    }
                },
                "velocity": {
                    "x": 1.2850853204727173,
                    "y": -7.965381145477295,
                    "z": -0.017320116981863976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3308224081993103,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39480772614479065,
        "expert_target_speed": 9.96058646991771,
        "target_point": [
            22.380834648365457,
            0.6587441905715656
        ],
        "target_point_next": [
            48.640867214618275,
            0.7253385316717589
        ]
    },
    "555": {
        "acceleration": [
            0.7507872581481934,
            -5.230293273925781,
            -0.01759469509124756
        ],
        "angular_velocity": [
            -0.9518786072731018,
            -0.14171458780765533,
            1.0161100625991821
        ],
        "forward_vector": [
            -0.1592193990945816,
            0.9872307181358337,
            -0.00497422507032752
        ],
        "right_vector": [
            -0.9872432351112366,
            -0.15921802818775177,
            0.0006711079622618854
        ],
        "location": [
            938.0245971679688,
            3523.95458984375,
            370.8067626953125
        ],
        "rotation": [
            -0.038452133536338806,
            -0.28500327467918396,
            99.16170501708984
        ],
        "velocity": [
            -1.3826568126678467,
            8.534090995788574,
            0.02302590385079384
        ],
        "speed": 8.645371535452737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.289270401000977,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.3143310546875,
                3548.80126953125,
                370.8627624511719
            ],
            "velocity": [
                -0.6614477634429932,
                4.055225372314453,
                0.0024181173648685217
            ],
            "speed_kmh": 14.79173886582251,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.074803352355957,
                "transform": {
                    "location": {
                        "x": 952.1190185546875,
                        "y": 3494.499267578125,
                        "z": 370.71795654296875
                    },
                    "rotation": {
                        "roll": 0.0018400605767965317,
                        "pitch": -0.20412702858448029,
                        "yaw": -81.01642608642578
                    }
                },
                "velocity": {
                    "x": 1.282623529434204,
                    "y": -7.972233295440674,
                    "z": -0.02867041528224945
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.191162109375,
                        "y": 3450.0927734375,
                        "z": 370.5264892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.085219383239746,
                "transform": {
                    "location": {
                        "x": 945.0883178710938,
                        "y": 3538.24169921875,
                        "z": 370.8736877441406
                    },
                    "rotation": {
                        "roll": 0.00059665204025805,
                        "pitch": -0.10784868150949478,
                        "yaw": -80.81809997558594
                    }
                },
                "velocity": {
                    "x": 1.2888543605804443,
                    "y": -7.981812477111816,
                    "z": -0.017194252461194992
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061858177185059,
                "transform": {
                    "location": {
                        "x": 949.5164794921875,
                        "y": 3490.29052734375,
                        "z": 370.7079162597656
                    },
                    "rotation": {
                        "roll": -0.0009765701834112406,
                        "pitch": -0.2097824215888977,
                        "yaw": -80.86265563964844
                    }
                },
                "velocity": {
                    "x": 1.2804046869277954,
                    "y": -7.959476947784424,
                    "z": -0.02911464124917984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101107,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.2291259765625,
                        "y": 3447.95263671875,
                        "z": 370.51959228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.0910034179688,
                        "y": 3428.350830078125,
                        "z": 370.4051818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.557414054870605,
                "transform": {
                    "location": {
                        "x": 951.2844848632812,
                        "y": 3457.593017578125,
                        "z": 370.5731201171875
                    },
                    "rotation": {
                        "roll": -0.001007091486826539,
                        "pitch": 0.282537579536438,
                        "yaw": 99.15586853027344
                    }
                },
                "velocity": {
                    "x": -1.5181413888931274,
                    "y": 9.435969352722168,
                    "z": 0.04334138706326485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.024053573608398,
                "transform": {
                    "location": {
                        "x": 948.0929565429688,
                        "y": 3477.423095703125,
                        "z": 370.654052734375
                    },
                    "rotation": {
                        "roll": -0.00024414778454229236,
                        "pitch": 0.2246244251728058,
                        "yaw": 99.12969970703125
                    }
                },
                "velocity": {
                    "x": -1.5925484895706177,
                    "y": 9.89665412902832,
                    "z": 0.0408514104783535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.108816146850586,
                "transform": {
                    "location": {
                        "x": 933.3143310546875,
                        "y": 3548.80126953125,
                        "z": 370.8627624511719
                    },
                    "rotation": {
                        "roll": 0.0015636296011507511,
                        "pitch": 0.3128499686717987,
                        "yaw": 99.17481994628906
                    }
                },
                "velocity": {
                    "x": -0.6614477634429932,
                    "y": 4.055225372314453,
                    "z": 0.0024181173648685217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5281929969787598,
                "transform": {
                    "location": {
                        "x": 930.8429565429688,
                        "y": 3564.15185546875,
                        "z": 370.87554931640625
                    },
                    "rotation": {
                        "roll": 0.002742522396147251,
                        "pitch": -0.5394892692565918,
                        "yaw": 100.55631256103516
                    }
                },
                "velocity": {
                    "x": -0.40304282307624817,
                    "y": 2.4958581924438477,
                    "z": 0.0027942275628447533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8099975585938,
                        "y": 3442.52392578125,
                        "z": 370.4925842285156
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.737934112548828,
                "transform": {
                    "location": {
                        "x": 944.6586303710938,
                        "y": 3498.755615234375,
                        "z": 370.73431396484375
                    },
                    "rotation": {
                        "roll": 0.0012967514339834452,
                        "pitch": 0.21833381056785583,
                        "yaw": 99.13851165771484
                    }
                },
                "velocity": {
                    "x": -1.7054686546325684,
                    "y": 10.60157585144043,
                    "z": 0.03472784906625748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.934149742126465,
                "transform": {
                    "location": {
                        "x": 941.2691040039062,
                        "y": 3519.822021484375,
                        "z": 370.80072021484375
                    },
                    "rotation": {
                        "roll": 0.00011377246119081974,
                        "pitch": 0.16318003833293915,
                        "yaw": 99.13761901855469
                    }
                },
                "velocity": {
                    "x": -1.7362370491027832,
                    "y": 10.795380592346191,
                    "z": 0.02932000160217285
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03809928894043,
                "transform": {
                    "location": {
                        "x": 942.3832397460938,
                        "y": 3534.599853515625,
                        "z": 370.8287658691406
                    },
                    "rotation": {
                        "roll": 0.002316428814083338,
                        "pitch": -0.11175554990768433,
                        "yaw": -80.81669616699219
                    }
                },
                "velocity": {
                    "x": 1.280837059020996,
                    "y": -7.935375690460205,
                    "z": -0.017540158703923225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.45044562220573425,
        "expert_target_speed": 8.928409958146885,
        "target_point": [
            20.0349076270157,
            0.5966166947676279
        ],
        "target_point_next": [
            46.29502315910153,
            0.587817352215958
        ]
    },
    "560": {
        "acceleration": [
            0.59600830078125,
            -4.051380157470703,
            -0.021822191774845123
        ],
        "angular_velocity": [
            0.10092946141958237,
            -0.018690824508666992,
            0.029378829523921013
        ],
        "forward_vector": [
            -0.16126954555511475,
            0.9868922233581543,
            -0.0059882039204239845
        ],
        "right_vector": [
            -0.9869102835655212,
            -0.1612691730260849,
            0.0005464712739922106
        ],
        "location": [
            937.7009887695312,
            3525.93994140625,
            370.8119812011719
        ],
        "rotation": [
            -0.03131105750799179,
            -0.3431008756160736,
            99.28076171875
        ],
        "velocity": [
            -1.2227050065994263,
            7.435554504394531,
            0.01957460306584835
        ],
        "speed": 7.5354149401997175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.887117385864258,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.2168579101562,
                3549.40234375,
                370.8634948730469
            ],
            "velocity": [
                -0.3644179701805115,
                2.264002561569214,
                0.0016765594482421875
            ],
            "speed_kmh": 8.255319547514622,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01213264465332,
                "transform": {
                    "location": {
                        "x": 952.4381103515625,
                        "y": 3492.514404296875,
                        "z": 370.710693359375
                    },
                    "rotation": {
                        "roll": 0.001981995301321149,
                        "pitch": -0.21035616099834442,
                        "yaw": -81.04418182373047
                    }
                },
                "velocity": {
                    "x": 1.2712934017181396,
                    "y": -7.910579204559326,
                    "z": -0.028600167483091354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101108,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.5154418945312,
                        "y": 3448.033935546875,
                        "z": 370.5162048339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.018028259277344,
                "transform": {
                    "location": {
                        "x": 945.4096069335938,
                        "y": 3536.25341796875,
                        "z": 370.86962890625
                    },
                    "rotation": {
                        "roll": 5.336096933206136e-07,
                        "pitch": -0.1227111741900444,
                        "yaw": -80.82532501220703
                    }
                },
                "velocity": {
                    "x": 1.2784135341644287,
                    "y": -7.915436744689941,
                    "z": -0.017063122242689133
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091525077819824,
                "transform": {
                    "location": {
                        "x": 949.837158203125,
                        "y": 3488.297119140625,
                        "z": 370.70050048828125
                    },
                    "rotation": {
                        "roll": 6.670150654031204e-09,
                        "pitch": -0.20888766646385193,
                        "yaw": -80.8614730834961
                    }
                },
                "velocity": {
                    "x": 1.2851264476776123,
                    "y": -7.988762855529785,
                    "z": -0.02995769865810871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.7044067382812,
                        "y": 3430.752685546875,
                        "z": 370.4209289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.579546928405762,
                "transform": {
                    "location": {
                        "x": 950.9083251953125,
                        "y": 3459.927490234375,
                        "z": 370.5838623046875
                    },
                    "rotation": {
                        "roll": 0.00022589215950574726,
                        "pitch": 0.26092004776000977,
                        "yaw": 99.13673400878906
                    }
                },
                "velocity": {
                    "x": -1.5238598585128784,
                    "y": 9.457472801208496,
                    "z": 0.04209573566913605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.450164794921875,
                "transform": {
                    "location": {
                        "x": 947.682373046875,
                        "y": 3479.973876953125,
                        "z": 370.6646423339844
                    },
                    "rotation": {
                        "roll": -0.0005187935894355178,
                        "pitch": 0.2765953242778778,
                        "yaw": 99.15620422363281
                    }
                },
                "velocity": {
                    "x": -1.660585880279541,
                    "y": 10.317300796508789,
                    "z": 0.04133008047938347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.293144464492798,
                "transform": {
                    "location": {
                        "x": 933.2168579101562,
                        "y": 3549.40234375,
                        "z": 370.8634948730469
                    },
                    "rotation": {
                        "roll": -0.00064084556652233,
                        "pitch": 0.29417622089385986,
                        "yaw": 99.19080352783203
                    }
                },
                "velocity": {
                    "x": -0.3644179701805115,
                    "y": 2.264002561569214,
                    "z": 0.0016765594482421875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008142372593283653,
                "transform": {
                    "location": {
                        "x": 930.8201293945312,
                        "y": 3564.305908203125,
                        "z": 370.8771667480469
                    },
                    "rotation": {
                        "roll": -0.0497741661965847,
                        "pitch": -0.9502500295639038,
                        "yaw": 100.87659454345703
                    }
                },
                "velocity": {
                    "x": 0.0004190655017737299,
                    "y": -0.008110004477202892,
                    "z": 0.0005919820396229625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4235229492188,
                        "y": 3444.925537109375,
                        "z": 370.5061340332031
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.368284225463867,
                "transform": {
                    "location": {
                        "x": 944.2380981445312,
                        "y": 3501.3701171875,
                        "z": 370.7427978515625
                    },
                    "rotation": {
                        "roll": 0.0006114174029789865,
                        "pitch": 0.15216977894306183,
                        "yaw": 99.13692474365234
                    }
                },
                "velocity": {
                    "x": -1.6465562582015991,
                    "y": 10.236654281616211,
                    "z": 0.03295833617448807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.567628860473633,
                "transform": {
                    "location": {
                        "x": 940.8416748046875,
                        "y": 3522.47900390625,
                        "z": 370.8077697753906
                    },
                    "rotation": {
                        "roll": -0.0005493129137903452,
                        "pitch": 0.1881648749113083,
                        "yaw": 99.1363754272461
                    }
                },
                "velocity": {
                    "x": -1.6779253482818604,
                    "y": 10.433528900146484,
                    "z": 0.028616389259696007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.000950813293457,
                "transform": {
                    "location": {
                        "x": 942.701904296875,
                        "y": 3532.625,
                        "z": 370.8243713378906
                    },
                    "rotation": {
                        "roll": 0.0021893957164138556,
                        "pitch": -0.14111170172691345,
                        "yaw": -80.85002136230469
                    }
                },
                "velocity": {
                    "x": 1.2724616527557373,
                    "y": -7.899097919464111,
                    "z": -0.017774123698472977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5017585158348083,
        "expert_target_speed": 8.0660606103204,
        "target_point": [
            18.02455189312456,
            0.5557922549647873
        ],
        "target_point_next": [
            44.28459243994787,
            0.4924229712363051
        ]
    },
    "565": {
        "acceleration": [
            2.0078325271606445,
            -12.174701690673828,
            -0.03303106874227524
        ],
        "angular_velocity": [
            -1.9694875478744507,
            -0.42018407583236694,
            1.7927873134613037
        ],
        "forward_vector": [
            -0.16372846066951752,
            0.9864931702613831,
            -0.0049230847507715225
        ],
        "right_vector": [
            -0.9865052700042725,
            -0.16372902691364288,
            0.0002876177604775876
        ],
        "location": [
            937.4103393554688,
            3527.704345703125,
            370.8161926269531
        ],
        "rotation": [
            -0.016479484736919403,
            -0.28207314014434814,
            99.42349243164062
        ],
        "velocity": [
            -1.0526617765426636,
            6.361508846282959,
            0.015993891283869743
        ],
        "speed": 6.448014548458332,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.751367568969727,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.1130981445312,
                3550.046142578125,
                370.8662109375
            ],
            "velocity": [
                -0.4176288843154907,
                2.5945358276367188,
                0.0023298454470932484
            ],
            "speed_kmh": 9.460561280608097,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073783874511719,
                "transform": {
                    "location": {
                        "x": 952.7576904296875,
                        "y": 3490.528564453125,
                        "z": 370.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011596856638789177,
                        "pitch": -0.20734404027462006,
                        "yaw": -81.02125549316406
                    }
                },
                "velocity": {
                    "x": 1.2847504615783691,
                    "y": -7.97085428237915,
                    "z": -0.029682960361242294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.000974655151367,
                "transform": {
                    "location": {
                        "x": 945.727783203125,
                        "y": 3534.28076171875,
                        "z": 370.86541748046875
                    },
                    "rotation": {
                        "roll": 0.0001718022977001965,
                        "pitch": -0.11898872256278992,
                        "yaw": -80.83866882324219
                    }
                },
                "velocity": {
                    "x": 1.2735731601715088,
                    "y": -7.898941516876221,
                    "z": -0.018007302656769753
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06163501739502,
                "transform": {
                    "location": {
                        "x": 950.1577758789062,
                        "y": 3486.303955078125,
                        "z": 370.6928405761719
                    },
                    "rotation": {
                        "roll": -0.0002746637328527868,
                        "pitch": -0.22259585559368134,
                        "yaw": -80.86112213134766
                    }
                },
                "velocity": {
                    "x": 1.2803690433502197,
                    "y": -7.959255218505859,
                    "z": -0.02940538339316845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.31787109375,
                        "y": 3433.154541015625,
                        "z": 370.4363098144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.056275367736816,
                "transform": {
                    "location": {
                        "x": 950.5156860351562,
                        "y": 3462.365478515625,
                        "z": 370.59527587890625
                    },
                    "rotation": {
                        "roll": 0.00031047555967234075,
                        "pitch": 0.21318385004997253,
                        "yaw": 99.16908264160156
                    }
                },
                "velocity": {
                    "x": -1.599892258644104,
                    "y": 9.928092956542969,
                    "z": 0.04449688643217087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.66750717163086,
                "transform": {
                    "location": {
                        "x": 947.2821044921875,
                        "y": 3482.461181640625,
                        "z": 370.6744384765625
                    },
                    "rotation": {
                        "roll": -0.00018310837913304567,
                        "pitch": 0.14881615340709686,
                        "yaw": 99.130615234375
                    }
                },
                "velocity": {
                    "x": -1.536352515220642,
                    "y": 9.544568061828613,
                    "z": 0.03904930129647255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6279335021972656,
                "transform": {
                    "location": {
                        "x": 933.1130981445312,
                        "y": 3550.046142578125,
                        "z": 370.8662109375
                    },
                    "rotation": {
                        "roll": -0.00015258546045515686,
                        "pitch": 0.06498241424560547,
                        "yaw": 99.17798614501953
                    }
                },
                "velocity": {
                    "x": -0.4176288843154907,
                    "y": 2.5945358276367188,
                    "z": 0.0023298454470932484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005746790207922459,
                "transform": {
                    "location": {
                        "x": 930.8193359375,
                        "y": 3564.3095703125,
                        "z": 370.8749084472656
                    },
                    "rotation": {
                        "roll": -0.018981946632266045,
                        "pitch": -0.33902326226234436,
                        "yaw": 100.87564849853516
                    }
                },
                "velocity": {
                    "x": 0.0002204040647484362,
                    "y": -0.005509696435183287,
                    "z": 0.0016187237342819571
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0369262695312,
                        "y": 3447.327392578125,
                        "z": 370.51898193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.879878044128418,
                "transform": {
                    "location": {
                        "x": 943.8377685546875,
                        "y": 3503.859375,
                        "z": 370.7506103515625
                    },
                    "rotation": {
                        "roll": 0.000682953221257776,
                        "pitch": 0.10147611796855927,
                        "yaw": 99.13337707519531
                    }
                },
                "velocity": {
                    "x": -1.5684233903884888,
                    "y": 9.754541397094727,
                    "z": 0.031056813895702362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.263416290283203,
                "transform": {
                    "location": {
                        "x": 940.4292602539062,
                        "y": 3525.043701171875,
                        "z": 370.8146667480469
                    },
                    "rotation": {
                        "roll": 0.0007648245082236826,
                        "pitch": 0.17078886926174164,
                        "yaw": 99.1362075805664
                    }
                },
                "velocity": {
                    "x": -1.6296772956848145,
                    "y": 10.133174896240234,
                    "z": 0.025318173691630363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.051590919494629,
                "transform": {
                    "location": {
                        "x": 943.021240234375,
                        "y": 3530.642333984375,
                        "z": 370.8196716308594
                    },
                    "rotation": {
                        "roll": 0.0023507922887802124,
                        "pitch": -0.13622811436653137,
                        "yaw": -80.83482360839844
                    }
                },
                "velocity": {
                    "x": 1.280457615852356,
                    "y": -7.949100971221924,
                    "z": -0.01858757995069027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5644503831863403,
        "expert_target_speed": 7.1930608096837965,
        "target_point": [
            16.23769854816135,
            0.5130472461587741
        ],
        "target_point_next": [
            42.49749973910586,
            0.38425827538085144
        ]
    },
    "570": {
        "acceleration": [
            0.7466280460357666,
            -4.971637725830078,
            -0.08537463843822479
        ],
        "angular_velocity": [
            0.1453932672739029,
            0.07029987126588821,
            -0.08262069523334503
        ],
        "forward_vector": [
            -0.16683955490589142,
            0.9859473705291748,
            -0.008498447015881538
        ],
        "right_vector": [
            -0.9859836101531982,
            -0.1668415069580078,
            0.0004836129955947399
        ],
        "location": [
            937.1827392578125,
            3529.060302734375,
            370.8202209472656
        ],
        "rotation": [
            -0.02770998515188694,
            -0.4869309961795807,
            99.60446166992188
        ],
        "velocity": [
            -0.8150897026062012,
            4.7740044593811035,
            0.009141978807747364
        ],
        "speed": 4.843086805074355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.895217895507812,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.0302734375,
                3550.55810546875,
                370.8658447265625
            ],
            "velocity": [
                -0.1370100975036621,
                0.8881659507751465,
                0.0011276054428890347
            ],
            "speed_kmh": 3.235220062961869,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013847351074219,
                "transform": {
                    "location": {
                        "x": 953.0773315429688,
                        "y": 3488.543701171875,
                        "z": 370.6960144042969
                    },
                    "rotation": {
                        "roll": 0.001933557097800076,
                        "pitch": -0.2116948664188385,
                        "yaw": -81.0342025756836
                    }
                },
                "velocity": {
                    "x": 1.2717297077178955,
                    "y": -7.912241458892822,
                    "z": -0.029802750796079636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 371.1642761230469
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071505546569824,
                "transform": {
                    "location": {
                        "x": 946.0479736328125,
                        "y": 3532.2939453125,
                        "z": 370.8608093261719
                    },
                    "rotation": {
                        "roll": 0.0007177921361289918,
                        "pitch": -0.1345478892326355,
                        "yaw": -80.84696197509766
                    }
                },
                "velocity": {
                    "x": 1.283929705619812,
                    "y": -7.968713760375977,
                    "z": -0.01841854117810726
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092260360717773,
                "transform": {
                    "location": {
                        "x": 950.4785766601562,
                        "y": 3484.310302734375,
                        "z": 370.6851501464844
                    },
                    "rotation": {
                        "roll": -0.0006713917246088386,
                        "pitch": -0.23239034414291382,
                        "yaw": -80.85928344726562
                    }
                },
                "velocity": {
                    "x": 1.2856398820877075,
                    "y": -7.989421367645264,
                    "z": -0.031015552580356598
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9313354492188,
                        "y": 3435.55615234375,
                        "z": 370.4512939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.231401443481445,
                "transform": {
                    "location": {
                        "x": 950.130859375,
                        "y": 3464.754638671875,
                        "z": 370.60491943359375
                    },
                    "rotation": {
                        "roll": 0.00012990878894925117,
                        "pitch": 0.30191484093666077,
                        "yaw": 99.12779235839844
                    }
                },
                "velocity": {
                    "x": -1.4653156995773315,
                    "y": 9.114276885986328,
                    "z": 0.03968518227338791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.493293762207031,
                "transform": {
                    "location": {
                        "x": 946.9069213867188,
                        "y": 3484.79150390625,
                        "z": 370.6838684082031
                    },
                    "rotation": {
                        "roll": -0.0008239761227741838,
                        "pitch": 0.18985192477703094,
                        "yaw": 99.15633392333984
                    }
                },
                "velocity": {
                    "x": -1.5092623233795166,
                    "y": 9.372480392456055,
                    "z": 0.03698941320180893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8986722230911255,
                "transform": {
                    "location": {
                        "x": 933.0302734375,
                        "y": 3550.55810546875,
                        "z": 370.8658447265625
                    },
                    "rotation": {
                        "roll": -0.0010986453853547573,
                        "pitch": 0.18209967017173767,
                        "yaw": 99.10687255859375
                    }
                },
                "velocity": {
                    "x": -0.1370100975036621,
                    "y": 0.8881659507751465,
                    "z": 0.0011276054428890347
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0025784943718463182,
                "transform": {
                    "location": {
                        "x": 930.819091796875,
                        "y": 3564.311279296875,
                        "z": 370.87396240234375
                    },
                    "rotation": {
                        "roll": -0.005310059525072575,
                        "pitch": -0.07498864084482193,
                        "yaw": 100.87537384033203
                    }
                },
                "velocity": {
                    "x": 0.0002765074314083904,
                    "y": -0.0019002842018380761,
                    "z": 0.0017207835335284472
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6505126953125,
                        "y": 3449.729248046875,
                        "z": 370.53179931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.994961738586426,
                "transform": {
                    "location": {
                        "x": 943.4467163085938,
                        "y": 3506.291748046875,
                        "z": 370.75787353515625
                    },
                    "rotation": {
                        "roll": 0.00016084361413959414,
                        "pitch": 0.16525641083717346,
                        "yaw": 99.13298797607422
                    }
                },
                "velocity": {
                    "x": -1.5864591598510742,
                    "y": 9.868208885192871,
                    "z": 0.02950780838727951
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.140867233276367,
                "transform": {
                    "location": {
                        "x": 940.0234985351562,
                        "y": 3527.56640625,
                        "z": 370.8210754394531
                    },
                    "rotation": {
                        "roll": 0.0006573747959919274,
                        "pitch": 0.15878823399543762,
                        "yaw": 99.13851165771484
                    }
                },
                "velocity": {
                    "x": -1.6124968528747559,
                    "y": 10.011811256408691,
                    "z": 0.0258423313498497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020708084106445,
                "transform": {
                    "location": {
                        "x": 943.3407592773438,
                        "y": 3528.65869140625,
                        "z": 370.81475830078125
                    },
                    "rotation": {
                        "roll": 0.000657547963783145,
                        "pitch": -0.1488024890422821,
                        "yaw": -80.8669662475586
                    }
                },
                "velocity": {
                    "x": 1.2750420570373535,
                    "y": -7.9186859130859375,
                    "z": -0.02101374976336956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5187832713127136,
        "expert_target_speed": 5.792054899279185,
        "target_point": [
            14.864313007355747,
            0.4635934840420646
        ],
        "target_point_next": [
            41.1235765703828,
            0.2518806728933125
        ]
    },
    "575": {
        "acceleration": [
            0.5988907814025879,
            -3.6614561080932617,
            -0.009309202432632446
        ],
        "angular_velocity": [
            0.5580407381057739,
            0.01791345700621605,
            0.43406006693840027
        ],
        "forward_vector": [
            -0.16872632503509521,
            0.9856345057487488,
            -0.007486153859645128
        ],
        "right_vector": [
            -0.9856625199317932,
            -0.16872818768024445,
            0.00038614770164713264
        ],
        "location": [
            937.005859375,
            3530.084716796875,
            370.82244873046875
        ],
        "rotation": [
            -0.022125253453850746,
            -0.42892903089523315,
            99.71405029296875
        ],
        "velocity": [
            -0.6281551122665405,
            3.594783306121826,
            0.009340734221041203
        ],
        "speed": 3.6492527814661946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.983606338500977,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.0101318359375,
                3550.684326171875,
                370.86676025390625
            ],
            "velocity": [
                -0.1609228253364563,
                1.0000841617584229,
                0.0019135188776999712
            ],
            "speed_kmh": 3.646620791414948,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073125839233398,
                "transform": {
                    "location": {
                        "x": 953.3966674804688,
                        "y": 3486.55810546875,
                        "z": 370.6883544921875
                    },
                    "rotation": {
                        "roll": 0.0005445716669782996,
                        "pitch": -0.22497275471687317,
                        "yaw": -81.02669525146484
                    }
                },
                "velocity": {
                    "x": 1.283264398574829,
                    "y": -7.9704270362854,
                    "z": -0.029772676527500153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5439598560333252,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.7960510253906
                    },
                    "rotation": {
                        "roll": 0.0001415230508428067,
                        "pitch": -0.052435360848903656,
                        "yaw": -80.85746765136719
                    }
                },
                "velocity": {
                    "x": -2.298478466400411e-05,
                    "y": 0.0005024262936785817,
                    "z": -0.5439596176147461
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99153470993042,
                "transform": {
                    "location": {
                        "x": 946.366943359375,
                        "y": 3530.312744140625,
                        "z": 370.8560791015625
                    },
                    "rotation": {
                        "roll": 0.00048367102863267064,
                        "pitch": -0.14837902784347534,
                        "yaw": -80.85567474365234
                    }
                },
                "velocity": {
                    "x": 1.2684277296066284,
                    "y": -7.890202522277832,
                    "z": -0.020504150539636612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061934471130371,
                "transform": {
                    "location": {
                        "x": 950.7993774414062,
                        "y": 3482.31689453125,
                        "z": 370.6770935058594
                    },
                    "rotation": {
                        "roll": -0.0005188050563447177,
                        "pitch": -0.23017053306102753,
                        "yaw": -80.85724639892578
                    }
                },
                "velocity": {
                    "x": 1.2817867994308472,
                    "y": -7.959315776824951,
                    "z": -0.033094022423028946
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5447998046875,
                        "y": 3437.9580078125,
                        "z": 370.4658508300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.968541145324707,
                "transform": {
                    "location": {
                        "x": 949.7745361328125,
                        "y": 3466.970458984375,
                        "z": 370.61456298828125
                    },
                    "rotation": {
                        "roll": -0.00018310979066882282,
                        "pitch": 0.270113468170166,
                        "yaw": 99.15789794921875
                    }
                },
                "velocity": {
                    "x": -1.426536202430725,
                    "y": 8.85428237915039,
                    "z": 0.03753827139735222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.294039726257324,
                "transform": {
                    "location": {
                        "x": 946.5123901367188,
                        "y": 3487.24169921875,
                        "z": 370.6935729980469
                    },
                    "rotation": {
                        "roll": -0.0005493309581652284,
                        "pitch": 0.3037385046482086,
                        "yaw": 99.14017486572266
                    }
                },
                "velocity": {
                    "x": -1.636975646018982,
                    "y": 10.162976264953613,
                    "z": 0.03843899816274643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0129503011703491,
                "transform": {
                    "location": {
                        "x": 933.0101318359375,
                        "y": 3550.684326171875,
                        "z": 370.86676025390625
                    },
                    "rotation": {
                        "roll": 0.00041404744843021035,
                        "pitch": 0.09748728573322296,
                        "yaw": 99.12419128417969
                    }
                },
                "velocity": {
                    "x": -0.1609228253364563,
                    "y": 1.0000841617584229,
                    "z": 0.0019135188776999712
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008840576047077775,
                "transform": {
                    "location": {
                        "x": 930.8190307617188,
                        "y": 3564.31201171875,
                        "z": 370.8736877441406
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.0032989811152219772,
                        "yaw": 100.87532043457031
                    }
                },
                "velocity": {
                    "x": 0.0001191724804812111,
                    "y": -0.0007339529693126678,
                    "z": 0.0004781932511832565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2639770507812,
                        "y": 3452.131103515625,
                        "z": 370.5438537597656
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.022173881530762,
                "transform": {
                    "location": {
                        "x": 943.041748046875,
                        "y": 3508.80908203125,
                        "z": 370.7652893066406
                    },
                    "rotation": {
                        "roll": -0.0003356878587510437,
                        "pitch": 0.1666087955236435,
                        "yaw": 99.13944244384766
                    }
                },
                "velocity": {
                    "x": -1.5917810201644897,
                    "y": 9.894914627075195,
                    "z": 0.029431352391839027
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.69078254699707,
                "transform": {
                    "location": {
                        "x": 939.630126953125,
                        "y": 3530.009521484375,
                        "z": 370.8270568847656
                    },
                    "rotation": {
                        "roll": 0.0010982116218656301,
                        "pitch": 0.1783703863620758,
                        "yaw": 99.14729309082031
                    }
                },
                "velocity": {
                    "x": -1.5423513650894165,
                    "y": 9.567224502563477,
                    "z": 0.02535129524767399
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025856018066406,
                "transform": {
                    "location": {
                        "x": 943.6593017578125,
                        "y": 3526.6796875,
                        "z": 370.80963134765625
                    },
                    "rotation": {
                        "roll": 0.0008301374618895352,
                        "pitch": -0.14657585322856903,
                        "yaw": -80.84245300292969
                    }
                },
                "velocity": {
                    "x": 1.275352120399475,
                    "y": -7.923848628997803,
                    "z": -0.021538829430937767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5234829783439636,
        "expert_target_speed": 4.6761127846878505,
        "target_point": [
            13.82560141907298,
            0.4336628753521654
        ],
        "target_point_next": [
            40.08441190844644,
            0.17171465509627737
        ]
    },
    "580": {
        "acceleration": [
            0.14876246452331543,
            -0.9645795822143555,
            -0.015693670138716698
        ],
        "angular_velocity": [
            0.9480401277542114,
            0.11963564157485962,
            0.39263489842414856
        ],
        "forward_vector": [
            -0.17054474353790283,
            0.9853408932685852,
            -0.00421367771923542
        ],
        "right_vector": [
            -0.9853497743606567,
            -0.17054544389247894,
            0.00019813723338302225
        ],
        "location": [
            936.8631591796875,
            3530.8994140625,
            370.82379150390625
        ],
        "rotation": [
            -0.011352527886629105,
            -0.24142667651176453,
            99.819580078125
        ],
        "velocity": [
            -0.5406699776649475,
            3.0608322620391846,
            0.007565717678517103
        ],
        "speed": 3.108217843248463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.51601791381836,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.9529418945312,
                3551.039306640625,
                370.86810302734375
            ],
            "velocity": [
                -0.29219114780426025,
                1.8208832740783691,
                0.0017910957103595138
            ],
            "speed_kmh": 6.639043022466264,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3606364727020264,
                "transform": {
                    "location": {
                        "x": 939.9035034179688,
                        "y": 3569.84521484375,
                        "z": 370.96429443359375
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 3.514679701765999e-05,
                    "y": -7.645227742614225e-05,
                    "z": -2.3606364727020264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013769149780273,
                "transform": {
                    "location": {
                        "x": 953.7163696289062,
                        "y": 3484.5732421875,
                        "z": 370.6805419921875
                    },
                    "rotation": {
                        "roll": 0.0015235847095027566,
                        "pitch": -0.23053252696990967,
                        "yaw": -81.0266342163086
                    }
                },
                "velocity": {
                    "x": 1.2722944021224976,
                    "y": -7.912062168121338,
                    "z": -0.03221837431192398
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.405561238527298,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.82647705078125
                    },
                    "rotation": {
                        "roll": 1.4612542145187035e-05,
                        "pitch": -0.05240120738744736,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 7.299137359950691e-05,
                    "y": -0.0003695665509440005,
                    "z": 0.40556105971336365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053447723388672,
                "transform": {
                    "location": {
                        "x": 946.6853637695312,
                        "y": 3528.3330078125,
                        "z": 370.8509216308594
                    },
                    "rotation": {
                        "roll": 0.0007792908581905067,
                        "pitch": -0.14193814992904663,
                        "yaw": -80.86309051513672
                    }
                },
                "velocity": {
                    "x": 1.2789498567581177,
                    "y": -7.951219081878662,
                    "z": -0.020455675199627876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091459274291992,
                "transform": {
                    "location": {
                        "x": 951.1203002929688,
                        "y": 3480.3232421875,
                        "z": 370.66888427734375
                    },
                    "rotation": {
                        "roll": -0.00033568241633474827,
                        "pitch": -0.2285449504852295,
                        "yaw": -80.85536193847656
                    }
                },
                "velocity": {
                    "x": 1.2859134674072266,
                    "y": -7.988555908203125,
                    "z": -0.03337732329964638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2799682617188,
                        "y": 3439.60302734375,
                        "z": 370.4757080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.657600402832031,
                "transform": {
                    "location": {
                        "x": 949.405029296875,
                        "y": 3469.264404296875,
                        "z": 370.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0004577650688588619,
                        "pitch": 0.18360912799835205,
                        "yaw": 99.13123321533203
                    }
                },
                "velocity": {
                    "x": -1.5349823236465454,
                    "y": 9.53475570678711,
                    "z": 0.03888864442706108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.526190757751465,
                "transform": {
                    "location": {
                        "x": 946.1170043945312,
                        "y": 3489.697021484375,
                        "z": 370.7025451660156
                    },
                    "rotation": {
                        "roll": 0.0004030356649309397,
                        "pitch": 0.13900800049304962,
                        "yaw": 99.15740203857422
                    }
                },
                "velocity": {
                    "x": -1.5143135786056519,
                    "y": 9.404998779296875,
                    "z": 0.03409002348780632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.844178557395935,
                "transform": {
                    "location": {
                        "x": 932.9529418945312,
                        "y": 3551.039306640625,
                        "z": 370.86810302734375
                    },
                    "rotation": {
                        "roll": -0.0006408687913790345,
                        "pitch": -0.010894151404500008,
                        "yaw": 99.12413024902344
                    }
                },
                "velocity": {
                    "x": -0.29219114780426025,
                    "y": 1.8208832740783691,
                    "z": 0.0017910957103595138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001036674017086625,
                "transform": {
                    "location": {
                        "x": 930.8189697265625,
                        "y": 3564.3125,
                        "z": 370.87359619140625
                    },
                    "rotation": {
                        "roll": 0.0011397863272577524,
                        "pitch": 0.03361135721206665,
                        "yaw": 100.87532806396484
                    }
                },
                "velocity": {
                    "x": 2.8107117032050155e-05,
                    "y": -0.00031733731157146394,
                    "z": 0.0009865090250968933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8668823242188,
                        "y": 3454.5986328125,
                        "z": 370.55615234375
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.003384590148926,
                "transform": {
                    "location": {
                        "x": 942.6653442382812,
                        "y": 3511.1494140625,
                        "z": 370.7718811035156
                    },
                    "rotation": {
                        "roll": 0.000292442535283044,
                        "pitch": 0.039929281920194626,
                        "yaw": 99.13350677490234
                    }
                },
                "velocity": {
                    "x": -1.4294487237930298,
                    "y": 8.889150619506836,
                    "z": 0.02468513511121273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.95461654663086,
                "transform": {
                    "location": {
                        "x": 939.2571411132812,
                        "y": 3532.326171875,
                        "z": 370.83245849609375
                    },
                    "rotation": {
                        "roll": -9.15544296731241e-05,
                        "pitch": 0.19881996512413025,
                        "yaw": 99.14492797851562
                    }
                },
                "velocity": {
                    "x": -1.4231030941009521,
                    "y": 8.840787887573242,
                    "z": 0.02011924609541893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03620719909668,
                "transform": {
                    "location": {
                        "x": 943.978515625,
                        "y": 3524.696533203125,
                        "z": 370.8045349121094
                    },
                    "rotation": {
                        "roll": 0.0006112170522101223,
                        "pitch": -0.14163079857826233,
                        "yaw": -80.87156677246094
                    }
                },
                "velocity": {
                    "x": 1.275815725326538,
                    "y": -7.934258460998535,
                    "z": -0.02135109342634678
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5179055333137512,
        "expert_target_speed": 4.161211898164388,
        "target_point": [
            12.999278015655939,
            0.40653230499251114
        ],
        "target_point_next": [
            39.25756151626939,
            0.09622151185747008
        ]
    },
    "585": {
        "acceleration": [
            -0.18797993659973145,
            0.8368492126464844,
            -0.010557370260357857
        ],
        "angular_velocity": [
            0.856338381767273,
            0.1729964017868042,
            0.5090364217758179
        ],
        "forward_vector": [
            -0.17242440581321716,
            0.9850227236747742,
            -2.7775762646342628e-05
        ],
        "right_vector": [
            -0.9850227236747742,
            -0.17242440581321716,
            0.00019014968711417168
        ],
        "location": [
            936.727294921875,
            3531.66552734375,
            370.82476806640625
        ],
        "rotation": [
            -0.010894774459302425,
            -0.0015914340037852526,
            99.9288101196289
        ],
        "velocity": [
            -0.558376669883728,
            3.1134250164031982,
            0.005837869364768267
        ],
        "speed": 3.163099719932285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.26027488708496,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.8699951171875,
                3551.55517578125,
                370.86834716796875
            ],
            "velocity": [
                -0.31346243619918823,
                1.944082260131836,
                0.0023418329656124115
            ],
            "speed_kmh": 7.089093836559469,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09515739232301712,
                "transform": {
                    "location": {
                        "x": 939.9035034179688,
                        "y": 3569.84521484375,
                        "z": 370.82073974609375
                    },
                    "rotation": {
                        "roll": -3.0515748221660033e-05,
                        "pitch": -0.052551474422216415,
                        "yaw": -80.85777282714844
                    }
                },
                "velocity": {
                    "x": 5.0857033784268424e-05,
                    "y": -9.479047730565071e-05,
                    "z": 0.09515733271837234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0734281539917,
                "transform": {
                    "location": {
                        "x": 954.0357666015625,
                        "y": 3482.58740234375,
                        "z": 370.6724853515625
                    },
                    "rotation": {
                        "roll": 0.0004843869246542454,
                        "pitch": -0.2276911735534668,
                        "yaw": -81.02973937988281
                    }
                },
                "velocity": {
                    "x": 1.282187581062317,
                    "y": -7.970894813537598,
                    "z": -0.03280746564269066
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.656374454498291,
                "transform": {
                    "location": {
                        "x": 936.7069091796875,
                        "y": 3569.26025390625,
                        "z": 370.8963623046875
                    },
                    "rotation": {
                        "roll": -0.005462649278342724,
                        "pitch": 0.05683400109410286,
                        "yaw": -80.86016082763672
                    }
                },
                "velocity": {
                    "x": 0.11151424795389175,
                    "y": -0.6362096071243286,
                    "z": 0.11674480140209198
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013771057128906,
                "transform": {
                    "location": {
                        "x": 947.0045166015625,
                        "y": 3526.348876953125,
                        "z": 370.84588623046875
                    },
                    "rotation": {
                        "roll": -0.000396725838072598,
                        "pitch": -0.14395305514335632,
                        "yaw": -80.86154174804688
                    }
                },
                "velocity": {
                    "x": 1.2741767168045044,
                    "y": -7.911799907684326,
                    "z": -0.020662907510995865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062505722045898,
                "transform": {
                    "location": {
                        "x": 951.4411010742188,
                        "y": 3478.329833984375,
                        "z": 370.6607360839844
                    },
                    "rotation": {
                        "roll": -0.0013427837984636426,
                        "pitch": -0.23592838644981384,
                        "yaw": -80.85685729980469
                    }
                },
                "velocity": {
                    "x": 1.2823983430862427,
                    "y": -7.959795951843262,
                    "z": -0.03315349668264389
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8934326171875,
                        "y": 3442.0048828125,
                        "z": 370.48944091796875
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.447347640991211,
                "transform": {
                    "location": {
                        "x": 949.0209350585938,
                        "y": 3471.653076171875,
                        "z": 370.6343994140625
                    },
                    "rotation": {
                        "roll": -0.00021361876861192286,
                        "pitch": 0.24349622428417206,
                        "yaw": 99.15587615966797
                    }
                },
                "velocity": {
                    "x": -1.500505805015564,
                    "y": 9.327338218688965,
                    "z": 0.04031095281243324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.83161735534668,
                "transform": {
                    "location": {
                        "x": 945.7367553710938,
                        "y": 3492.059326171875,
                        "z": 370.7112731933594
                    },
                    "rotation": {
                        "roll": -0.001586924190632999,
                        "pitch": 0.22733600437641144,
                        "yaw": 99.13573455810547
                    }
                },
                "velocity": {
                    "x": -1.562746286392212,
                    "y": 9.706562042236328,
                    "z": 0.034300051629543304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9691927433013916,
                "transform": {
                    "location": {
                        "x": 932.8699951171875,
                        "y": 3551.55517578125,
                        "z": 370.86834716796875
                    },
                    "rotation": {
                        "roll": 0.00040064501808956265,
                        "pitch": 0.03655517101287842,
                        "yaw": 99.12850189208984
                    }
                },
                "velocity": {
                    "x": -0.31346243619918823,
                    "y": 1.944082260131836,
                    "z": 0.0023418329656124115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003283715923316777,
                "transform": {
                    "location": {
                        "x": 930.8189697265625,
                        "y": 3564.3125,
                        "z": 370.87353515625
                    },
                    "rotation": {
                        "roll": 0.0015633766306564212,
                        "pitch": 0.04324192553758621,
                        "yaw": 100.87531280517578
                    }
                },
                "velocity": {
                    "x": -4.4459251512307674e-05,
                    "y": -0.00015600975893903524,
                    "z": 0.0002855034836102277
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.4802856445312,
                        "y": 3457.00048828125,
                        "z": 370.56744384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.41971206665039,
                "transform": {
                    "location": {
                        "x": 942.3242797851562,
                        "y": 3513.27001953125,
                        "z": 370.77783203125
                    },
                    "rotation": {
                        "roll": 0.0005820387159474194,
                        "pitch": 0.05682717263698578,
                        "yaw": 99.13529205322266
                    }
                },
                "velocity": {
                    "x": -1.3370051383972168,
                    "y": 8.312844276428223,
                    "z": 0.024321116507053375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.903103828430176,
                "transform": {
                    "location": {
                        "x": 938.9325561523438,
                        "y": 3534.342529296875,
                        "z": 370.83599853515625
                    },
                    "rotation": {
                        "roll": -0.0006713951006531715,
                        "pitch": 0.2948865592479706,
                        "yaw": 99.1351089477539
                    }
                },
                "velocity": {
                    "x": -1.097117304801941,
                    "y": 6.815349578857422,
                    "z": 0.01369229331612587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023494720458984,
                "transform": {
                    "location": {
                        "x": 944.2973022460938,
                        "y": 3522.71484375,
                        "z": 370.7992858886719
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.15631569921970367,
                        "yaw": -80.84284973144531
                    }
                },
                "velocity": {
                    "x": 1.2765172719955444,
                    "y": -7.921269416809082,
                    "z": -0.0215314868837595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49829116463661194,
        "expert_target_speed": 4.210407204272567,
        "target_point": [
            12.221964077074674,
            0.38001701045170844
        ],
        "target_point_next": [
            38.47960828734147,
            0.0196481522416061
        ]
    },
    "590": {
        "acceleration": [
            -0.32144784927368164,
            1.6095256805419922,
            -0.006693648174405098
        ],
        "angular_velocity": [
            0.5326414108276367,
            0.1192145124077797,
            0.5557185411453247
        ],
        "forward_vector": [
            -0.17471100389957428,
            0.9846150279045105,
            0.0030542565509676933
        ],
        "right_vector": [
            -0.9846194982528687,
            -0.1747124046087265,
            0.00019494247680995613
        ],
        "location": [
            936.5796508789062,
            3532.48583984375,
            370.825927734375
        ],
        "rotation": [
            -0.011169432662427425,
            0.1749962717294693,
            100.0618896484375
        ],
        "velocity": [
            -0.6277576684951782,
            3.4560320377349854,
            0.0058359429240226746
        ],
        "speed": 3.5125826874545085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.87814712524414,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.79833984375,
                3552.0009765625,
                370.8686218261719
            ],
            "velocity": [
                -0.30233845114707947,
                1.876282811164856,
                0.002119951182976365
            ],
            "speed_kmh": 6.841752616133688,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9359956383705139,
                "transform": {
                    "location": {
                        "x": 939.9154663085938,
                        "y": 3569.7763671875,
                        "z": 370.85345458984375
                    },
                    "rotation": {
                        "roll": -0.011505115777254105,
                        "pitch": 0.16845294833183289,
                        "yaw": -80.84126281738281
                    }
                },
                "velocity": {
                    "x": 0.16078098118305206,
                    "y": -0.9158666729927063,
                    "z": 0.10689044743776321
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013688087463379,
                "transform": {
                    "location": {
                        "x": 954.355224609375,
                        "y": 3480.6025390625,
                        "z": 370.66448974609375
                    },
                    "rotation": {
                        "roll": -0.00033569580409675837,
                        "pitch": -0.22997929155826569,
                        "yaw": -81.0322036743164
                    }
                },
                "velocity": {
                    "x": 1.274381160736084,
                    "y": -7.91163969039917,
                    "z": -0.03319075331091881
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1176899671554565,
                "transform": {
                    "location": {
                        "x": 936.743408203125,
                        "y": 3569.05078125,
                        "z": 370.8951416015625
                    },
                    "rotation": {
                        "roll": -0.005493164528161287,
                        "pitch": 0.07754313200712204,
                        "yaw": -80.77235412597656
                    }
                },
                "velocity": {
                    "x": 0.1938190460205078,
                    "y": -1.0989699363708496,
                    "z": -0.06268949061632156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041555404663086,
                "transform": {
                    "location": {
                        "x": 947.3232421875,
                        "y": 3524.36865234375,
                        "z": 370.8407287597656
                    },
                    "rotation": {
                        "roll": 0.0006351430201902986,
                        "pitch": -0.14859075844287872,
                        "yaw": -80.85602569580078
                    }
                },
                "velocity": {
                    "x": 1.2779629230499268,
                    "y": -7.939329624176025,
                    "z": -0.021731562912464142
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092244148254395,
                "transform": {
                    "location": {
                        "x": 951.7620239257812,
                        "y": 3476.336181640625,
                        "z": 370.65240478515625
                    },
                    "rotation": {
                        "roll": 5.588264684774913e-05,
                        "pitch": -0.2412969172000885,
                        "yaw": -80.85529327392578
                    }
                },
                "velocity": {
                    "x": 1.2850981950759888,
                    "y": -7.989482879638672,
                    "z": -0.0332341194152832
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.507080078125,
                        "y": 3444.40673828125,
                        "z": 370.5032653808594
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.511435508728027,
                "transform": {
                    "location": {
                        "x": 948.6486206054688,
                        "y": 3473.966552734375,
                        "z": 370.6441955566406
                    },
                    "rotation": {
                        "roll": 0.0003099224413745105,
                        "pitch": 0.23552539944648743,
                        "yaw": 99.1218490600586
                    }
                },
                "velocity": {
                    "x": -1.510481357574463,
                    "y": 9.390644073486328,
                    "z": 0.040575217455625534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.876203536987305,
                "transform": {
                    "location": {
                        "x": 945.3365478515625,
                        "y": 3494.544921875,
                        "z": 370.7201232910156
                    },
                    "rotation": {
                        "roll": -0.0006713772309012711,
                        "pitch": 0.20612826943397522,
                        "yaw": 99.16000366210938
                    }
                },
                "velocity": {
                    "x": -1.5697685480117798,
                    "y": 9.750588417053223,
                    "z": 0.03521869704127312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9004868268966675,
                "transform": {
                    "location": {
                        "x": 932.79833984375,
                        "y": 3552.0009765625,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.0002950657217297703,
                        "pitch": 0.07116373628377914,
                        "yaw": 99.12935638427734
                    }
                },
                "velocity": {
                    "x": -0.30233845114707947,
                    "y": 1.876282811164856,
                    "z": 0.002119951182976365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.07717906683683395,
                "transform": {
                    "location": {
                        "x": 930.818115234375,
                        "y": 3564.317138671875,
                        "z": 370.87347412109375
                    },
                    "rotation": {
                        "roll": 0.002996854018419981,
                        "pitch": 0.06426524370908737,
                        "yaw": 100.87429809570312
                    }
                },
                "velocity": {
                    "x": -0.013327864930033684,
                    "y": 0.0760134905576706,
                    "z": 0.0009620857308618724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0938720703125,
                        "y": 3459.40234375,
                        "z": 370.57861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.165678024291992,
                "transform": {
                    "location": {
                        "x": 941.9771728515625,
                        "y": 3515.427001953125,
                        "z": 370.7840576171875
                    },
                    "rotation": {
                        "roll": -0.00021362512779887766,
                        "pitch": 0.22344279289245605,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": -1.456164002418518,
                    "y": 9.049230575561523,
                    "z": 0.025703372433781624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.201886177062988,
                "transform": {
                    "location": {
                        "x": 938.6803588867188,
                        "y": 3535.91064453125,
                        "z": 370.83984375
                    },
                    "rotation": {
                        "roll": -0.0005493070930242538,
                        "pitch": 0.2142493575811386,
                        "yaw": 99.17987060546875
                    }
                },
                "velocity": {
                    "x": -0.9870850443840027,
                    "y": 6.122816562652588,
                    "z": 0.01317286491394043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031035423278809,
                "transform": {
                    "location": {
                        "x": 944.616455078125,
                        "y": 3520.733642578125,
                        "z": 370.7938537597656
                    },
                    "rotation": {
                        "roll": -3.052252213819884e-05,
                        "pitch": -0.1583852469921112,
                        "yaw": -80.86324310302734
                    }
                },
                "velocity": {
                    "x": 1.2772324085235596,
                    "y": -7.928792476654053,
                    "z": -0.0213345717638731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49046963453292847,
        "expert_target_speed": 4.535008079982931,
        "target_point": [
            11.38932291294956,
            0.3495706750852192
        ],
        "target_point_next": [
            37.64605917668891,
            -0.0717913585153509
        ]
    },
    "595": {
        "acceleration": [
            -0.4095125198364258,
            1.9599485397338867,
            0.008514784276485443
        ],
        "angular_velocity": [
            0.27995407581329346,
            0.05101802945137024,
            0.6305506229400635
        ],
        "forward_vector": [
            -0.17726776003837585,
            0.9841509461402893,
            0.004798989277333021
        ],
        "right_vector": [
            -0.9841620922088623,
            -0.17727085947990417,
            0.00022530090063810349
        ],
        "location": [
            936.4110107421875,
            3533.41064453125,
            370.8275451660156
        ],
        "rotation": [
            -0.012908939272165298,
            0.2749629020690918,
            100.21077728271484
        ],
        "velocity": [
            -0.7230367064476013,
            3.922483205795288,
            0.008261041715741158
        ],
        "speed": 3.9885657295093777,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.460878372192383,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.7152709960938,
                3552.517333984375,
                370.8692932128906
            ],
            "velocity": [
                -0.3123791515827179,
                1.9440064430236816,
                0.0019435405265539885
            ],
            "speed_kmh": 7.08820305058012,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.848856806755066,
                "transform": {
                    "location": {
                        "x": 939.9789428710938,
                        "y": 3569.411865234375,
                        "z": 370.8690185546875
                    },
                    "rotation": {
                        "roll": -0.016052257269620895,
                        "pitch": 0.3334566354751587,
                        "yaw": -80.72087097167969
                    }
                },
                "velocity": {
                    "x": 0.32073095440864563,
                    "y": -1.8205187320709229,
                    "z": 0.03338894620537758
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073501586914062,
                "transform": {
                    "location": {
                        "x": 954.6749877929688,
                        "y": 3478.61669921875,
                        "z": 370.6562805175781
                    },
                    "rotation": {
                        "roll": 0.0027467196341603994,
                        "pitch": -0.23624257743358612,
                        "yaw": -81.02210235595703
                    }
                },
                "velocity": {
                    "x": 1.2821601629257202,
                    "y": -7.970971584320068,
                    "z": -0.033367741852998734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2997665405273438,
                "transform": {
                    "location": {
                        "x": 936.816162109375,
                        "y": 3568.630126953125,
                        "z": 370.88177490234375
                    },
                    "rotation": {
                        "roll": -0.010528557933866978,
                        "pitch": 0.18518690764904022,
                        "yaw": -80.58019256591797
                    }
                },
                "velocity": {
                    "x": 0.4013547897338867,
                    "y": -2.2643208503723145,
                    "z": -0.02628497965633869
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014894485473633,
                "transform": {
                    "location": {
                        "x": 947.6421508789062,
                        "y": 3522.38671875,
                        "z": 370.83544921875
                    },
                    "rotation": {
                        "roll": -0.0005798345082439482,
                        "pitch": -0.1580505669116974,
                        "yaw": -80.85877990722656
                    }
                },
                "velocity": {
                    "x": 1.2732491493225098,
                    "y": -7.913084506988525,
                    "z": -0.021767044439911842
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0621337890625,
                "transform": {
                    "location": {
                        "x": 952.082763671875,
                        "y": 3474.3427734375,
                        "z": 370.6440124511719
                    },
                    "rotation": {
                        "roll": -0.00039672807906754315,
                        "pitch": -0.24038849771022797,
                        "yaw": -80.8575210571289
                    }
                },
                "velocity": {
                    "x": 1.280988097190857,
                    "y": -7.959645748138428,
                    "z": -0.0333934985101223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1205444335938,
                        "y": 3446.80859375,
                        "z": 370.5162353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.478007316589355,
                "transform": {
                    "location": {
                        "x": 948.2653198242188,
                        "y": 3476.350341796875,
                        "z": 370.65423583984375
                    },
                    "rotation": {
                        "roll": 0.00012329130549915135,
                        "pitch": 0.23718513548374176,
                        "yaw": 99.15550994873047
                    }
                },
                "velocity": {
                    "x": -1.5053424835205078,
                    "y": 9.357613563537598,
                    "z": 0.04038176313042641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.186969757080078,
                "transform": {
                    "location": {
                        "x": 944.964111328125,
                        "y": 3496.859375,
                        "z": 370.7279968261719
                    },
                    "rotation": {
                        "roll": 0.00033869859180413187,
                        "pitch": 0.1088663786649704,
                        "yaw": 99.12890625
                    }
                },
                "velocity": {
                    "x": -1.459849238395691,
                    "y": 9.070194244384766,
                    "z": 0.02874661423265934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9689452648162842,
                "transform": {
                    "location": {
                        "x": 932.7152709960938,
                        "y": 3552.517333984375,
                        "z": 370.8692932128906
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.058104414492845535,
                        "yaw": 99.12966918945312
                    }
                },
                "velocity": {
                    "x": -0.3123791515827179,
                    "y": 1.9440064430236816,
                    "z": 0.0019435405265539885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7017436623573303,
                "transform": {
                    "location": {
                        "x": 930.8049926757812,
                        "y": 3564.390869140625,
                        "z": 370.87298583984375
                    },
                    "rotation": {
                        "roll": 0.010469070635735989,
                        "pitch": 0.21262377500534058,
                        "yaw": 100.81787872314453
                    }
                },
                "velocity": {
                    "x": -0.12020877748727798,
                    "y": 0.6913694739341736,
                    "z": 0.001485271379351616
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7072143554688,
                        "y": 3461.803955078125,
                        "z": 370.5891418457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.298555374145508,
                "transform": {
                    "location": {
                        "x": 941.5889892578125,
                        "y": 3517.838623046875,
                        "z": 370.7908630371094
                    },
                    "rotation": {
                        "roll": -0.0005188219947740436,
                        "pitch": 0.3146872818470001,
                        "yaw": 99.15397644042969
                    }
                },
                "velocity": {
                    "x": -1.6379362344741821,
                    "y": 10.167430877685547,
                    "z": 0.027396688237786293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.704673767089844,
                "transform": {
                    "location": {
                        "x": 938.4259033203125,
                        "y": 3537.48876953125,
                        "z": 370.84417724609375
                    },
                    "rotation": {
                        "roll": -0.0003357001696713269,
                        "pitch": 0.08770645409822464,
                        "yaw": 99.13382720947266
                    }
                },
                "velocity": {
                    "x": -1.0653314590454102,
                    "y": 6.619481563568115,
                    "z": 0.013722343370318413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029281616210938,
                "transform": {
                    "location": {
                        "x": 944.9356689453125,
                        "y": 3518.75146484375,
                        "z": 370.7883605957031
                    },
                    "rotation": {
                        "roll": -6.103837949922308e-05,
                        "pitch": -0.15765441954135895,
                        "yaw": -80.83583068847656
                    }
                },
                "velocity": {
                    "x": 1.276836633682251,
                    "y": -7.927079677581787,
                    "z": -0.021407509222626686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44715604186058044,
        "expert_target_speed": 4.973052920216717,
        "target_point": [
            10.45014004673992,
            0.31794741677242055
        ],
        "target_point_next": [
            36.70569286205064,
            -0.17163561944771466
        ]
    },
    "600": {
        "acceleration": [
            -0.38983941078186035,
            1.8155479431152344,
            0.016298294067382812
        ],
        "angular_velocity": [
            0.059055060148239136,
            0.035687293857336044,
            0.6987308859825134
        ],
        "forward_vector": [
            -0.18012025952339172,
            0.9836291074752808,
            0.00550922891125083
        ],
        "right_vector": [
            -0.9836437702178955,
            -0.1801244020462036,
            0.0002625836059451103
        ],
        "location": [
            936.218017578125,
            3534.4521484375,
            370.8295593261719
        ],
        "rotation": [
            -0.015045160427689552,
            0.3156571686267853,
            100.37692260742188
        ],
        "velocity": [
            -0.8208879828453064,
            4.38642692565918,
            0.010090227238833904
        ],
        "speed": 4.462577534847734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.852949142456055,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.6437377929688,
                3552.963134765625,
                370.86968994140625
            ],
            "velocity": [
                -0.3019118905067444,
                1.8779646158218384,
                0.001754817902110517
            ],
            "speed_kmh": 6.8474848211683845,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.5352783203125,
                        "y": 3628.056396484375,
                        "z": 370.89276123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.4855041503906
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": -4.625057559159984e-10,
                    "y": -7.441450927681004e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.3265991210938,
                        "y": 3627.5400390625,
                        "z": 370.8928527832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 985.4130859375,
                        "y": 3586.404296875,
                        "z": 370.3482666015625
                    },
                    "rotation": {
                        "roll": 6.670620056326015e-09,
                        "pitch": 0.7109543681144714,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.578857421875,
                        "y": 3460.7890625,
                        "z": 370.81085205078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.5577392578125,
                        "y": 3431.6650390625,
                        "z": 370.64990234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.3452758789062,
                        "y": 3619.3955078125,
                        "z": 371.0341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.2028198242188,
                        "y": 3618.468994140625,
                        "z": 371.05206298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.7532348632812,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.994363307952881,
                "transform": {
                    "location": {
                        "x": 940.0817260742188,
                        "y": 3568.8203125,
                        "z": 370.8729553222656
                    },
                    "rotation": {
                        "roll": -0.003387442324310541,
                        "pitch": 0.3992176949977875,
                        "yaw": -80.52495574951172
                    }
                },
                "velocity": {
                    "x": 0.499168336391449,
                    "y": -2.9524550437927246,
                    "z": 0.007251262664794922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013077735900879,
                "transform": {
                    "location": {
                        "x": 954.9942626953125,
                        "y": 3476.6318359375,
                        "z": 370.64794921875
                    },
                    "rotation": {
                        "roll": 0.0018948606448248029,
                        "pitch": -0.24115347862243652,
                        "yaw": -81.04097747802734
                    }
                },
                "velocity": {
                    "x": 1.2727282047271729,
                    "y": -7.911287784576416,
                    "z": -0.033259909600019455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.248061180114746,
                "transform": {
                    "location": {
                        "x": 936.9556884765625,
                        "y": 3567.81689453125,
                        "z": 370.87884521484375
                    },
                    "rotation": {
                        "roll": 0.006609281059354544,
                        "pitch": 0.3722316324710846,
                        "yaw": -80.4721450805664
                    }
                },
                "velocity": {
                    "x": 0.7115243077278137,
                    "y": -4.188045501708984,
                    "z": 0.005622834898531437
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045724868774414,
                "transform": {
                    "location": {
                        "x": 947.9612426757812,
                        "y": 3520.404296875,
                        "z": 370.8299560546875
                    },
                    "rotation": {
                        "roll": -0.00012206340034026653,
                        "pitch": -0.15704652667045593,
                        "yaw": -80.85613250732422
                    }
                },
                "velocity": {
                    "x": 1.2786929607391357,
                    "y": -7.94343376159668,
                    "z": -0.02218277007341385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092212677001953,
                "transform": {
                    "location": {
                        "x": 952.4036254882812,
                        "y": 3472.348876953125,
                        "z": 370.6356201171875
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": -0.23837359249591827,
                        "yaw": -80.8576889038086
                    }
                },
                "velocity": {
                    "x": 1.2857393026351929,
                    "y": -7.9893479347229,
                    "z": -0.03323214128613472
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7896728515625,
                        "y": 3448.864990234375,
                        "z": 370.5272521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.110010147094727,
                "transform": {
                    "location": {
                        "x": 947.8947143554688,
                        "y": 3478.653564453125,
                        "z": 370.66357421875
                    },
                    "rotation": {
                        "roll": -0.000366219348507002,
                        "pitch": 0.26262760162353516,
                        "yaw": 99.11720275878906
                    }
                },
                "velocity": {
                    "x": -1.4446500539779663,
                    "y": 8.994659423828125,
                    "z": 0.03703808784484863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.36859130859375,
                "transform": {
                    "location": {
                        "x": 944.5911254882812,
                        "y": 3499.177490234375,
                        "z": 370.7356872558594
                    },
                    "rotation": {
                        "roll": -3.0522576707880944e-05,
                        "pitch": 0.1907193660736084,
                        "yaw": 99.1565170288086
                    }
                },
                "velocity": {
                    "x": -1.4879752397537231,
                    "y": 9.249625205993652,
                    "z": 0.02936081774532795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9020791053771973,
                "transform": {
                    "location": {
                        "x": 932.6437377929688,
                        "y": 3552.963134765625,
                        "z": 370.86968994140625
                    },
                    "rotation": {
                        "roll": 0.0003292967448942363,
                        "pitch": 0.07263905555009842,
                        "yaw": 99.13109588623047
                    }
                },
                "velocity": {
                    "x": -0.3019118905067444,
                    "y": 1.8779646158218384,
                    "z": 0.001754817902110517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4731851816177368,
                "transform": {
                    "location": {
                        "x": 930.7569580078125,
                        "y": 3564.661865234375,
                        "z": 370.8727722167969
                    },
                    "rotation": {
                        "roll": 0.018223904073238373,
                        "pitch": 0.35419991612434387,
                        "yaw": 100.6118392944336
                    }
                },
                "velocity": {
                    "x": -0.25258493423461914,
                    "y": 1.4513694047927856,
                    "z": 0.0015578937018290162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3762817382812,
                        "y": 3463.860595703125,
                        "z": 370.5981140136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.475517272949219,
                "transform": {
                    "location": {
                        "x": 941.1904296875,
                        "y": 3520.311767578125,
                        "z": 370.79742431640625
                    },
                    "rotation": {
                        "roll": 0.0011980696581304073,
                        "pitch": 0.10182445496320724,
                        "yaw": 99.1504898071289
                    }
                },
                "velocity": {
                    "x": -1.5063806772232056,
                    "y": 9.354973793029785,
                    "z": 0.02684060111641884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.151664733886719,
                "transform": {
                    "location": {
                        "x": 938.139892578125,
                        "y": 3539.263671875,
                        "z": 370.84869384765625
                    },
                    "rotation": {
                        "roll": -0.0005187976057641208,
                        "pitch": -0.027218302711844444,
                        "yaw": 99.12125396728516
                    }
                },
                "velocity": {
                    "x": -1.2927608489990234,
                    "y": 8.04848575592041,
                    "z": 0.016796082258224487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027165412902832,
                "transform": {
                    "location": {
                        "x": 945.2547607421875,
                        "y": 3516.77001953125,
                        "z": 370.7828369140625
                    },
                    "rotation": {
                        "roll": 6.378647231031209e-05,
                        "pitch": -0.15938928723335266,
                        "yaw": -80.8679428100586
                    }
                },
                "velocity": {
                    "x": 1.2758218050003052,
                    "y": -7.9250993728637695,
                    "z": -0.021368470042943954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4375663101673126,
        "expert_target_speed": 5.3936289368812815,
        "target_point": [
            9.391786442689503,
            0.28540406200941604
        ],
        "target_point_next": [
            35.64580912962041,
            -0.2803148974059271
        ]
    },
    "605": {
        "acceleration": [
            -0.36497950553894043,
            1.7296791076660156,
            0.0007737986743450165
        ],
        "angular_velocity": [
            0.003780958941206336,
            0.01672961190342903,
            0.6658791303634644
        ],
        "forward_vector": [
            -0.18311768770217896,
            0.9830748438835144,
            0.005637496244162321
        ],
        "right_vector": [
            -0.9830901026725769,
            -0.18312211334705353,
            0.00027536667766980827
        ],
        "location": [
            936.0009155273438,
            3535.606689453125,
            370.83197021484375
        ],
        "rotation": [
            -0.015777600929141045,
            0.32300645112991333,
            100.55158233642578
        ],
        "velocity": [
            -0.9158843755722046,
            4.827018737792969,
            0.009918393567204475
        ],
        "speed": 4.913140959144335,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.201419830322266,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.5606079101562,
                3553.47998046875,
                370.87042236328125
            ],
            "velocity": [
                -0.31250640749931335,
                1.9445725679397583,
                0.0023864267859607935
            ],
            "speed_kmh": 7.090289722275957,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.8662109375,
                        "y": 3625.999267578125,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1827210932970047,
                "transform": {
                    "location": {
                        "x": 880.4476928710938,
                        "y": 3572.22021484375,
                        "z": 371.1891784667969
                    },
                    "rotation": {
                        "roll": 0.0009109931997954845,
                        "pitch": -0.3477385640144348,
                        "yaw": 9.140182495117188
                    }
                },
                "velocity": {
                    "x": -0.0010365562047809362,
                    "y": -0.0001563210680615157,
                    "z": -0.18271808326244354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.6575317382812,
                        "y": 3625.482666015625,
                        "z": 370.88726806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.004133224487305,
                "transform": {
                    "location": {
                        "x": 983.3690185546875,
                        "y": 3586.06982421875,
                        "z": 370.36773681640625
                    },
                    "rotation": {
                        "roll": -0.012512201443314552,
                        "pitch": 0.6794125437736511,
                        "yaw": -170.68560791015625
                    }
                },
                "velocity": {
                    "x": -7.893531799316406,
                    "y": -1.3244900703430176,
                    "z": 0.06352809816598892
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2486572265625,
                        "y": 3462.840576171875,
                        "z": 370.66552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2274780273438,
                        "y": 3433.716552734375,
                        "z": 370.5103759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.2130126953125,
                        "y": 3620.217041015625,
                        "z": 370.9983825683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.0704345703125,
                        "y": 3619.29052734375,
                        "z": 371.0162353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.409940719604492,
                "transform": {
                    "location": {
                        "x": 940.2383422851562,
                        "y": 3567.89501953125,
                        "z": 370.8729248046875
                    },
                    "rotation": {
                        "roll": 4.677273682318628e-05,
                        "pitch": 0.5234793424606323,
                        "yaw": -80.45671081542969
                    }
                },
                "velocity": {
                    "x": 0.7374080419540405,
                    "y": -4.347850322723389,
                    "z": -0.0019461059710010886
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073866844177246,
                "transform": {
                    "location": {
                        "x": 955.3141479492188,
                        "y": 3474.646240234375,
                        "z": 370.6396484375
                    },
                    "rotation": {
                        "roll": 0.0014447843423113227,
                        "pitch": -0.23886536061763763,
                        "yaw": -81.01441955566406
                    }
                },
                "velocity": {
                    "x": 1.2826611995697021,
                    "y": -7.971261978149414,
                    "z": -0.03306080773472786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.437954902648926,
                "transform": {
                    "location": {
                        "x": 937.1671752929688,
                        "y": 3566.568603515625,
                        "z": 370.880615234375
                    },
                    "rotation": {
                        "roll": 0.0016404021298512816,
                        "pitch": 0.3028164207935333,
                        "yaw": -80.41751861572266
                    }
                },
                "velocity": {
                    "x": 0.9100664258003235,
                    "y": -5.361262321472168,
                    "z": 0.0012288474244996905
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010437965393066,
                "transform": {
                    "location": {
                        "x": 948.2801513671875,
                        "y": 3518.423095703125,
                        "z": 370.8244323730469
                    },
                    "rotation": {
                        "roll": -0.0010070831049233675,
                        "pitch": -0.15731291472911835,
                        "yaw": -80.85538482666016
                    }
                },
                "velocity": {
                    "x": 1.272960901260376,
                    "y": -7.908616542816162,
                    "z": -0.021753773093223572
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06186294555664,
                "transform": {
                    "location": {
                        "x": 952.724365234375,
                        "y": 3470.35546875,
                        "z": 370.62725830078125
                    },
                    "rotation": {
                        "roll": -6.1031998484395444e-05,
                        "pitch": -0.23822332918643951,
                        "yaw": -80.85982513427734
                    }
                },
                "velocity": {
                    "x": 1.2805575132369995,
                    "y": -7.9594407081604,
                    "z": -0.03341665118932724
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.458740234375,
                        "y": 3450.921142578125,
                        "z": 370.5378112792969
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028840065002441,
                "transform": {
                    "location": {
                        "x": 947.553466796875,
                        "y": 3480.775146484375,
                        "z": 370.67181396484375
                    },
                    "rotation": {
                        "roll": 0.0010592015460133553,
                        "pitch": 0.3076317012310028,
                        "yaw": 99.12464904785156
                    }
                },
                "velocity": {
                    "x": -1.2790048122406006,
                    "y": 7.92624568939209,
                    "z": 0.032288338989019394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.18963623046875,
                "transform": {
                    "location": {
                        "x": 944.2428588867188,
                        "y": 3501.342041015625,
                        "z": 370.74261474609375
                    },
                    "rotation": {
                        "roll": -0.000488281948491931,
                        "pitch": 0.047462981194257736,
                        "yaw": 99.12242126464844
                    }
                },
                "velocity": {
                    "x": -1.3010029792785645,
                    "y": 8.085593223571777,
                    "z": 0.026797600090503693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9695249795913696,
                "transform": {
                    "location": {
                        "x": 932.5606079101562,
                        "y": 3553.47998046875,
                        "z": 370.87042236328125
                    },
                    "rotation": {
                        "roll": 0.00010343673056922853,
                        "pitch": 0.058302491903305054,
                        "yaw": 99.1310043334961
                    }
                },
                "velocity": {
                    "x": -0.31250640749931335,
                    "y": 1.9445725679397583,
                    "z": 0.0023864267859607935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.360487222671509,
                "transform": {
                    "location": {
                        "x": 930.674560546875,
                        "y": 3565.1318359375,
                        "z": 370.87298583984375
                    },
                    "rotation": {
                        "roll": 0.018678221851587296,
                        "pitch": 0.4068743586540222,
                        "yaw": 100.40056610107422
                    }
                },
                "velocity": {
                    "x": -0.40233802795410156,
                    "y": 2.3259451389312744,
                    "z": 0.0018580245086923242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0453491210938,
                        "y": 3465.916748046875,
                        "z": 370.60687255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06480598449707,
                "transform": {
                    "location": {
                        "x": 940.844970703125,
                        "y": 3522.4580078125,
                        "z": 370.80316162109375
                    },
                    "rotation": {
                        "roll": 0.0005773428129032254,
                        "pitch": -0.032081395387649536,
                        "yaw": 99.13553619384766
                    }
                },
                "velocity": {
                    "x": -1.280954360961914,
                    "y": 7.962400436401367,
                    "z": 0.020891427993774414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.268240928649902,
                "transform": {
                    "location": {
                        "x": 937.8069458007812,
                        "y": 3541.334228515625,
                        "z": 370.8519592285156
                    },
                    "rotation": {
                        "roll": -0.0008850102312862873,
                        "pitch": 0.06334999948740005,
                        "yaw": 99.103759765625
                    }
                },
                "velocity": {
                    "x": -1.3113490343093872,
                    "y": 8.163576126098633,
                    "z": 0.014249743893742561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031022071838379,
                "transform": {
                    "location": {
                        "x": 945.57373046875,
                        "y": 3514.7880859375,
                        "z": 370.77734375
                    },
                    "rotation": {
                        "roll": -0.00021362429833970964,
                        "pitch": -0.15713532269001007,
                        "yaw": -80.84004211425781
                    }
                },
                "velocity": {
                    "x": 1.276426076889038,
                    "y": -7.928910255432129,
                    "z": -0.021026816219091415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39023885130882263,
        "expert_target_speed": 5.780667062796298,
        "target_point": [
            8.217838722403458,
            0.2547620177680414
        ],
        "target_point_next": [
            34.470014875602665,
            -0.39098747570765724
        ]
    },
    "610": {
        "acceleration": [
            -0.7650256156921387,
            3.1331253051757812,
            0.019787214696407318
        ],
        "angular_velocity": [
            0.10694597661495209,
            0.16245423257350922,
            2.731781005859375
        ],
        "forward_vector": [
            -0.1881704181432724,
            0.9821264743804932,
            0.004415259230881929
        ],
        "right_vector": [
            -0.9821357131004333,
            -0.18817393481731415,
            0.00039148060022853315
        ],
        "location": [
            935.7649536132812,
            3536.84521484375,
            370.8351135253906
        ],
        "rotation": [
            -0.022430405020713806,
            0.25297653675079346,
            100.84613800048828
        ],
        "velocity": [
            -0.9797914624214172,
            5.055622577667236,
            0.01062047015875578
        ],
        "speed": 5.149690374930575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.39168930053711,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.4889526367188,
                3553.925537109375,
                370.8708190917969
            ],
            "velocity": [
                -0.3013837933540344,
                1.8754130601882935,
                0.0018632888095453382
            ],
            "speed_kmh": 6.838114296025003,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.1974487304688,
                        "y": 3623.94189453125,
                        "z": 370.8817138671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3951698839664459,
                "transform": {
                    "location": {
                        "x": 880.451416015625,
                        "y": 3572.220947265625,
                        "z": 371.25543212890625
                    },
                    "rotation": {
                        "roll": 0.0003208676935173571,
                        "pitch": -0.3380123972892761,
                        "yaw": 9.140456199645996
                    }
                },
                "velocity": {
                    "x": 0.07653041929006577,
                    "y": 0.012471628375351429,
                    "z": 0.3874877989292145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.9888305664062,
                        "y": 3623.425537109375,
                        "z": 370.8817138671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.153031349182129,
                "transform": {
                    "location": {
                        "x": 981.3780517578125,
                        "y": 3585.7265625,
                        "z": 370.3875427246094
                    },
                    "rotation": {
                        "roll": -0.016571054235100746,
                        "pitch": 0.7181533575057983,
                        "yaw": -170.1550750732422
                    }
                },
                "velocity": {
                    "x": -8.030155181884766,
                    "y": -1.4070621728897095,
                    "z": 0.09335262328386307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.9180297851562,
                        "y": 3464.89501953125,
                        "z": 370.61126708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9165649414062,
                        "y": 3435.64892578125,
                        "z": 370.4599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.0146484375,
                        "y": 3621.44921875,
                        "z": 370.94482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.8720092773438,
                        "y": 3620.522705078125,
                        "z": 370.9626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.483129978179932,
                "transform": {
                    "location": {
                        "x": 940.4498291015625,
                        "y": 3566.647705078125,
                        "z": 370.87237548828125
                    },
                    "rotation": {
                        "roll": -0.002532977843657136,
                        "pitch": 0.5051607489585876,
                        "yaw": -80.39622497558594
                    }
                },
                "velocity": {
                    "x": 0.9175602793693542,
                    "y": -5.4058098793029785,
                    "z": -0.003965711686760187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013385772705078,
                "transform": {
                    "location": {
                        "x": 955.6332397460938,
                        "y": 3472.6611328125,
                        "z": 370.63128662109375
                    },
                    "rotation": {
                        "roll": 0.0006038767169229686,
                        "pitch": -0.2395620346069336,
                        "yaw": -81.04351043701172
                    }
                },
                "velocity": {
                    "x": 1.2718145847320557,
                    "y": -7.911747932434082,
                    "z": -0.03278140351176262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.033374309539795,
                "transform": {
                    "location": {
                        "x": 937.4256591796875,
                        "y": 3565.044189453125,
                        "z": 370.8800964355469
                    },
                    "rotation": {
                        "roll": -0.00296020763926208,
                        "pitch": 0.21791717410087585,
                        "yaw": -80.3685531616211
                    }
                },
                "velocity": {
                    "x": 1.178375005722046,
                    "y": -6.93395471572876,
                    "z": -0.007546167355030775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047904014587402,
                "transform": {
                    "location": {
                        "x": 948.5993041992188,
                        "y": 3516.44091796875,
                        "z": 370.8189392089844
                    },
                    "rotation": {
                        "roll": -0.0006408728659152985,
                        "pitch": -0.15676648914813995,
                        "yaw": -80.85169982910156
                    }
                },
                "velocity": {
                    "x": 1.2795473337173462,
                    "y": -7.945504665374756,
                    "z": -0.02172235958278179
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091952323913574,
                "transform": {
                    "location": {
                        "x": 953.0452270507812,
                        "y": 3468.36181640625,
                        "z": 370.6189270019531
                    },
                    "rotation": {
                        "roll": -0.0006103467312641442,
                        "pitch": -0.2393161505460739,
                        "yaw": -80.8576431274414
                    }
                },
                "velocity": {
                    "x": 1.2857791185379028,
                    "y": -7.989077568054199,
                    "z": -0.03334946185350418
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1608276367188,
                        "y": 3452.7724609375,
                        "z": 370.5470886230469
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.369930267333984,
                "transform": {
                    "location": {
                        "x": 947.2816162109375,
                        "y": 3482.483642578125,
                        "z": 370.6781311035156
                    },
                    "rotation": {
                        "roll": 0.002925610402598977,
                        "pitch": 0.3721018433570862,
                        "yaw": 99.59686279296875
                    }
                },
                "velocity": {
                    "x": -1.015639066696167,
                    "y": 6.288392066955566,
                    "z": 0.024667061865329742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.767483234405518,
                "transform": {
                    "location": {
                        "x": 943.9308471679688,
                        "y": 3503.28125,
                        "z": 370.7487487792969
                    },
                    "rotation": {
                        "roll": 1.1639348485914525e-05,
                        "pitch": 0.08567789196968079,
                        "yaw": 99.1571044921875
                    }
                },
                "velocity": {
                    "x": -1.2348555326461792,
                    "y": 7.6686577796936035,
                    "z": 0.024770764634013176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8994762897491455,
                "transform": {
                    "location": {
                        "x": 932.4889526367188,
                        "y": 3553.925537109375,
                        "z": 370.8708190917969
                    },
                    "rotation": {
                        "roll": 0.00010994678450515494,
                        "pitch": 0.07297373563051224,
                        "yaw": 99.13099670410156
                    }
                },
                "velocity": {
                    "x": -0.3013837933540344,
                    "y": 1.8754130601882935,
                    "z": 0.0018632888095453382
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.731165885925293,
                "transform": {
                    "location": {
                        "x": 930.5441284179688,
                        "y": 3565.882080078125,
                        "z": 370.8731689453125
                    },
                    "rotation": {
                        "roll": 0.02032063715159893,
                        "pitch": 0.5644399523735046,
                        "yaw": 100.16223907470703
                    }
                },
                "velocity": {
                    "x": -0.633082389831543,
                    "y": 3.6770637035369873,
                    "z": 0.002847280353307724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7623291015625,
                        "y": 3467.67529296875,
                        "z": 370.6142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.79979944229126,
                "transform": {
                    "location": {
                        "x": 940.5353393554688,
                        "y": 3524.383056640625,
                        "z": 370.808349609375
                    },
                    "rotation": {
                        "roll": -6.103151827119291e-05,
                        "pitch": 0.0675642266869545,
                        "yaw": 99.1363754272461
                    }
                },
                "velocity": {
                    "x": -1.2384552955627441,
                    "y": 7.700821876525879,
                    "z": 0.021070584654808044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.773752212524414,
                "transform": {
                    "location": {
                        "x": 937.4898071289062,
                        "y": 3543.30712890625,
                        "z": 370.8547058105469
                    },
                    "rotation": {
                        "roll": 0.00040616377373225987,
                        "pitch": 0.12647460401058197,
                        "yaw": 99.15680694580078
                    }
                },
                "velocity": {
                    "x": -1.235965371131897,
                    "y": 7.6748576164245605,
                    "z": 0.013172215782105923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028332710266113,
                "transform": {
                    "location": {
                        "x": 945.8927001953125,
                        "y": 3512.806396484375,
                        "z": 370.7718200683594
                    },
                    "rotation": {
                        "roll": 0.0003695852938108146,
                        "pitch": -0.1574358493089676,
                        "yaw": -80.87242889404297
                    }
                },
                "velocity": {
                    "x": 1.2754724025726318,
                    "y": -7.926338195800781,
                    "z": -0.021660340949892998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33479025959968567,
        "expert_target_speed": 5.958742980891138,
        "target_point": [
            33.20674737951876,
            -0.5668830930947184
        ],
        "target_point_next": [
            51.69848016159968,
            -1.1168869845642408
        ]
    },
    "615": {
        "acceleration": [
            0.1991879940032959,
            -1.0833930969238281,
            0.0035617873072624207
        ],
        "angular_velocity": [
            -0.46076855063438416,
            -0.15750563144683838,
            4.01503849029541
        ],
        "forward_vector": [
            -0.19014139473438263,
            0.98175048828125,
            0.0035037919878959656
        ],
        "right_vector": [
            -0.9817563891410828,
            -0.1901431679725647,
            0.0001773652620613575
        ],
        "location": [
            935.5215454101562,
            3538.10205078125,
            370.837890625
        ],
        "rotation": [
            -0.01016234327107668,
            0.20075291395187378,
            100.96110534667969
        ],
        "velocity": [
            -0.9823240637779236,
            5.057845115661621,
            0.009937038645148277
        ],
        "speed": 5.152354586041152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.634761810302734,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.4058227539062,
                3554.4423828125,
                370.87152099609375
            ],
            "velocity": [
                -0.3126366436481476,
                1.9448554515838623,
                0.0020703410264104605
            ],
            "speed_kmh": 7.091368313326732,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.5284423828125,
                        "y": 3621.884521484375,
                        "z": 370.8830871582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6895745992660522,
                "transform": {
                    "location": {
                        "x": 880.5579223632812,
                        "y": 3572.23876953125,
                        "z": 371.3087463378906
                    },
                    "rotation": {
                        "roll": -0.003967283759266138,
                        "pitch": -0.2117290198802948,
                        "yaw": 9.174559593200684
                    }
                },
                "velocity": {
                    "x": 0.6780360341072083,
                    "y": 0.11521875113248825,
                    "z": 0.05004936084151268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.31982421875,
                        "y": 3621.3681640625,
                        "z": 370.8830871582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.910149097442627,
                "transform": {
                    "location": {
                        "x": 979.4013061523438,
                        "y": 3585.38330078125,
                        "z": 370.410888671875
                    },
                    "rotation": {
                        "roll": 0.008445742540061474,
                        "pitch": 0.6797950267791748,
                        "yaw": -170.175048828125
                    }
                },
                "velocity": {
                    "x": -7.79478120803833,
                    "y": -1.3427708148956299,
                    "z": 0.09387439489364624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5870971679688,
                        "y": 3466.951416015625,
                        "z": 370.61639404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6610717773438,
                        "y": 3437.23583984375,
                        "z": 370.4662780761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.8825073242188,
                        "y": 3622.271484375,
                        "z": 370.9090881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.7398071289062,
                        "y": 3621.34423828125,
                        "z": 370.92694091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.250956058502197,
                "transform": {
                    "location": {
                        "x": 940.6846923828125,
                        "y": 3565.264404296875,
                        "z": 370.871826171875
                    },
                    "rotation": {
                        "roll": -0.003112798323854804,
                        "pitch": 0.31259042024612427,
                        "yaw": -80.34797668457031
                    }
                },
                "velocity": {
                    "x": 1.0477081537246704,
                    "y": -6.1625261306762695,
                    "z": -0.005859260447323322
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073083877563477,
                "transform": {
                    "location": {
                        "x": 955.952880859375,
                        "y": 3470.675537109375,
                        "z": 370.6229248046875
                    },
                    "rotation": {
                        "roll": -0.002044698456302285,
                        "pitch": -0.23690509796142578,
                        "yaw": -81.0206069946289
                    }
                },
                "velocity": {
                    "x": 1.284814715385437,
                    "y": -7.970119476318359,
                    "z": -0.03369256854057312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.273054122924805,
                "transform": {
                    "location": {
                        "x": 937.745849609375,
                        "y": 3563.161376953125,
                        "z": 370.87799072265625
                    },
                    "rotation": {
                        "roll": -0.0012206991668790579,
                        "pitch": 0.22778679430484772,
                        "yaw": -80.36653900146484
                    }
                },
                "velocity": {
                    "x": 1.3865352869033813,
                    "y": -8.156031608581543,
                    "z": -0.009574051015079021
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01093578338623,
                "transform": {
                    "location": {
                        "x": 948.9185180664062,
                        "y": 3514.458984375,
                        "z": 370.8134765625
                    },
                    "rotation": {
                        "roll": -0.0003051718813367188,
                        "pitch": -0.15768173336982727,
                        "yaw": -80.85157775878906
                    }
                },
                "velocity": {
                    "x": 1.2736791372299194,
                    "y": -7.909004211425781,
                    "z": -0.02216254733502865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3187255859375,
                        "y": 3466.296142578125,
                        "z": 370.60791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9077758789062,
                        "y": 3454.34521484375,
                        "z": 370.5550231933594
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.562188625335693,
                "transform": {
                    "location": {
                        "x": 947.0252075195312,
                        "y": 3484.060302734375,
                        "z": 370.68560791015625
                    },
                    "rotation": {
                        "roll": 0.0007970577571541071,
                        "pitch": 0.23463746905326843,
                        "yaw": 99.3925552368164
                    }
                },
                "velocity": {
                    "x": -1.0464893579483032,
                    "y": 6.478158950805664,
                    "z": 0.025257596746087074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.226216316223145,
                "transform": {
                    "location": {
                        "x": 943.6116943359375,
                        "y": 3505.26513671875,
                        "z": 370.7549133300781
                    },
                    "rotation": {
                        "roll": 0.0008843548130244017,
                        "pitch": 0.20082120597362518,
                        "yaw": 99.12631225585938
                    }
                },
                "velocity": {
                    "x": -1.306147575378418,
                    "y": 8.121821403503418,
                    "z": 0.024984320625662804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9698245525360107,
                "transform": {
                    "location": {
                        "x": 932.4058227539062,
                        "y": 3554.4423828125,
                        "z": 370.87152099609375
                    },
                    "rotation": {
                        "roll": 0.0004190196341369301,
                        "pitch": 0.05860985070466995,
                        "yaw": 99.13164520263672
                    }
                },
                "velocity": {
                    "x": -0.3126366436481476,
                    "y": 1.9448554515838623,
                    "z": 0.0020703410264104605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.836205959320068,
                "transform": {
                    "location": {
                        "x": 930.3572387695312,
                        "y": 3566.9658203125,
                        "z": 370.8739318847656
                    },
                    "rotation": {
                        "roll": 0.018762657418847084,
                        "pitch": 0.6023816466331482,
                        "yaw": 99.93756866455078
                    }
                },
                "velocity": {
                    "x": -0.8153673410415649,
                    "y": 4.766975402832031,
                    "z": 0.0034442234318703413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5093383789062,
                        "y": 3469.2470703125,
                        "z": 370.6208801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.246682167053223,
                "transform": {
                    "location": {
                        "x": 940.2138061523438,
                        "y": 3526.382080078125,
                        "z": 370.8135986328125
                    },
                    "rotation": {
                        "roll": -0.0004272490041330457,
                        "pitch": 0.1774824559688568,
                        "yaw": 99.13915252685547
                    }
                },
                "velocity": {
                    "x": -1.309694766998291,
                    "y": 8.141990661621094,
                    "z": 0.021177034825086594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.571879863739014,
                "transform": {
                    "location": {
                        "x": 937.1856689453125,
                        "y": 3545.196533203125,
                        "z": 370.85784912109375
                    },
                    "rotation": {
                        "roll": 9.251121809938923e-05,
                        "pitch": 0.11310792714357376,
                        "yaw": 99.12075805664062
                    }
                },
                "velocity": {
                    "x": -1.202730417251587,
                    "y": 7.475736141204834,
                    "z": 0.013222560286521912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028814315795898,
                "transform": {
                    "location": {
                        "x": 946.2114868164062,
                        "y": 3510.824951171875,
                        "z": 370.7662048339844
                    },
                    "rotation": {
                        "roll": -0.00027466274332255125,
                        "pitch": -0.16320736706256866,
                        "yaw": -80.84419250488281
                    }
                },
                "velocity": {
                    "x": 1.2769027948379517,
                    "y": -7.926595687866211,
                    "z": -0.021365994587540627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3107137382030487,
        "expert_target_speed": 5.929111252324919,
        "target_point": [
            31.92535396585301,
            -0.6335017966135066
        ],
        "target_point_next": [
            50.415945923569566,
            -1.2206087866467694
        ]
    },
    "620": {
        "acceleration": [
            0.2247309684753418,
            -0.862884521484375,
            0.011137574911117554
        ],
        "angular_velocity": [
            -0.29964184761047363,
            -0.10138872265815735,
            -3.772299289703369
        ],
        "forward_vector": [
            -0.1896277368068695,
            0.9818543791770935,
            0.0018402326386421919
        ],
        "right_vector": [
            -0.9818559885025024,
            -0.18962791562080383,
            -7.211084448499605e-05
        ],
        "location": [
            935.2813110351562,
            3539.344970703125,
            370.8407287597656
        ],
        "rotation": [
            0.004131654277443886,
            0.10543762147426605,
            100.93107604980469
        ],
        "velocity": [
            -0.9428507089614868,
            4.898921489715576,
            0.010348291136324406
        ],
        "speed": 4.988827439567965,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.819426536560059,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.3343505859375,
                3554.887451171875,
                370.8719177246094
            ],
            "velocity": [
                -0.30143633484840393,
                1.874083161354065,
                0.0017241287278011441
            ],
            "speed_kmh": 6.833416915281689,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.8594970703125,
                        "y": 3619.827392578125,
                        "z": 370.8844299316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.350982427597046,
                "transform": {
                    "location": {
                        "x": 880.7999267578125,
                        "y": 3572.279296875,
                        "z": 371.2991638183594
                    },
                    "rotation": {
                        "roll": -0.004943850450217724,
                        "pitch": -0.20516520738601685,
                        "yaw": 9.246259689331055
                    }
                },
                "velocity": {
                    "x": 1.3298380374908447,
                    "y": 0.2273595929145813,
                    "z": -0.07065390795469284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.6508178710938,
                        "y": 3619.310791015625,
                        "z": 370.8844299316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06356430053711,
                "transform": {
                    "location": {
                        "x": 977.4329223632812,
                        "y": 3585.0458984375,
                        "z": 370.43450927734375
                    },
                    "rotation": {
                        "roll": 0.009317588992416859,
                        "pitch": 0.6649530529975891,
                        "yaw": -170.29005432128906
                    }
                },
                "velocity": {
                    "x": -7.947843551635742,
                    "y": -1.357964277267456,
                    "z": 0.09371892362833023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2561645507812,
                        "y": 3469.0078125,
                        "z": 370.62225341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3999633789062,
                        "y": 3438.858154296875,
                        "z": 370.47283935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.5414428710938,
                        "y": 3622.576904296875,
                        "z": 370.8909606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.765536308288574,
                "transform": {
                    "location": {
                        "x": 940.9830322265625,
                        "y": 3563.50732421875,
                        "z": 370.86932373046875
                    },
                    "rotation": {
                        "roll": 0.01052942220121622,
                        "pitch": 0.5428565740585327,
                        "yaw": -80.34860229492188
                    }
                },
                "velocity": {
                    "x": 1.2853496074676514,
                    "y": -7.658420085906982,
                    "z": -0.00569850904867053
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1962280273438,
                        "y": 3468.61328125,
                        "z": 370.6138610839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.919678688049316,
                "transform": {
                    "location": {
                        "x": 938.125732421875,
                        "y": 3560.89501953125,
                        "z": 370.8747863769531
                    },
                    "rotation": {
                        "roll": 0.021481003612279892,
                        "pitch": 0.3352598249912262,
                        "yaw": -80.52000427246094
                    }
                },
                "velocity": {
                    "x": 1.6242133378982544,
                    "y": -9.785799026489258,
                    "z": -0.00999683327972889
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047205924987793,
                "transform": {
                    "location": {
                        "x": 949.237548828125,
                        "y": 3512.47705078125,
                        "z": 370.80792236328125
                    },
                    "rotation": {
                        "roll": 0.0003608941624406725,
                        "pitch": -0.15786615014076233,
                        "yaw": -80.85307312011719
                    }
                },
                "velocity": {
                    "x": 1.2776381969451904,
                    "y": -7.945103168487549,
                    "z": -0.022464465349912643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6148071289062,
                        "y": 3464.23388671875,
                        "z": 370.59783935546875
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.643310546875,
                        "y": 3455.98779296875,
                        "z": 370.5627746582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.570941925048828,
                "transform": {
                    "location": {
                        "x": 946.7509765625,
                        "y": 3485.7548828125,
                        "z": 370.6929931640625
                    },
                    "rotation": {
                        "roll": -0.0005187960341572762,
                        "pitch": 0.1513911336660385,
                        "yaw": 99.25647735595703
                    }
                },
                "velocity": {
                    "x": -1.2021491527557373,
                    "y": 7.474839687347412,
                    "z": 0.027707690373063087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008660316467285,
                "transform": {
                    "location": {
                        "x": 943.2885131835938,
                        "y": 3507.27392578125,
                        "z": 370.7607421875
                    },
                    "rotation": {
                        "roll": -0.00042724181548692286,
                        "pitch": 0.15175312757492065,
                        "yaw": 99.15692138671875
                    }
                },
                "velocity": {
                    "x": -1.2731159925460815,
                    "y": 7.906783103942871,
                    "z": 0.024353504180908203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.898171305656433,
                "transform": {
                    "location": {
                        "x": 932.3343505859375,
                        "y": 3554.887451171875,
                        "z": 370.8719177246094
                    },
                    "rotation": {
                        "roll": 0.0009319012751802802,
                        "pitch": 0.07308302074670792,
                        "yaw": 99.13550567626953
                    }
                },
                "velocity": {
                    "x": -0.30143633484840393,
                    "y": 1.874083161354065,
                    "z": 0.0017241287278011441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.251197338104248,
                "transform": {
                    "location": {
                        "x": 930.1334838867188,
                        "y": 3568.052734375,
                        "z": 370.876708984375
                    },
                    "rotation": {
                        "roll": -0.3435058891773224,
                        "pitch": 0.11454226821660995,
                        "yaw": 101.22088623046875
                    }
                },
                "velocity": {
                    "x": -1.0947834253311157,
                    "y": 4.10781192779541,
                    "z": 0.002913885051384568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.404237270355225,
                "transform": {
                    "location": {
                        "x": 949.2489013671875,
                        "y": 3470.864501953125,
                        "z": 370.6274108886719
                    },
                    "rotation": {
                        "roll": -0.0008850141894072294,
                        "pitch": 0.09156551212072372,
                        "yaw": 99.14755249023438
                    }
                },
                "velocity": {
                    "x": -0.8614022135734558,
                    "y": 5.335111618041992,
                    "z": 0.018720682710409164
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.96905517578125,
                "transform": {
                    "location": {
                        "x": 939.891845703125,
                        "y": 3528.383056640625,
                        "z": 370.8185729980469
                    },
                    "rotation": {
                        "roll": -0.0004882861976511776,
                        "pitch": 0.12198033928871155,
                        "yaw": 99.14081573486328
                    }
                },
                "velocity": {
                    "x": -1.2671624422073364,
                    "y": 7.867637634277344,
                    "z": 0.020357055589556694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.372725009918213,
                "transform": {
                    "location": {
                        "x": 936.8893432617188,
                        "y": 3547.03955078125,
                        "z": 370.8608093261719
                    },
                    "rotation": {
                        "roll": -0.0007019065669737756,
                        "pitch": 0.11056709289550781,
                        "yaw": 99.16445922851562
                    }
                },
                "velocity": {
                    "x": -1.1714545488357544,
                    "y": 7.279051780700684,
                    "z": 0.01296776719391346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0294828414917,
                "transform": {
                    "location": {
                        "x": 946.5303955078125,
                        "y": 3508.84375,
                        "z": 370.7604675292969
                    },
                    "rotation": {
                        "roll": -0.0005493123317137361,
                        "pitch": -0.16891740262508392,
                        "yaw": -80.87438201904297
                    }
                },
                "velocity": {
                    "x": 1.275333046913147,
                    "y": -7.927523136138916,
                    "z": -0.022042211145162582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2650379538536072,
        "expert_target_speed": 5.742821947699039,
        "target_point": [
            30.65975815448878,
            -0.6169471391964629
        ],
        "target_point_next": [
            49.15065538081178,
            -1.1943597560299688
        ]
    },
    "625": {
        "acceleration": [
            0.7389342784881592,
            -3.151559829711914,
            -0.005038073286414146
        ],
        "angular_velocity": [
            -0.8838163614273071,
            -0.23611754179000854,
            -1.0914523601531982
        ],
        "forward_vector": [
            -0.18576368689537048,
            0.98259437084198,
            0.00035512447357177734
        ],
        "right_vector": [
            -0.9825942516326904,
            -0.185763418674469,
            -0.0006753398338332772
        ],
        "location": [
            935.0531005859375,
            3540.55908203125,
            370.8430480957031
        ],
        "rotation": [
            0.03869412839412689,
            0.02034713327884674,
            100.7056655883789
        ],
        "velocity": [
            -0.8406258225440979,
            4.584613800048828,
            0.0067792413756251335
        ],
        "speed": 4.661044461183147,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.106109619140625,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.2514038085938,
                3555.403076171875,
                370.87261962890625
            ],
            "velocity": [
                -0.31307458877563477,
                1.9413727521896362,
                0.0019402693724259734
            ],
            "speed_kmh": 7.079240159043707,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.1905517578125,
                        "y": 3617.77001953125,
                        "z": 370.8858642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7671637535095215,
                "transform": {
                    "location": {
                        "x": 881.3045043945312,
                        "y": 3572.364990234375,
                        "z": 371.28521728515625
                    },
                    "rotation": {
                        "roll": -0.007995604537427425,
                        "pitch": -0.06823358684778214,
                        "yaw": 9.36515998840332
                    }
                },
                "velocity": {
                    "x": 2.7272753715515137,
                    "y": 0.4671909213066101,
                    "z": -0.029948439449071884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.98193359375,
                        "y": 3617.253662109375,
                        "z": 370.8858642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.778783321380615,
                "transform": {
                    "location": {
                        "x": 975.477294921875,
                        "y": 3584.713623046875,
                        "z": 370.4574890136719
                    },
                    "rotation": {
                        "roll": 0.011837402358651161,
                        "pitch": 0.659885048866272,
                        "yaw": -170.38426208496094
                    }
                },
                "velocity": {
                    "x": -7.670229434967041,
                    "y": -1.2918866872787476,
                    "z": 0.08988166600465775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.92529296875,
                        "y": 3471.06396484375,
                        "z": 370.6307373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.1239013671875,
                        "y": 3440.57421875,
                        "z": 370.4815673828125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.777767181396484,
                "transform": {
                    "location": {
                        "x": 941.3217163085938,
                        "y": 3561.477783203125,
                        "z": 370.8678283691406
                    },
                    "rotation": {
                        "roll": 0.025344057008624077,
                        "pitch": 0.4241410493850708,
                        "yaw": -80.57212829589844
                    }
                },
                "velocity": {
                    "x": 1.4334256649017334,
                    "y": -8.659933090209961,
                    "z": -0.006919488776475191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.5266723632812,
                        "y": 3466.55615234375,
                        "z": 370.605224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.668413162231445,
                "transform": {
                    "location": {
                        "x": 938.5408935546875,
                        "y": 3558.388671875,
                        "z": 370.8737487792969
                    },
                    "rotation": {
                        "roll": 0.0076866853050887585,
                        "pitch": 0.1348552405834198,
                        "yaw": -80.56694030761719
                    }
                },
                "velocity": {
                    "x": 1.7370399236679077,
                    "y": -10.526044845581055,
                    "z": -0.009883804246783257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0114107131958,
                "transform": {
                    "location": {
                        "x": 949.5564575195312,
                        "y": 3510.49560546875,
                        "z": 370.80224609375
                    },
                    "rotation": {
                        "roll": 0.0007136643980629742,
                        "pitch": -0.1662331372499466,
                        "yaw": -80.85709381103516
                    }
                },
                "velocity": {
                    "x": 1.273041009902954,
                    "y": -7.909587860107422,
                    "z": -0.022292379289865494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101113,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.942626953125,
                        "y": 3462.1767578125,
                        "z": 370.5887756347656
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.4400024414062,
                        "y": 3457.251220703125,
                        "z": 370.5686950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.444111824035645,
                "transform": {
                    "location": {
                        "x": 946.4204711914062,
                        "y": 3487.80615234375,
                        "z": 370.7010192871094
                    },
                    "rotation": {
                        "roll": -0.0005493176868185401,
                        "pitch": 0.11467886716127396,
                        "yaw": 99.20484161376953
                    }
                },
                "velocity": {
                    "x": -1.342834711074829,
                    "y": 8.336600303649902,
                    "z": 0.030121935531497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013837814331055,
                "transform": {
                    "location": {
                        "x": 942.9718627929688,
                        "y": 3509.2421875,
                        "z": 370.7666015625
                    },
                    "rotation": {
                        "roll": 0.00013414304703474045,
                        "pitch": 0.16467584669589996,
                        "yaw": 99.12664794921875
                    }
                },
                "velocity": {
                    "x": -1.2726022005081177,
                    "y": 7.912117004394531,
                    "z": 0.021977176889777184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9664555788040161,
                "transform": {
                    "location": {
                        "x": 932.2514038085938,
                        "y": 3555.403076171875,
                        "z": 370.87261962890625
                    },
                    "rotation": {
                        "roll": 0.0007282592123374343,
                        "pitch": 0.05848007649183273,
                        "yaw": 99.13731384277344
                    }
                },
                "velocity": {
                    "x": -0.31307458877563477,
                    "y": 1.9413727521896362,
                    "z": 0.0019402693724259734
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.222696781158447,
                "transform": {
                    "location": {
                        "x": 929.8262939453125,
                        "y": 3569.185302734375,
                        "z": 370.8771667480469
                    },
                    "rotation": {
                        "roll": -0.2832947075366974,
                        "pitch": 0.29181981086730957,
                        "yaw": 103.7130126953125
                    }
                },
                "velocity": {
                    "x": -1.4490984678268433,
                    "y": 5.017629623413086,
                    "z": 0.008416718803346157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.448825359344482,
                "transform": {
                    "location": {
                        "x": 949.0619506835938,
                        "y": 3471.976806640625,
                        "z": 370.6309814453125
                    },
                    "rotation": {
                        "roll": -0.012542719952762127,
                        "pitch": 0.07686694711446762,
                        "yaw": 99.4237289428711
                    }
                },
                "velocity": {
                    "x": -0.7484164834022522,
                    "y": 4.385384559631348,
                    "z": 0.017891988158226013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049483299255371,
                "transform": {
                    "location": {
                        "x": 939.5748291015625,
                        "y": 3530.352783203125,
                        "z": 370.8236389160156
                    },
                    "rotation": {
                        "roll": -0.00018310836458113045,
                        "pitch": 0.14776431024074554,
                        "yaw": 99.14363098144531
                    }
                },
                "velocity": {
                    "x": -1.2791309356689453,
                    "y": 7.947170734405518,
                    "z": 0.02183469757437706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.026251792907715,
                "transform": {
                    "location": {
                        "x": 936.618408203125,
                        "y": 3548.71484375,
                        "z": 370.8627624511719
                    },
                    "rotation": {
                        "roll": -0.0013122657546773553,
                        "pitch": 0.2134365737438202,
                        "yaw": 98.94599151611328
                    }
                },
                "velocity": {
                    "x": -0.9547251462936401,
                    "y": 5.950136661529541,
                    "z": 0.009085721336305141
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029085159301758,
                "transform": {
                    "location": {
                        "x": 946.8493041992188,
                        "y": 3506.86181640625,
                        "z": 370.7546081542969
                    },
                    "rotation": {
                        "roll": -0.0013732941588386893,
                        "pitch": -0.168821781873703,
                        "yaw": -80.84317779541016
                    }
                },
                "velocity": {
                    "x": 1.275671124458313,
                    "y": -7.92706823348999,
                    "z": -0.0216296948492527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25368061661720276,
        "expert_target_speed": 5.414317560808753,
        "target_point": [
            29.426575772998962,
            -0.4950233331084428
        ],
        "target_point_next": [
            47.91960152219082,
            -0.9996857987674757
        ]
    },
    "630": {
        "acceleration": [
            0.5952274799346924,
            -3.4678125381469727,
            -0.0141157116740942
        ],
        "angular_velocity": [
            -0.5632684230804443,
            0.06228151544928551,
            -1.042875051498413
        ],
        "forward_vector": [
            -0.1813296228647232,
            0.9834166765213013,
            -0.003341072238981724
        ],
        "right_vector": [
            -0.9834217429161072,
            -0.18133224546909332,
            -0.0004948120913468301
        ],
        "location": [
            934.8670654296875,
            3541.58544921875,
            370.845703125
        ],
        "rotation": [
            0.02835080586373806,
            -0.19142970442771912,
            100.44727325439453
        ],
        "velocity": [
            -0.6609770655632019,
            3.6856422424316406,
            0.005326175596565008
        ],
        "speed": 3.744442471236148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.513679504394531,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.1797485351562,
                3555.84814453125,
                370.87298583984375
            ],
            "velocity": [
                -0.3012203574180603,
                1.8745394945144653,
                0.0018941116286441684
            ],
            "speed_kmh": 6.834916054940184,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.5145874023438,
                        "y": 3615.756103515625,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.713078022003174,
                "transform": {
                    "location": {
                        "x": 882.2255859375,
                        "y": 3572.521728515625,
                        "z": 371.2790832519531
                    },
                    "rotation": {
                        "roll": -0.00991821475327015,
                        "pitch": 0.09166113287210464,
                        "yaw": 9.516343116760254
                    }
                },
                "velocity": {
                    "x": 4.644988059997559,
                    "y": 0.798012912273407,
                    "z": -0.019142936915159225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.305908203125,
                        "y": 3615.240478515625,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.263145923614502,
                "transform": {
                    "location": {
                        "x": 973.839111328125,
                        "y": 3584.439208984375,
                        "z": 370.47662353515625
                    },
                    "rotation": {
                        "roll": 0.007963544689118862,
                        "pitch": 0.5124827027320862,
                        "yaw": -170.50450134277344
                    }
                },
                "velocity": {
                    "x": -6.177436828613281,
                    "y": -1.0300688743591309,
                    "z": 0.07230686396360397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8878984451293945,
                "transform": {
                    "location": {
                        "x": 945.6209106445312,
                        "y": 3472.924560546875,
                        "z": 370.638671875
                    },
                    "rotation": {
                        "roll": -0.03729248046875,
                        "pitch": -0.026890452951192856,
                        "yaw": 99.33892059326172
                    }
                },
                "velocity": {
                    "x": -1.1536288261413574,
                    "y": 6.790537357330322,
                    "z": 0.029727639630436897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8136596679688,
                        "y": 3442.50146484375,
                        "z": 370.4924621582031
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.258500099182129,
                "transform": {
                    "location": {
                        "x": 941.7154541015625,
                        "y": 3559.096435546875,
                        "z": 370.8648986816406
                    },
                    "rotation": {
                        "roll": 0.016212129965424538,
                        "pitch": 0.5531837940216064,
                        "yaw": -80.62135314941406
                    }
                },
                "velocity": {
                    "x": 1.670562744140625,
                    "y": -10.12155818939209,
                    "z": -0.009919204749166965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.8572998046875,
                        "y": 3464.498779296875,
                        "z": 370.5964660644531
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.643601417541504,
                "transform": {
                    "location": {
                        "x": 938.9942016601562,
                        "y": 3555.6279296875,
                        "z": 370.8707580566406
                    },
                    "rotation": {
                        "roll": 0.012832359410822392,
                        "pitch": 0.1472315490245819,
                        "yaw": -80.72618865966797
                    }
                },
                "velocity": {
                    "x": 1.8729548454284668,
                    "y": -11.49196720123291,
                    "z": -0.01366599090397358
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047292709350586,
                "transform": {
                    "location": {
                        "x": 949.8753662109375,
                        "y": 3508.513427734375,
                        "z": 370.79644775390625
                    },
                    "rotation": {
                        "roll": 0.0005620322190225124,
                        "pitch": -0.16720302402973175,
                        "yaw": -80.85877227783203
                    }
                },
                "velocity": {
                    "x": 1.2769224643707275,
                    "y": -7.945306301116943,
                    "z": -0.022252587601542473
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2520141601562,
                        "y": 3458.4189453125,
                        "z": 370.5741271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.915656089782715,
                "transform": {
                    "location": {
                        "x": 946.0960083007812,
                        "y": 3489.820556640625,
                        "z": 370.7073669433594
                    },
                    "rotation": {
                        "roll": -0.0006408692570403218,
                        "pitch": 0.23663872480392456,
                        "yaw": 99.12662506103516
                    }
                },
                "velocity": {
                    "x": -1.2557473182678223,
                    "y": 7.8153581619262695,
                    "z": 0.029757127165794373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.092610359191895,
                "transform": {
                    "location": {
                        "x": 942.6510009765625,
                        "y": 3511.23583984375,
                        "z": 370.7723083496094
                    },
                    "rotation": {
                        "roll": -0.0005493256612680852,
                        "pitch": 0.16949796676635742,
                        "yaw": 99.1606216430664
                    }
                },
                "velocity": {
                    "x": -1.286447525024414,
                    "y": 7.989675521850586,
                    "z": 0.022169388830661774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8985878229141235,
                "transform": {
                    "location": {
                        "x": 932.1797485351562,
                        "y": 3555.84814453125,
                        "z": 370.87298583984375
                    },
                    "rotation": {
                        "roll": 0.0001321482559433207,
                        "pitch": 0.07252977788448334,
                        "yaw": 99.1334228515625
                    }
                },
                "velocity": {
                    "x": -0.3012203574180603,
                    "y": 1.8745394945144653,
                    "z": 0.0018941116286441684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.325377941131592,
                "transform": {
                    "location": {
                        "x": 929.4334716796875,
                        "y": 3570.458740234375,
                        "z": 370.8790588378906
                    },
                    "rotation": {
                        "roll": -0.43347159028053284,
                        "pitch": 0.2187163084745407,
                        "yaw": 106.43046569824219
                    }
                },
                "velocity": {
                    "x": -1.8720508813858032,
                    "y": 4.985472679138184,
                    "z": 0.011605443432927132
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1653621196746826,
                "transform": {
                    "location": {
                        "x": 948.891357421875,
                        "y": 3473.010498046875,
                        "z": 370.634765625
                    },
                    "rotation": {
                        "roll": 0.009381379000842571,
                        "pitch": -0.07433977723121643,
                        "yaw": 99.21023559570312
                    }
                },
                "velocity": {
                    "x": -0.36451536417007446,
                    "y": 2.1344401836395264,
                    "z": 0.009313210844993591
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077924728393555,
                "transform": {
                    "location": {
                        "x": 939.2534790039062,
                        "y": 3532.348876953125,
                        "z": 370.8283996582031
                    },
                    "rotation": {
                        "roll": -0.0007019039476290345,
                        "pitch": 0.13523773849010468,
                        "yaw": 99.14436340332031
                    }
                },
                "velocity": {
                    "x": -1.283735990524292,
                    "y": 7.975248336791992,
                    "z": 0.017241915687918663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.96352481842041,
                "transform": {
                    "location": {
                        "x": 936.3849487304688,
                        "y": 3550.172119140625,
                        "z": 370.8656311035156
                    },
                    "rotation": {
                        "roll": -3.0515795515384525e-05,
                        "pitch": 0.11305328458547592,
                        "yaw": 99.04454040527344
                    }
                },
                "velocity": {
                    "x": -0.947383463382721,
                    "y": 5.887787818908691,
                    "z": 0.006769609171897173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028456687927246,
                "transform": {
                    "location": {
                        "x": 947.1683349609375,
                        "y": 3504.880615234375,
                        "z": 370.748779296875
                    },
                    "rotation": {
                        "roll": 2.76410373771796e-05,
                        "pitch": -0.16830268502235413,
                        "yaw": -80.86961364746094
                    }
                },
                "velocity": {
                    "x": 1.2758415937423706,
                    "y": -7.926401615142822,
                    "z": -0.022511247545480728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2356298863887787,
        "expert_target_speed": 4.55566596935317,
        "target_point": [
            28.385422627953265,
            -0.35916698533005054
        ],
        "target_point_next": [
            46.88053598992235,
            -0.7804356554569631
        ]
    },
    "635": {
        "acceleration": [
            0.0878608226776123,
            -0.32149791717529297,
            -0.0018754974007606506
        ],
        "angular_velocity": [
            0.6805171966552734,
            0.11909253150224686,
            0.09544612467288971
        ],
        "forward_vector": [
            -0.178898423910141,
            0.9838621020317078,
            -0.0032544077839702368
        ],
        "right_vector": [
            -0.9838671088218689,
            -0.17890019714832306,
            -0.000259517808444798
        ],
        "location": [
            934.7169799804688,
            3542.423095703125,
            370.8471374511719
        ],
        "rotation": [
            0.01486935280263424,
            -0.18646416068077087,
            100.30565643310547
        ],
        "velocity": [
            -0.5655583739280701,
            3.192204713821411,
            0.005466184578835964
        ],
        "speed": 3.2419172119694544,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.244608879089355,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.0873413085938,
                3556.4228515625,
                370.8742980957031
            ],
            "velocity": [
                -0.43673837184906006,
                2.7161755561828613,
                0.0029508399311453104
            ],
            "speed_kmh": 9.903834085504158,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.827392578125,
                        "y": 3613.812744140625,
                        "z": 370.8885803222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.864294528961182,
                "transform": {
                    "location": {
                        "x": 883.5277709960938,
                        "y": 3572.74462890625,
                        "z": 371.2742614746094
                    },
                    "rotation": {
                        "roll": -0.006988525390625,
                        "pitch": -0.06476385146379471,
                        "yaw": 9.655389785766602
                    }
                },
                "velocity": {
                    "x": 5.778980731964111,
                    "y": 0.996109664440155,
                    "z": -0.033158496022224426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.61865234375,
                        "y": 3613.297119140625,
                        "z": 370.8885803222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.368740081787109,
                "transform": {
                    "location": {
                        "x": 972.2774658203125,
                        "y": 3584.1796875,
                        "z": 370.4952392578125
                    },
                    "rotation": {
                        "roll": 0.005953692365437746,
                        "pitch": 0.6490728259086609,
                        "yaw": -170.55242919921875
                    }
                },
                "velocity": {
                    "x": -6.2821478843688965,
                    "y": -1.0439860820770264,
                    "z": 0.07458383589982986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.656109809875488,
                "transform": {
                    "location": {
                        "x": 945.3338012695312,
                        "y": 3474.59375,
                        "z": 370.6459045410156
                    },
                    "rotation": {
                        "roll": -0.007049557752907276,
                        "pitch": 0.1636376678943634,
                        "yaw": 99.69969940185547
                    }
                },
                "velocity": {
                    "x": -1.1208194494247437,
                    "y": 6.561000347137451,
                    "z": 0.02890876680612564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5037231445312,
                        "y": 3444.4287109375,
                        "z": 370.50341796875
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.265023231506348,
                "transform": {
                    "location": {
                        "x": 942.1509399414062,
                        "y": 3556.4365234375,
                        "z": 370.8623046875
                    },
                    "rotation": {
                        "roll": 0.023261098191142082,
                        "pitch": 0.4581485688686371,
                        "yaw": -80.72940826416016
                    }
                },
                "velocity": {
                    "x": 1.8118308782577515,
                    "y": -11.118355751037598,
                    "z": -0.013570594601333141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 371.2635498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.536023139953613,
                "transform": {
                    "location": {
                        "x": 939.4801635742188,
                        "y": 3552.639892578125,
                        "z": 370.8670959472656
                    },
                    "rotation": {
                        "roll": 0.009220470674335957,
                        "pitch": 0.14366619288921356,
                        "yaw": -80.80473327636719
                    }
                },
                "velocity": {
                    "x": 2.0034658908843994,
                    "y": -12.374886512756348,
                    "z": -0.013757076114416122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011686325073242,
                "transform": {
                    "location": {
                        "x": 950.1942138671875,
                        "y": 3506.531494140625,
                        "z": 370.79058837890625
                    },
                    "rotation": {
                        "roll": 2.8014563213218935e-05,
                        "pitch": -0.167052760720253,
                        "yaw": -80.86100769042969
                    }
                },
                "velocity": {
                    "x": 1.2725648880004883,
                    "y": -7.909942626953125,
                    "z": -0.02248113974928856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 371.2635498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0535888671875,
                        "y": 3459.65283203125,
                        "z": 370.5798645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.983785629272461,
                "transform": {
                    "location": {
                        "x": 945.7826538085938,
                        "y": 3491.769287109375,
                        "z": 370.7147521972656
                    },
                    "rotation": {
                        "roll": -0.0003357019741088152,
                        "pitch": 0.20783580839633942,
                        "yaw": 99.1607894897461
                    }
                },
                "velocity": {
                    "x": -1.2701683044433594,
                    "y": 7.882046222686768,
                    "z": 0.029142044484615326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022577285766602,
                "transform": {
                    "location": {
                        "x": 942.3312377929688,
                        "y": 3513.22314453125,
                        "z": 370.7778015136719
                    },
                    "rotation": {
                        "roll": -0.0002746559330262244,
                        "pitch": 0.1520126760005951,
                        "yaw": 99.12879180908203
                    }
                },
                "velocity": {
                    "x": -1.274426817893982,
                    "y": 7.920675277709961,
                    "z": 0.02199351228773594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7510650157928467,
                "transform": {
                    "location": {
                        "x": 932.0873413085938,
                        "y": 3556.4228515625,
                        "z": 370.8742980957031
                    },
                    "rotation": {
                        "roll": 0.00012810617045033723,
                        "pitch": -0.0030257736798375845,
                        "yaw": 99.13394927978516
                    }
                },
                "velocity": {
                    "x": -0.43673837184906006,
                    "y": 2.7161755561828613,
                    "z": 0.0029508399311453104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.087883949279785,
                "transform": {
                    "location": {
                        "x": 928.7816162109375,
                        "y": 3571.917724609375,
                        "z": 370.8834533691406
                    },
                    "rotation": {
                        "roll": -0.9028012156486511,
                        "pitch": 0.7401602268218994,
                        "yaw": 113.21424865722656
                    }
                },
                "velocity": {
                    "x": -3.385643243789673,
                    "y": 6.22690486907959,
                    "z": 0.034283656626939774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7392578125,
                        "y": 3474.01953125,
                        "z": 370.6405334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027512550354004,
                "transform": {
                    "location": {
                        "x": 938.9340209960938,
                        "y": 3534.333740234375,
                        "z": 370.8327331542969
                    },
                    "rotation": {
                        "roll": 2.7617626983555965e-05,
                        "pitch": 0.11123645305633545,
                        "yaw": 99.14395141601562
                    }
                },
                "velocity": {
                    "x": -1.2757292985916138,
                    "y": 7.925477027893066,
                    "z": 0.017050551250576973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.504629611968994,
                "transform": {
                    "location": {
                        "x": 936.1354370117188,
                        "y": 3551.724853515625,
                        "z": 370.86822509765625
                    },
                    "rotation": {
                        "roll": 8.279436588054523e-05,
                        "pitch": 0.02092086896300316,
                        "yaw": 99.08708953857422
                    }
                },
                "velocity": {
                    "x": -1.0329898595809937,
                    "y": 6.422078609466553,
                    "z": 0.006509122904390097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030221939086914,
                "transform": {
                    "location": {
                        "x": 947.4874267578125,
                        "y": 3502.898681640625,
                        "z": 370.74273681640625
                    },
                    "rotation": {
                        "roll": -0.0005493125645443797,
                        "pitch": -0.17763954401016235,
                        "yaw": -80.8382797241211
                    }
                },
                "velocity": {
                    "x": 1.276636004447937,
                    "y": -7.9280524253845215,
                    "z": -0.025493096560239792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23194250464439392,
        "expert_target_speed": 4.09378566587197,
        "target_point": [
            27.53524056433103,
            -0.2868023946409357
        ],
        "target_point_next": [
            46.03133885253054,
            -0.6623469030298876
        ]
    },
    "640": {
        "acceleration": [
            -0.5498063564300537,
            3.354816436767578,
            0.0099119171500206
        ],
        "angular_velocity": [
            1.3529484272003174,
            0.2173253446817398,
            -0.9065291285514832
        ],
        "forward_vector": [
            -0.17634092271327972,
            0.9843273162841797,
            0.0018913733074441552
        ],
        "right_vector": [
            -0.9843291640281677,
            -0.17634069919586182,
            -0.00028246178408153355
        ],
        "location": [
            934.5670166015625,
            3543.27294921875,
            370.8475036621094
        ],
        "rotation": [
            0.016183895990252495,
            0.10836777836084366,
            100.15672302246094
        ],
        "velocity": [
            -0.6490468978881836,
            3.714380979537964,
            0.006356572732329369
        ],
        "speed": 3.770661472051247,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.194464683532715,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.9581909179688,
                3557.2255859375,
                370.8754577636719
            ],
            "velocity": [
                -0.5976384878158569,
                3.717940092086792,
                0.0026623152662068605
            ],
            "speed_kmh": 13.556405704459614,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.6051330566406
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -3.937231429773647e-09,
                    "y": -6.41387387645409e-10,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6502685546875,
                        "y": 3460.345458984375,
                        "z": 370.8422546386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.000576496124268,
                "transform": {
                    "location": {
                        "x": 933.1135864257812,
                        "y": 3612.045654296875,
                        "z": 370.8898010253906
                    },
                    "rotation": {
                        "roll": -0.018493657931685448,
                        "pitch": -0.2593081295490265,
                        "yaw": -80.79051208496094
                    }
                },
                "velocity": {
                    "x": 0.9826574325561523,
                    "y": -5.919567584991455,
                    "z": 0.005188932176679373
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.480915069580078,
                "transform": {
                    "location": {
                        "x": 885.1539916992188,
                        "y": 3573.02392578125,
                        "z": 371.26361083984375
                    },
                    "rotation": {
                        "roll": 0.0020175769459456205,
                        "pitch": -0.027949132025241852,
                        "yaw": 9.684822082519531
                    }
                },
                "velocity": {
                    "x": 7.375477313995361,
                    "y": 1.2506098747253418,
                    "z": -0.04895564913749695
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.241966724395752,
                "transform": {
                    "location": {
                        "x": 929.89404296875,
                        "y": 3611.59423828125,
                        "z": 370.8875732421875
                    },
                    "rotation": {
                        "roll": -0.0018005372257903218,
                        "pitch": 0.0028276981320232153,
                        "yaw": -80.79487609863281
                    }
                },
                "velocity": {
                    "x": 1.0252057313919067,
                    "y": -6.157177448272705,
                    "z": -0.01632295548915863
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057878494262695,
                "transform": {
                    "location": {
                        "x": 970.4094848632812,
                        "y": 3583.869873046875,
                        "z": 370.5166320800781
                    },
                    "rotation": {
                        "roll": 0.006042032968252897,
                        "pitch": 0.8105111718177795,
                        "yaw": -170.60093688964844
                    }
                },
                "velocity": {
                    "x": -7.949704647064209,
                    "y": -1.3128472566604614,
                    "z": 0.0896185114979744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.154999732971191,
                "transform": {
                    "location": {
                        "x": 945.0542602539062,
                        "y": 3476.236083984375,
                        "z": 370.65289306640625
                    },
                    "rotation": {
                        "roll": 0.0025574590545147657,
                        "pitch": 0.13221879303455353,
                        "yaw": 99.66395568847656
                    }
                },
                "velocity": {
                    "x": -1.0305391550064087,
                    "y": 6.068061828613281,
                    "z": 0.025209320709109306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3050537109375,
                        "y": 3445.662353515625,
                        "z": 370.51007080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.25675106048584,
                "transform": {
                    "location": {
                        "x": 942.6242065429688,
                        "y": 3553.529541015625,
                        "z": 370.8589782714844
                    },
                    "rotation": {
                        "roll": 0.017174528911709785,
                        "pitch": 0.4134722948074341,
                        "yaw": -80.76509857177734
                    }
                },
                "velocity": {
                    "x": 1.9630357027053833,
                    "y": -12.09852123260498,
                    "z": -0.014038772322237492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.4288940429688,
                        "y": 3626.904541015625,
                        "z": 370.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.390933990478516,
                "transform": {
                    "location": {
                        "x": 939.9986572265625,
                        "y": 3549.43310546875,
                        "z": 370.8630065917969
                    },
                    "rotation": {
                        "roll": 0.005917156580835581,
                        "pitch": 0.11518430709838867,
                        "yaw": -80.8560791015625
                    }
                },
                "velocity": {
                    "x": 2.1309988498687744,
                    "y": -13.2202730178833,
                    "z": -0.018693970516324043
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047542572021484,
                "transform": {
                    "location": {
                        "x": 950.5131225585938,
                        "y": 3504.54931640625,
                        "z": 370.78472900390625
                    },
                    "rotation": {
                        "roll": -0.00036621710751205683,
                        "pitch": -0.16894471645355225,
                        "yaw": -80.85905456542969
                    }
                },
                "velocity": {
                    "x": 1.2799407243728638,
                    "y": -7.945066928863525,
                    "z": -0.02462196722626686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.6456909179688,
                        "y": 3627.369873046875,
                        "z": 370.8908996582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.921142578125,
                        "y": 3460.475341796875,
                        "z": 370.5834655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.093323707580566,
                "transform": {
                    "location": {
                        "x": 945.4615478515625,
                        "y": 3493.76171875,
                        "z": 370.7221374511719
                    },
                    "rotation": {
                        "roll": 6.670144436782266e-09,
                        "pitch": 0.19367000460624695,
                        "yaw": 99.12631225585938
                    }
                },
                "velocity": {
                    "x": -1.286273717880249,
                    "y": 7.990406513214111,
                    "z": 0.028085002675652504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052835464477539,
                "transform": {
                    "location": {
                        "x": 942.0120239257812,
                        "y": 3515.2060546875,
                        "z": 370.7833251953125
                    },
                    "rotation": {
                        "roll": -0.001312261912971735,
                        "pitch": 0.16037283837795258,
                        "yaw": 99.15978240966797
                    }
                },
                "velocity": {
                    "x": -1.2802170515060425,
                    "y": 7.9503936767578125,
                    "z": 0.020922698080539703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7656681537628174,
                "transform": {
                    "location": {
                        "x": 931.9581909179688,
                        "y": 3557.2255859375,
                        "z": 370.8754577636719
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": -0.034273888915777206,
                        "yaw": 99.13501739501953
                    }
                },
                "velocity": {
                    "x": -0.5976384878158569,
                    "y": 3.717940092086792,
                    "z": 0.0026623152662068605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.256974220275879,
                "transform": {
                    "location": {
                        "x": 927.6866455078125,
                        "y": 3573.50048828125,
                        "z": 370.89495849609375
                    },
                    "rotation": {
                        "roll": -1.810546636581421,
                        "pitch": 1.0854809284210205,
                        "yaw": 125.07951354980469
                    }
                },
                "velocity": {
                    "x": -5.480381488800049,
                    "y": 6.174633502960205,
                    "z": 0.1301705688238144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6069946289062,
                        "y": 3474.842041015625,
                        "z": 370.6431884765625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024690628051758,
                "transform": {
                    "location": {
                        "x": 938.6145629882812,
                        "y": 3536.318115234375,
                        "z": 370.8368225097656
                    },
                    "rotation": {
                        "roll": 5.544204032048583e-05,
                        "pitch": 0.11863354593515396,
                        "yaw": 99.14418029785156
                    }
                },
                "velocity": {
                    "x": -1.2752878665924072,
                    "y": 7.922688961029053,
                    "z": 0.01698446273803711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.492274284362793,
                "transform": {
                    "location": {
                        "x": 935.8502807617188,
                        "y": 3553.49658203125,
                        "z": 370.87060546875
                    },
                    "rotation": {
                        "roll": -0.0003967279626522213,
                        "pitch": -0.030148454010486603,
                        "yaw": 99.11116027832031
                    }
                },
                "velocity": {
                    "x": -1.1921252012252808,
                    "y": 7.396819114685059,
                    "z": 0.009051570668816566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027928352355957,
                "transform": {
                    "location": {
                        "x": 947.806640625,
                        "y": 3500.9169921875,
                        "z": 370.7363586425781
                    },
                    "rotation": {
                        "roll": 0.0005439168307930231,
                        "pitch": -0.19113600254058838,
                        "yaw": -80.86619567871094
                    }
                },
                "velocity": {
                    "x": 1.2749783992767334,
                    "y": -7.925993919372559,
                    "z": -0.02608863264322281
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2153215855360031,
        "expert_target_speed": 4.5952021538048315,
        "target_point": [
            26.67291284883231,
            -0.21296706429459622
        ],
        "target_point_next": [
            45.169924941940096,
            -0.5404257516770468
        ]
    },
    "645": {
        "acceleration": [
            -0.5639636516571045,
            3.6084747314453125,
            0.01018524169921875
        ],
        "angular_velocity": [
            0.6401402950286865,
            0.057184427976608276,
            -0.7691293358802795
        ],
        "forward_vector": [
            -0.1733412891626358,
            0.9848411083221436,
            0.006385640241205692
        ],
        "right_vector": [
            -0.9848615527153015,
            -0.1733425408601761,
            -0.00036047163303010166
        ],
        "location": [
            934.384765625,
            3544.321533203125,
            370.8482360839844
        ],
        "rotation": [
            0.020653923973441124,
            0.36587271094322205,
            99.98235321044922
        ],
        "velocity": [
            -0.7936685681343079,
            4.618791580200195,
            0.006167363841086626
        ],
        "speed": 4.686485405650227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.218422889709473,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.7853393554688,
                3558.30029296875,
                370.8766174316406
            ],
            "velocity": [
                -0.7748007774353027,
                4.818490028381348,
                0.00573279382660985
            ],
            "speed_kmh": 17.56939983641213,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.623779296875,
                        "y": 3431.254638671875,
                        "z": 370.6778564453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2237677127122879,
                "transform": {
                    "location": {
                        "x": 986.4241333007812,
                        "y": 3586.568603515625,
                        "z": 370.26177978515625
                    },
                    "rotation": {
                        "roll": 0.00010285509779350832,
                        "pitch": 0.7464986443519592,
                        "yaw": -170.74765014648438
                    }
                },
                "velocity": {
                    "x": -0.0028059023898094893,
                    "y": -0.0005231050890870392,
                    "z": -0.22374950349330902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4071655273438,
                        "y": 3461.85546875,
                        "z": 370.7352600097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.206542491912842,
                "transform": {
                    "location": {
                        "x": 933.3693237304688,
                        "y": 3610.5380859375,
                        "z": 370.89117431640625
                    },
                    "rotation": {
                        "roll": -0.022674554958939552,
                        "pitch": -0.05096687003970146,
                        "yaw": -80.4365005493164
                    }
                },
                "velocity": {
                    "x": 1.050338625907898,
                    "y": -6.1170196533203125,
                    "z": 0.005598630756139755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.566624641418457,
                "transform": {
                    "location": {
                        "x": 887.0834350585938,
                        "y": 3573.349609375,
                        "z": 371.2513122558594
                    },
                    "rotation": {
                        "roll": 0.01655879244208336,
                        "pitch": -0.080896757543087,
                        "yaw": 9.536848068237305
                    }
                },
                "velocity": {
                    "x": 8.449142456054688,
                    "y": 1.4128183126449585,
                    "z": -0.05471361428499222
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.985356330871582,
                "transform": {
                    "location": {
                        "x": 930.1473999023438,
                        "y": 3610.08837890625,
                        "z": 370.8856201171875
                    },
                    "rotation": {
                        "roll": -0.002716065151616931,
                        "pitch": 0.03122762404382229,
                        "yaw": -80.4534683227539
                    }
                },
                "velocity": {
                    "x": 1.017022967338562,
                    "y": -5.898317813873291,
                    "z": 0.0003213596355635673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.180541515350342,
                "transform": {
                    "location": {
                        "x": 968.5401611328125,
                        "y": 3583.5625,
                        "z": 370.5368957519531
                    },
                    "rotation": {
                        "roll": 0.002948297653347254,
                        "pitch": 0.5396600365638733,
                        "yaw": -170.8313751220703
                    }
                },
                "velocity": {
                    "x": -7.085325241088867,
                    "y": -1.1630752086639404,
                    "z": 0.07479623705148697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.57985782623291,
                "transform": {
                    "location": {
                        "x": 944.8153076171875,
                        "y": 3477.64404296875,
                        "z": 370.6587829589844
                    },
                    "rotation": {
                        "roll": 0.0038448465056717396,
                        "pitch": 0.11014362424612045,
                        "yaw": 99.6250228881836
                    }
                },
                "velocity": {
                    "x": -0.9333739280700684,
                    "y": 5.501193046569824,
                    "z": 0.022342709824442863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1727294921875,
                        "y": 3446.48486328125,
                        "z": 370.5144958496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.220430374145508,
                "transform": {
                    "location": {
                        "x": 943.1340942382812,
                        "y": 3550.380126953125,
                        "z": 370.85504150390625
                    },
                    "rotation": {
                        "roll": 0.01540265791118145,
                        "pitch": 0.37371379137039185,
                        "yaw": -80.8182144165039
                    }
                },
                "velocity": {
                    "x": 2.1079916954040527,
                    "y": -13.051276206970215,
                    "z": -0.018180465325713158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.6727905273438,
                        "y": 3625.388916015625,
                        "z": 370.88690185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.632115364074707,
                "transform": {
                    "location": {
                        "x": 940.5380859375,
                        "y": 3546.083740234375,
                        "z": 370.8585510253906
                    },
                    "rotation": {
                        "roll": 0.0021161746699362993,
                        "pitch": -0.011467887088656425,
                        "yaw": -80.8554916381836
                    }
                },
                "velocity": {
                    "x": 2.1660871505737305,
                    "y": -13.458906173706055,
                    "z": -0.02180897258222103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010920524597168,
                "transform": {
                    "location": {
                        "x": 950.83203125,
                        "y": 3502.567626953125,
                        "z": 370.7784729003906
                    },
                    "rotation": {
                        "roll": -0.0003356815141160041,
                        "pitch": -0.18502981960773468,
                        "yaw": -80.85704803466797
                    }
                },
                "velocity": {
                    "x": 1.2728960514068604,
                    "y": -7.9091033935546875,
                    "z": -0.025897234678268433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.8907470703125,
                        "y": 3625.847412109375,
                        "z": 370.88677978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7225341796875,
                        "y": 3461.709228515625,
                        "z": 370.5888671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005880355834961,
                "transform": {
                    "location": {
                        "x": 945.1424560546875,
                        "y": 3495.747314453125,
                        "z": 370.7289733886719
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.1950497031211853,
                        "yaw": 99.15782165527344
                    }
                },
                "velocity": {
                    "x": -1.2716132402420044,
                    "y": 7.904205799102783,
                    "z": 0.02544635720551014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053189277648926,
                "transform": {
                    "location": {
                        "x": 941.6918334960938,
                        "y": 3517.19482421875,
                        "z": 370.788818359375
                    },
                    "rotation": {
                        "roll": 0.0006031666998751462,
                        "pitch": 0.1596146821975708,
                        "yaw": 99.1316146850586
                    }
                },
                "velocity": {
                    "x": -1.2796125411987305,
                    "y": 7.950845718383789,
                    "z": 0.02219579555094242
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.8803887367248535,
                "transform": {
                    "location": {
                        "x": 931.7853393554688,
                        "y": 3558.30029296875,
                        "z": 370.8766174316406
                    },
                    "rotation": {
                        "roll": 8.120857273752335e-06,
                        "pitch": -0.04894513264298439,
                        "yaw": 99.1349868774414
                    }
                },
                "velocity": {
                    "x": -0.7748007774353027,
                    "y": 4.818490028381348,
                    "z": 0.00573279382660985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.95053243637085,
                "transform": {
                    "location": {
                        "x": 926.1774291992188,
                        "y": 3574.8720703125,
                        "z": 370.9244689941406
                    },
                    "rotation": {
                        "roll": -2.541900634765625,
                        "pitch": 1.3919856548309326,
                        "yaw": 139.71836853027344
                    }
                },
                "velocity": {
                    "x": -6.6125359535217285,
                    "y": 4.413500785827637,
                    "z": 0.07967281341552734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0039742328226566315,
                "transform": {
                    "location": {
                        "x": 948.4749755859375,
                        "y": 3475.66455078125,
                        "z": 370.64593505859375
                    },
                    "rotation": {
                        "roll": -0.00042725063394755125,
                        "pitch": 0.2366592139005661,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -4.777433423441835e-05,
                    "y": -3.74362243746873e-05,
                    "z": -0.00397376948967576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.033892631530762,
                "transform": {
                    "location": {
                        "x": 938.3141479492188,
                        "y": 3538.184814453125,
                        "z": 370.840576171875
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.0018031698418781161,
                        "yaw": 99.13899993896484
                    }
                },
                "velocity": {
                    "x": -1.117350459098816,
                    "y": 6.944562911987305,
                    "z": 0.01484595239162445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.528486728668213,
                "transform": {
                    "location": {
                        "x": 935.5704345703125,
                        "y": 3555.23486328125,
                        "z": 370.8713684082031
                    },
                    "rotation": {
                        "roll": -0.0009155277512036264,
                        "pitch": 0.12842804193496704,
                        "yaw": 99.10254669189453
                    }
                },
                "velocity": {
                    "x": -1.0364466905593872,
                    "y": 6.445683479309082,
                    "z": 0.008947410620748997
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029682159423828,
                "transform": {
                    "location": {
                        "x": 948.1255493164062,
                        "y": 3498.935546875,
                        "z": 370.7297668457031
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": -0.18957188725471497,
                        "yaw": -80.83851623535156
                    }
                },
                "velocity": {
                    "x": 1.2775160074234009,
                    "y": -7.927364826202393,
                    "z": -0.0252242311835289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20682957768440247,
        "expert_target_speed": 5.444541076736123,
        "target_point": [
            25.60913543534203,
            -0.12953359868970615
        ],
        "target_point_next": [
            44.1070582620745,
            -0.40071003713460396
        ]
    },
    "650": {
        "acceleration": [
            0.1953268051147461,
            -0.8838367462158203,
            0.0055162422358989716
        ],
        "angular_velocity": [
            -1.1721701622009277,
            -0.04409218952059746,
            2.634227991104126
        ],
        "forward_vector": [
            -0.1701183170080185,
            0.9854025840759277,
            0.006436780095100403
        ],
        "right_vector": [
            -0.9854233860969543,
            -0.1701192557811737,
            -0.00040577954496257007
        ],
        "location": [
            934.1713256835938,
            3545.572021484375,
            370.8503723144531
        ],
        "rotation": [
            0.02324993722140789,
            0.36880287528038025,
            99.79490661621094
        ],
        "velocity": [
            -0.8594340085983276,
            5.09343147277832,
            0.009335203096270561
        ],
        "speed": 5.16543037732812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.249775886535645,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.5789794921875,
                3559.583984375,
                370.87786865234375
            ],
            "velocity": [
                -0.8661172986030579,
                5.393311500549316,
                0.0051529500633478165
            ],
            "speed_kmh": 19.66469961429606,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.491455078125,
                        "y": 3432.0751953125,
                        "z": 370.6219787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.259098619222641,
                "transform": {
                    "location": {
                        "x": 986.4210815429688,
                        "y": 3586.568115234375,
                        "z": 370.2814025878906
                    },
                    "rotation": {
                        "roll": -0.0016174250049516559,
                        "pitch": 0.765390932559967,
                        "yaw": -170.75225830078125
                    }
                },
                "velocity": {
                    "x": -0.21016904711723328,
                    "y": -0.03842158615589142,
                    "z": 0.14657710492610931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1818237304688,
                        "y": 3463.256103515625,
                        "z": 370.6360778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.97542667388916,
                "transform": {
                    "location": {
                        "x": 933.6286010742188,
                        "y": 3609.0380859375,
                        "z": 370.8922424316406
                    },
                    "rotation": {
                        "roll": -0.012176514603197575,
                        "pitch": 0.011672792956233025,
                        "yaw": -80.23683166503906
                    }
                },
                "velocity": {
                    "x": 1.0226508378982544,
                    "y": -5.887264251708984,
                    "z": 0.005396051332354546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.375044822692871,
                "transform": {
                    "location": {
                        "x": 889.2026977539062,
                        "y": 3573.70361328125,
                        "z": 371.23956298828125
                    },
                    "rotation": {
                        "roll": 0.0035893346648663282,
                        "pitch": -0.3183346092700958,
                        "yaw": 9.45302677154541
                    }
                },
                "velocity": {
                    "x": 8.261151313781738,
                    "y": 1.3754228353500366,
                    "z": -0.05453885346651077
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.206655025482178,
                "transform": {
                    "location": {
                        "x": 930.4063720703125,
                        "y": 3608.585205078125,
                        "z": 370.8863525390625
                    },
                    "rotation": {
                        "roll": -0.0006713863695040345,
                        "pitch": 0.03807830438017845,
                        "yaw": -80.21033477783203
                    }
                },
                "velocity": {
                    "x": 1.067604899406433,
                    "y": -6.114145278930664,
                    "z": 0.0027379607781767845
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.75256872177124,
                "transform": {
                    "location": {
                        "x": 966.8416748046875,
                        "y": 3583.28515625,
                        "z": 370.5548400878906
                    },
                    "rotation": {
                        "roll": 0.0025684707798063755,
                        "pitch": 0.5453495979309082,
                        "yaw": -170.9833221435547
                    }
                },
                "velocity": {
                    "x": -6.664965629577637,
                    "y": -1.0818129777908325,
                    "z": 0.07139070332050323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.136051654815674,
                "transform": {
                    "location": {
                        "x": 944.5757446289062,
                        "y": 3479.0595703125,
                        "z": 370.66461181640625
                    },
                    "rotation": {
                        "roll": 0.010434502735733986,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.60372161865234
                    }
                },
                "velocity": {
                    "x": -1.0121841430664062,
                    "y": 6.05194616317749,
                    "z": 0.023682011291384697
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.97412109375,
                        "y": 3447.71875,
                        "z": 370.5211181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.558152198791504,
                "transform": {
                    "location": {
                        "x": 943.6712036132812,
                        "y": 3547.0537109375,
                        "z": 370.8504638671875
                    },
                    "rotation": {
                        "roll": 0.010168544948101044,
                        "pitch": 0.20001524686813354,
                        "yaw": -80.83683776855469
                    }
                },
                "velocity": {
                    "x": 2.1593899726867676,
                    "y": -13.385068893432617,
                    "z": -0.021355705335736275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.9139404296875,
                        "y": 3623.8896484375,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.514057159423828,
                "transform": {
                    "location": {
                        "x": 941.0771484375,
                        "y": 3542.73388671875,
                        "z": 370.8539733886719
                    },
                    "rotation": {
                        "roll": 0.00012916026753373444,
                        "pitch": -0.13009460270404816,
                        "yaw": -80.87201690673828
                    }
                },
                "velocity": {
                    "x": 2.146449565887451,
                    "y": -13.342488288879395,
                    "z": -0.022685231640934944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047412872314453,
                "transform": {
                    "location": {
                        "x": 951.151123046875,
                        "y": 3500.58544921875,
                        "z": 370.7719421386719
                    },
                    "rotation": {
                        "roll": 0.00012071623496012762,
                        "pitch": -0.18851320445537567,
                        "yaw": -80.85334014892578
                    }
                },
                "velocity": {
                    "x": 1.27935791015625,
                    "y": -7.945026874542236,
                    "z": -0.025487860664725304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.1337280273438,
                        "y": 3624.33740234375,
                        "z": 370.8827209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5901489257812,
                        "y": 3462.53173828125,
                        "z": 370.5924072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030439376831055,
                "transform": {
                    "location": {
                        "x": 944.8240356445312,
                        "y": 3497.724853515625,
                        "z": 370.73553466796875
                    },
                    "rotation": {
                        "roll": -0.00015257946506608278,
                        "pitch": 0.18385502696037292,
                        "yaw": 99.11885070800781
                    }
                },
                "velocity": {
                    "x": -1.273789644241333,
                    "y": 7.928731918334961,
                    "z": 0.025176525115966797
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04167366027832,
                "transform": {
                    "location": {
                        "x": 941.3721923828125,
                        "y": 3519.1806640625,
                        "z": 370.7943420410156
                    },
                    "rotation": {
                        "roll": 0.0003207199042662978,
                        "pitch": 0.15748366713523865,
                        "yaw": 99.16398620605469
                    }
                },
                "velocity": {
                    "x": -1.2781821489334106,
                    "y": 7.939414978027344,
                    "z": 0.02136383019387722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.462416648864746,
                "transform": {
                    "location": {
                        "x": 931.5789794921875,
                        "y": 3559.583984375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.000457763351732865,
                        "pitch": -0.0061949812807142735,
                        "yaw": 99.16549682617188
                    }
                },
                "velocity": {
                    "x": -0.8661172986030579,
                    "y": 5.393311500549316,
                    "z": 0.0051529500633478165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8383049964904785,
                "transform": {
                    "location": {
                        "x": 924.4532470703125,
                        "y": 3575.704833984375,
                        "z": 370.95849609375
                    },
                    "rotation": {
                        "roll": -3.2721564769744873,
                        "pitch": 0.8472439646720886,
                        "yaw": 155.92771911621094
                    }
                },
                "velocity": {
                    "x": -7.538185119628906,
                    "y": 2.1450493335723877,
                    "z": 0.11641710251569748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.009516716003418,
                "transform": {
                    "location": {
                        "x": 948.2118530273438,
                        "y": 3477.2978515625,
                        "z": 370.6534729003906
                    },
                    "rotation": {
                        "roll": -0.012939452193677425,
                        "pitch": 0.20116955041885376,
                        "yaw": 99.1881103515625
                    }
                },
                "velocity": {
                    "x": -1.2965800762176514,
                    "y": 7.903797626495361,
                    "z": 0.034815091639757156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.631718635559082,
                "transform": {
                    "location": {
                        "x": 938.0640258789062,
                        "y": 3539.740234375,
                        "z": 370.8435974121094
                    },
                    "rotation": {
                        "roll": 6.8235262915550265e-06,
                        "pitch": -0.08660679310560226,
                        "yaw": 99.13044738769531
                    }
                },
                "velocity": {
                    "x": -0.8937053680419922,
                    "y": 5.560338497161865,
                    "z": 0.01336634624749422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.988218784332275,
                "transform": {
                    "location": {
                        "x": 935.3271484375,
                        "y": 3556.74951171875,
                        "z": 370.87322998046875
                    },
                    "rotation": {
                        "roll": -0.0006103561609052122,
                        "pitch": 0.12328490614891052,
                        "yaw": 99.16973876953125
                    }
                },
                "velocity": {
                    "x": -0.952646017074585,
                    "y": 5.911953449249268,
                    "z": 0.006006097886711359
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02943229675293,
                "transform": {
                    "location": {
                        "x": 948.4447631835938,
                        "y": 3496.954345703125,
                        "z": 370.72320556640625
                    },
                    "rotation": {
                        "roll": 0.0011201170273125172,
                        "pitch": -0.1890869438648224,
                        "yaw": -80.86820983886719
                    }
                },
                "velocity": {
                    "x": 1.274619221687317,
                    "y": -7.927577972412109,
                    "z": -0.025351280346512794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21063393354415894,
        "expert_target_speed": 5.880365248722791,
        "target_point": [
            24.34085141067032,
            -0.04334362672656411
        ],
        "target_point_next": [
            42.83956241745276,
            -0.2540012922986241
        ]
    },
    "655": {
        "acceleration": [
            -1.3687574863433838,
            8.667078018188477,
            -0.0027627870440483093
        ],
        "angular_velocity": [
            1.9231306314468384,
            0.34583279490470886,
            -1.6542367935180664
        ],
        "forward_vector": [
            -0.16680525243282318,
            0.9859805703163147,
            0.004287706222385168
        ],
        "right_vector": [
            -0.9859898686408997,
            -0.16680476069450378,
            -0.000475118140457198
        ],
        "location": [
            933.9569091796875,
            3546.85400390625,
            370.85296630859375
        ],
        "rotation": [
            0.027222516015172005,
            0.2456682324409485,
            99.60221099853516
        ],
        "velocity": [
            -0.9132860898971558,
            5.5290141105651855,
            0.009193544276058674
        ],
        "speed": 5.603935092132007,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.31556224822998,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.3618774414062,
                3560.932373046875,
                370.878662109375
            ],
            "velocity": [
                -0.8399468064308167,
                5.213714599609375,
                0.005204725079238415
            ],
            "speed_kmh": 19.011394351350837,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2311401367188,
                        "y": 3433.693359375,
                        "z": 370.5119323730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5670077800750732,
                "transform": {
                    "location": {
                        "x": 986.1658325195312,
                        "y": 3586.522705078125,
                        "z": 370.3079528808594
                    },
                    "rotation": {
                        "roll": -0.018127435818314552,
                        "pitch": 1.1201919317245483,
                        "yaw": -170.63864135742188
                    }
                },
                "velocity": {
                    "x": -1.540347695350647,
                    "y": -0.2770257592201233,
                    "z": 0.07809562236070633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8956909179688,
                        "y": 3465.033447265625,
                        "z": 370.6171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0744829177856445,
                "transform": {
                    "location": {
                        "x": 933.8517456054688,
                        "y": 3607.72265625,
                        "z": 370.8931884765625
                    },
                    "rotation": {
                        "roll": 0.006582043599337339,
                        "pitch": -0.09726189076900482,
                        "yaw": -80.24949645996094
                    }
                },
                "velocity": {
                    "x": 0.8455859422683716,
                    "y": -5.003533363342285,
                    "z": 0.003782510757446289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.988425254821777,
                "transform": {
                    "location": {
                        "x": 891.212158203125,
                        "y": 3574.0361328125,
                        "z": 371.2279357910156
                    },
                    "rotation": {
                        "roll": 0.010442622005939484,
                        "pitch": -0.5240803956985474,
                        "yaw": 9.36707592010498
                    }
                },
                "velocity": {
                    "x": 7.882771968841553,
                    "y": 1.2938570976257324,
                    "z": -0.05275699123740196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.374355792999268,
                "transform": {
                    "location": {
                        "x": 930.6655883789062,
                        "y": 3607.071533203125,
                        "z": 370.8872985839844
                    },
                    "rotation": {
                        "roll": 0.002033454133197665,
                        "pitch": 0.04418449103832245,
                        "yaw": -80.27433776855469
                    }
                },
                "velocity": {
                    "x": 1.0633562803268433,
                    "y": -6.285035133361816,
                    "z": 0.004531173501163721
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.821068286895752,
                "transform": {
                    "location": {
                        "x": 965.1564331054688,
                        "y": 3583.012451171875,
                        "z": 370.5728454589844
                    },
                    "rotation": {
                        "roll": 0.00014895139611326158,
                        "pitch": 0.5908181667327881,
                        "yaw": -171.03500366210938
                    }
                },
                "velocity": {
                    "x": -6.733290195465088,
                    "y": -1.0884170532226562,
                    "z": 0.07158569246530533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.400131225585938,
                "transform": {
                    "location": {
                        "x": 944.2685546875,
                        "y": 3480.907958984375,
                        "z": 370.67218017578125
                    },
                    "rotation": {
                        "roll": 0.011136780492961407,
                        "pitch": 0.5867815017700195,
                        "yaw": 99.45281982421875
                    }
                },
                "velocity": {
                    "x": -1.3724474906921387,
                    "y": 8.287188529968262,
                    "z": 0.033280592411756516
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.71435546875,
                        "y": 3449.333251953125,
                        "z": 370.52978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.373799324035645,
                "transform": {
                    "location": {
                        "x": 944.2067260742188,
                        "y": 3543.73388671875,
                        "z": 370.8458557128906
                    },
                    "rotation": {
                        "roll": 0.004644179251044989,
                        "pitch": -0.03561943396925926,
                        "yaw": -80.84173583984375
                    }
                },
                "velocity": {
                    "x": 2.1291823387145996,
                    "y": -13.203206062316895,
                    "z": -0.021476859226822853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.1572265625,
                        "y": 3622.377197265625,
                        "z": 370.88275146484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.437492370605469,
                "transform": {
                    "location": {
                        "x": 941.6116943359375,
                        "y": 3539.41015625,
                        "z": 370.8477783203125
                    },
                    "rotation": {
                        "roll": 0.000456250156275928,
                        "pitch": -0.15014120936393738,
                        "yaw": -80.85368347167969
                    }
                },
                "velocity": {
                    "x": 2.1336772441864014,
                    "y": -13.266985893249512,
                    "z": -0.026407107710838318
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012345314025879,
                "transform": {
                    "location": {
                        "x": 951.47021484375,
                        "y": 3498.60400390625,
                        "z": 370.765380859375
                    },
                    "rotation": {
                        "roll": 0.00029984957654960454,
                        "pitch": -0.18784385919570923,
                        "yaw": -80.85285949707031
                    }
                },
                "velocity": {
                    "x": 1.2737122774124146,
                    "y": -7.910414218902588,
                    "z": -0.025885900482535362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.3505249023438,
                        "y": 3622.989990234375,
                        "z": 370.8825988769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2669067382812,
                        "y": 3464.540771484375,
                        "z": 370.60107421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038808822631836,
                "transform": {
                    "location": {
                        "x": 944.505126953125,
                        "y": 3499.709228515625,
                        "z": 370.7420959472656
                    },
                    "rotation": {
                        "roll": 0.0012999838218092918,
                        "pitch": 0.1844424158334732,
                        "yaw": 99.1565933227539
                    }
                },
                "velocity": {
                    "x": -1.2791153192520142,
                    "y": 7.936349391937256,
                    "z": 0.025700196623802185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051103591918945,
                "transform": {
                    "location": {
                        "x": 941.0524291992188,
                        "y": 3521.166748046875,
                        "z": 370.79986572265625
                    },
                    "rotation": {
                        "roll": 0.0010594837367534637,
                        "pitch": 0.15973079204559326,
                        "yaw": 99.13495635986328
                    }
                },
                "velocity": {
                    "x": -1.2799065113067627,
                    "y": 7.94868803024292,
                    "z": 0.021667422726750374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.280942916870117,
                "transform": {
                    "location": {
                        "x": 931.3618774414062,
                        "y": 3560.932373046875,
                        "z": 370.878662109375
                    },
                    "rotation": {
                        "roll": 0.00036306402762420475,
                        "pitch": 0.04698486998677254,
                        "yaw": 99.17958068847656
                    }
                },
                "velocity": {
                    "x": -0.8399468064308167,
                    "y": 5.213714599609375,
                    "z": 0.005204725079238415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.225516319274902,
                "transform": {
                    "location": {
                        "x": 922.4772338867188,
                        "y": 3576.057373046875,
                        "z": 370.9860534667969
                    },
                    "rotation": {
                        "roll": -3.2907111644744873,
                        "pitch": 0.5928330421447754,
                        "yaw": 171.57778930664062
                    }
                },
                "velocity": {
                    "x": -8.213418006896973,
                    "y": 0.43762388825416565,
                    "z": 0.08585124462842941
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.177451133728027,
                "transform": {
                    "location": {
                        "x": 947.872314453125,
                        "y": 3479.29296875,
                        "z": 370.6617126464844
                    },
                    "rotation": {
                        "roll": -0.026611316949129105,
                        "pitch": 0.218887060880661,
                        "yaw": 99.73587036132812
                    }
                },
                "velocity": {
                    "x": -1.397827386856079,
                    "y": 8.057028770446777,
                    "z": 0.03292443975806236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.67476749420166,
                "transform": {
                    "location": {
                        "x": 937.8440551757812,
                        "y": 3541.108642578125,
                        "z": 370.846435546875
                    },
                    "rotation": {
                        "roll": 4.4899843487655744e-05,
                        "pitch": 0.057564832270145416,
                        "yaw": 99.13154602050781
                    }
                },
                "velocity": {
                    "x": -0.9005705118179321,
                    "y": 5.60284423828125,
                    "z": 0.009853334166109562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.803833484649658,
                "transform": {
                    "location": {
                        "x": 935.11865234375,
                        "y": 3558.04248046875,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.0001525793195469305,
                        "pitch": 0.1653793603181839,
                        "yaw": 99.03071594238281
                    }
                },
                "velocity": {
                    "x": -0.7641841769218445,
                    "y": 4.7426605224609375,
                    "z": 0.0032309722155332565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029945373535156,
                "transform": {
                    "location": {
                        "x": 948.763427734375,
                        "y": 3494.97265625,
                        "z": 370.7164306640625
                    },
                    "rotation": {
                        "roll": 0.0011123468866571784,
                        "pitch": -0.19768615067005157,
                        "yaw": -80.84757995605469
                    }
                },
                "velocity": {
                    "x": 1.2753130197525024,
                    "y": -7.927978992462158,
                    "z": -0.02740263007581234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2099839597940445,
        "expert_target_speed": 6.254736797205598,
        "target_point": [
            23.04107204987378,
            0.04095475243710256
        ],
        "target_point_next": [
            41.54038694413104,
            -0.10748381273056573
        ]
    },
    "660": {
        "acceleration": [
            -0.6680035591125488,
            4.673089981079102,
            -0.002351384609937668
        ],
        "angular_velocity": [
            0.35800155997276306,
            0.13222908973693848,
            1.2002370357513428
        ],
        "forward_vector": [
            -0.16338945925235748,
            0.9865160584449768,
            0.009480572305619717
        ],
        "right_vector": [
            -0.9865610599517822,
            -0.16339202225208282,
            -0.0005090855993330479
        ],
        "location": [
            933.6969604492188,
            3548.434326171875,
            370.85443115234375
        ],
        "rotation": [
            0.02916976623237133,
            0.5432049036026001,
            99.40411376953125
        ],
        "velocity": [
            -1.1159316301345825,
            6.857307434082031,
            0.010179576463997364
        ],
        "speed": 6.947515285960264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.987798690795898,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.1590576171875,
                3562.18994140625,
                370.8794860839844
            ],
            "velocity": [
                -0.8031278252601624,
                4.985398769378662,
                0.0009076690184883773
            ],
            "speed_kmh": 18.178829433825218,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.909912109375,
                        "y": 3435.690185546875,
                        "z": 370.4629211425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5383622646331787,
                "transform": {
                    "location": {
                        "x": 985.6608276367188,
                        "y": 3586.436279296875,
                        "z": 370.32244873046875
                    },
                    "rotation": {
                        "roll": -0.0013427704107016325,
                        "pitch": 1.1801472902297974,
                        "yaw": -170.5774688720703
                    }
                },
                "velocity": {
                    "x": -2.501307725906372,
                    "y": -0.4294607937335968,
                    "z": 0.04802709445357323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5659790039062,
                        "y": 3467.082763671875,
                        "z": 370.6191711425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.496723175048828,
                "transform": {
                    "location": {
                        "x": 934.0704956054688,
                        "y": 3606.427978515625,
                        "z": 370.8941345214844
                    },
                    "rotation": {
                        "roll": 0.004260579124093056,
                        "pitch": 0.060358379036188126,
                        "yaw": -80.26519775390625
                    }
                },
                "velocity": {
                    "x": 0.9155049920082092,
                    "y": -5.41994571685791,
                    "z": 0.0023176574613898993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.897783279418945,
                "transform": {
                    "location": {
                        "x": 893.1658325195312,
                        "y": 3574.356689453125,
                        "z": 371.2139892578125
                    },
                    "rotation": {
                        "roll": 0.0061213113367557526,
                        "pitch": -0.4327402710914612,
                        "yaw": 9.284210205078125
                    }
                },
                "velocity": {
                    "x": 7.7944793701171875,
                    "y": 1.2721370458602905,
                    "z": -0.05232984945178032
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.767251968383789,
                "transform": {
                    "location": {
                        "x": 930.9462280273438,
                        "y": 3605.412353515625,
                        "z": 370.8884582519531
                    },
                    "rotation": {
                        "roll": 0.0009400733979418874,
                        "pitch": 0.0474083386361599,
                        "yaw": -80.40559387207031
                    }
                },
                "velocity": {
                    "x": 1.1208668947219849,
                    "y": -6.673779010772705,
                    "z": 0.005557927768677473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.310914516448975,
                "transform": {
                    "location": {
                        "x": 963.5389404296875,
                        "y": 3582.751220703125,
                        "z": 370.5899963378906
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.5504517555236816,
                        "yaw": -171.07275390625
                    }
                },
                "velocity": {
                    "x": -6.22963809967041,
                    "y": -1.007405400276184,
                    "z": 0.06623058021068573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.105175018310547,
                "transform": {
                    "location": {
                        "x": 943.9282836914062,
                        "y": 3482.967041015625,
                        "z": 370.6802978515625
                    },
                    "rotation": {
                        "roll": 0.006344478577375412,
                        "pitch": 0.2763631045818329,
                        "yaw": 99.47261047363281
                    }
                },
                "velocity": {
                    "x": -1.3194468021392822,
                    "y": 7.9969916343688965,
                    "z": 0.032334089279174805
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.3943481445312,
                        "y": 3451.3212890625,
                        "z": 370.5398254394531
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.350198745727539,
                "transform": {
                    "location": {
                        "x": 944.7374877929688,
                        "y": 3540.440185546875,
                        "z": 370.84002685546875
                    },
                    "rotation": {
                        "roll": 0.003972269129008055,
                        "pitch": -0.11105203628540039,
                        "yaw": -80.84786224365234
                    }
                },
                "velocity": {
                    "x": 2.1228833198547363,
                    "y": -13.180306434631348,
                    "z": -0.02617761120200157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.4409790039062,
                        "y": 3620.6142578125,
                        "z": 370.88372802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.4360933303833,
                "transform": {
                    "location": {
                        "x": 942.1449584960938,
                        "y": 3536.09423828125,
                        "z": 370.840576171875
                    },
                    "rotation": {
                        "roll": 0.00014737634046468884,
                        "pitch": -0.12114705890417099,
                        "yaw": -80.87621307373047
                    }
                },
                "velocity": {
                    "x": 2.1327261924743652,
                    "y": -13.265716552734375,
                    "z": -0.029213108122348785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0472412109375,
                "transform": {
                    "location": {
                        "x": 951.7893676757812,
                        "y": 3496.621826171875,
                        "z": 370.7588195800781
                    },
                    "rotation": {
                        "roll": 0.0002646645880304277,
                        "pitch": -0.18899132311344147,
                        "yaw": -80.85273742675781
                    }
                },
                "velocity": {
                    "x": 1.279244303703308,
                    "y": -7.944866180419922,
                    "z": -0.02711522951722145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.5562133789062,
                        "y": 3621.710205078125,
                        "z": 370.8832702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9454956054688,
                        "y": 3466.536865234375,
                        "z": 370.60943603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027909278869629,
                "transform": {
                    "location": {
                        "x": 944.1859130859375,
                        "y": 3501.69189453125,
                        "z": 370.74853515625
                    },
                    "rotation": {
                        "roll": 0.00019742950098589063,
                        "pitch": 0.1854327917098999,
                        "yaw": 99.11944580078125
                    }
                },
                "velocity": {
                    "x": -1.2748051881790161,
                    "y": 7.926006317138672,
                    "z": 0.025231322273612022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04804515838623,
                "transform": {
                    "location": {
                        "x": 940.732421875,
                        "y": 3523.153564453125,
                        "z": 370.80523681640625
                    },
                    "rotation": {
                        "roll": 0.00045874479110352695,
                        "pitch": 0.1510564535856247,
                        "yaw": 99.16482543945312
                    }
                },
                "velocity": {
                    "x": -1.2791452407836914,
                    "y": 7.945712566375732,
                    "z": 0.021670207381248474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0496745109558105,
                "transform": {
                    "location": {
                        "x": 931.1590576171875,
                        "y": 3562.18994140625,
                        "z": 370.8794860839844
                    },
                    "rotation": {
                        "roll": -0.00030517764389514923,
                        "pitch": 0.07457882910966873,
                        "yaw": 99.16842651367188
                    }
                },
                "velocity": {
                    "x": -0.8031278252601624,
                    "y": 4.985398769378662,
                    "z": 0.0009076690184883773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.935070514678955,
                "transform": {
                    "location": {
                        "x": 920.479248046875,
                        "y": 3576.015625,
                        "z": 371.00482177734375
                    },
                    "rotation": {
                        "roll": -2.416869878768921,
                        "pitch": 0.33282142877578735,
                        "yaw": -177.2071533203125
                    }
                },
                "velocity": {
                    "x": -7.89028263092041,
                    "y": -0.8394944071769714,
                    "z": 0.06349088251590729
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.955743789672852,
                "transform": {
                    "location": {
                        "x": 947.532958984375,
                        "y": 3481.280029296875,
                        "z": 370.6697692871094
                    },
                    "rotation": {
                        "roll": 0.0007572827744297683,
                        "pitch": 0.22013016045093536,
                        "yaw": 99.68891906738281
                    }
                },
                "velocity": {
                    "x": -1.334362268447876,
                    "y": 7.842978477478027,
                    "z": 0.03202050179243088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.2143659591674805,
                "transform": {
                    "location": {
                        "x": 937.5997924804688,
                        "y": 3542.62744140625,
                        "z": 370.8494873046875
                    },
                    "rotation": {
                        "roll": 0.000645727850496769,
                        "pitch": 0.2877900004386902,
                        "yaw": 99.14054107666016
                    }
                },
                "velocity": {
                    "x": -1.1459553241729736,
                    "y": 7.122758865356445,
                    "z": 0.013117466121912003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.203542709350586,
                "transform": {
                    "location": {
                        "x": 934.9171142578125,
                        "y": 3559.292724609375,
                        "z": 370.8766174316406
                    },
                    "rotation": {
                        "roll": 0.00020759545441251248,
                        "pitch": 0.04432109370827675,
                        "yaw": 99.007080078125
                    }
                },
                "velocity": {
                    "x": -0.8265655040740967,
                    "y": 5.137471675872803,
                    "z": 0.0054819583892822266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029273986816406,
                "transform": {
                    "location": {
                        "x": 949.0822143554688,
                        "y": 3492.990966796875,
                        "z": 370.70941162109375
                    },
                    "rotation": {
                        "roll": -0.0002746568061411381,
                        "pitch": -0.21072497963905334,
                        "yaw": -80.87566375732422
                    }
                },
                "velocity": {
                    "x": 1.2752370834350586,
                    "y": -7.927306175231934,
                    "z": -0.028689345344901085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19011984765529633,
        "expert_target_speed": 7.255267608865891,
        "target_point": [
            21.439234486735987,
            0.12238939033226082
        ],
        "target_point_next": [
            39.938952057227795,
            0.037918232209793956
        ]
    },
    "665": {
        "acceleration": [
            -0.18002748489379883,
            1.9373321533203125,
            0.017076488584280014
        ],
        "angular_velocity": [
            -0.7110782861709595,
            -0.20622551441192627,
            -3.709176778793335
        ],
        "forward_vector": [
            -0.1585719734430313,
            0.9873048663139343,
            0.009164203889667988
        ],
        "right_vector": [
            -0.9873471856117249,
            -0.1585719883441925,
            -0.0007296865223906934
        ],
        "location": [
            933.3997192382812,
            3550.28125,
            370.8570251464844
        ],
        "rotation": [
            0.04180971905589104,
            0.5250775814056396,
            99.12440490722656
        ],
        "velocity": [
            -1.227607011795044,
            7.7512359619140625,
            0.010223998688161373
        ],
        "speed": 7.847845431242781,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.367571830749512,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.960205078125,
                3563.42431640625,
                370.880615234375
            ],
            "velocity": [
                -0.7814010977745056,
                4.845705986022949,
                0.002560405759140849
            ],
            "speed_kmh": 17.66989901261473,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5907592773438,
                        "y": 3437.67236328125,
                        "z": 370.469482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7614214420318604,
                "transform": {
                    "location": {
                        "x": 984.891845703125,
                        "y": 3586.3046875,
                        "z": 370.3343200683594
                    },
                    "rotation": {
                        "roll": -0.0033264118246734142,
                        "pitch": 1.2488863468170166,
                        "yaw": -170.4490203857422
                    }
                },
                "velocity": {
                    "x": -3.706583261489868,
                    "y": -0.6378915905952454,
                    "z": 0.05124584212899208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2520751953125,
                        "y": 3469.03369140625,
                        "z": 370.6223449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.296463966369629,
                "transform": {
                    "location": {
                        "x": 934.3360595703125,
                        "y": 3604.8525390625,
                        "z": 370.8951721191406
                    },
                    "rotation": {
                        "roll": 0.0054533700458705425,
                        "pitch": 0.35495808720588684,
                        "yaw": -80.38871765136719
                    }
                },
                "velocity": {
                    "x": 1.2098830938339233,
                    "y": -7.19545316696167,
                    "z": 0.0046206568367779255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.771602153778076,
                "transform": {
                    "location": {
                        "x": 895.10546875,
                        "y": 3574.673095703125,
                        "z": 371.20050048828125
                    },
                    "rotation": {
                        "roll": 0.0029118822421878576,
                        "pitch": -0.3991084098815918,
                        "yaw": 9.24252700805664
                    }
                },
                "velocity": {
                    "x": 7.671004295349121,
                    "y": 1.245278239250183,
                    "z": -0.05268940329551697
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.117866039276123,
                "transform": {
                    "location": {
                        "x": 931.212158203125,
                        "y": 3603.829833984375,
                        "z": 370.88970947265625
                    },
                    "rotation": {
                        "roll": 0.00013573000614997,
                        "pitch": 0.027819359675049782,
                        "yaw": -80.47039794921875
                    }
                },
                "velocity": {
                    "x": 1.0107365846633911,
                    "y": -6.033793926239014,
                    "z": 0.005531921051442623
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.293217658996582,
                "transform": {
                    "location": {
                        "x": 961.989990234375,
                        "y": 3582.500244140625,
                        "z": 370.6062316894531
                    },
                    "rotation": {
                        "roll": -0.003295901697129011,
                        "pitch": 0.5686473846435547,
                        "yaw": -171.07406616210938
                    }
                },
                "velocity": {
                    "x": -6.2120208740234375,
                    "y": -1.0055606365203857,
                    "z": 0.06507135182619095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.851606369018555,
                "transform": {
                    "location": {
                        "x": 943.6085205078125,
                        "y": 3484.907958984375,
                        "z": 370.6881103515625
                    },
                    "rotation": {
                        "roll": 0.005633920896798372,
                        "pitch": 0.20491932332515717,
                        "yaw": 99.53236389160156
                    }
                },
                "velocity": {
                    "x": -1.2741957902908325,
                    "y": 7.747464656829834,
                    "z": 0.030617130920290947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.0739135742188,
                        "y": 3453.311767578125,
                        "z": 370.5498046875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.386648178100586,
                "transform": {
                    "location": {
                        "x": 945.26904296875,
                        "y": 3537.1396484375,
                        "z": 370.8331298828125
                    },
                    "rotation": {
                        "roll": 0.002549542114138603,
                        "pitch": -0.10547177493572235,
                        "yaw": -80.85639953613281
                    }
                },
                "velocity": {
                    "x": 2.1280763149261475,
                    "y": -13.216383934020996,
                    "z": -0.028978928923606873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.161632537841797,
                "transform": {
                    "location": {
                        "x": 928.697265625,
                        "y": 3619.026123046875,
                        "z": 370.88525390625
                    },
                    "rotation": {
                        "roll": -0.013824463821947575,
                        "pitch": -0.17996181547641754,
                        "yaw": -80.83500671386719
                    }
                },
                "velocity": {
                    "x": 0.8402306437492371,
                    "y": -5.092782974243164,
                    "z": -0.0048398301005363464
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.450840950012207,
                "transform": {
                    "location": {
                        "x": 942.678466796875,
                        "y": 3532.77587890625,
                        "z": 370.8331298828125
                    },
                    "rotation": {
                        "roll": -0.0007934641325846314,
                        "pitch": -0.11495890468358994,
                        "yaw": -80.85613250732422
                    }
                },
                "velocity": {
                    "x": 2.1356425285339355,
                    "y": -13.280182838439941,
                    "z": -0.029817890375852585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012289047241211,
                "transform": {
                    "location": {
                        "x": 952.1083374023438,
                        "y": 3494.64013671875,
                        "z": 370.7518615722656
                    },
                    "rotation": {
                        "roll": -0.0003051859966944903,
                        "pitch": -0.20440706610679626,
                        "yaw": -80.85440826416016
                    }
                },
                "velocity": {
                    "x": 1.2720956802368164,
                    "y": -7.910605430603027,
                    "z": -0.02945297211408615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.849609375,
                        "y": 3619.887939453125,
                        "z": 370.8843994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.6270141601562,
                        "y": 3468.516845703125,
                        "z": 370.6177978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032636642456055,
                "transform": {
                    "location": {
                        "x": 943.8676147460938,
                        "y": 3503.673583984375,
                        "z": 370.7547302246094
                    },
                    "rotation": {
                        "roll": 0.0005415215855464339,
                        "pitch": 0.16898569464683533,
                        "yaw": 99.15117645263672
                    }
                },
                "velocity": {
                    "x": -1.2766189575195312,
                    "y": 7.9305033683776855,
                    "z": 0.024633701890707016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047106742858887,
                "transform": {
                    "location": {
                        "x": 940.4127807617188,
                        "y": 3525.139892578125,
                        "z": 370.8103942871094
                    },
                    "rotation": {
                        "roll": 0.0006441542063839734,
                        "pitch": 0.14414431154727936,
                        "yaw": 99.1307144165039
                    }
                },
                "velocity": {
                    "x": -1.277903437614441,
                    "y": 7.944962978363037,
                    "z": 0.021323956549167633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.9083051681518555,
                "transform": {
                    "location": {
                        "x": 930.960205078125,
                        "y": 3563.42431640625,
                        "z": 370.880615234375
                    },
                    "rotation": {
                        "roll": 0.00040421870653517544,
                        "pitch": 0.06445649266242981,
                        "yaw": 99.15860748291016
                    }
                },
                "velocity": {
                    "x": -0.7814010977745056,
                    "y": 4.845705986022949,
                    "z": 0.002560405759140849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035812377929688,
                "transform": {
                    "location": {
                        "x": 918.5057373046875,
                        "y": 3575.773681640625,
                        "z": 371.01983642578125
                    },
                    "rotation": {
                        "roll": -1.3327635526657104,
                        "pitch": 0.4143875539302826,
                        "yaw": -172.3900909423828
                    }
                },
                "velocity": {
                    "x": -7.93984842300415,
                    "y": -1.2366567850112915,
                    "z": 0.061482228338718414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.126097679138184,
                "transform": {
                    "location": {
                        "x": 947.19677734375,
                        "y": 3483.2626953125,
                        "z": 370.6777648925781
                    },
                    "rotation": {
                        "roll": 0.004595652688294649,
                        "pitch": 0.22797803580760956,
                        "yaw": 99.6127700805664
                    }
                },
                "velocity": {
                    "x": -1.355669379234314,
                    "y": 8.012151718139648,
                    "z": 0.03243618831038475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8398356437683105,
                "transform": {
                    "location": {
                        "x": 937.2891235351562,
                        "y": 3544.558349609375,
                        "z": 370.85247802734375
                    },
                    "rotation": {
                        "roll": -0.00018310907762497663,
                        "pitch": 0.21741174161434174,
                        "yaw": 99.14043426513672
                    }
                },
                "velocity": {
                    "x": -1.245458722114563,
                    "y": 7.740263938903809,
                    "z": 0.013116187416017056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.484710216522217,
                "transform": {
                    "location": {
                        "x": 934.7012329101562,
                        "y": 3560.631103515625,
                        "z": 370.87799072265625
                    },
                    "rotation": {
                        "roll": 0.00027455994859337807,
                        "pitch": 0.029287848621606827,
                        "yaw": 98.96477508544922
                    }
                },
                "velocity": {
                    "x": -0.8728614449501038,
                    "y": 5.414806365966797,
                    "z": 0.005844058934599161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029601097106934,
                "transform": {
                    "location": {
                        "x": 949.4012451171875,
                        "y": 3491.00927734375,
                        "z": 370.70208740234375
                    },
                    "rotation": {
                        "roll": -0.0017700246535241604,
                        "pitch": -0.2106020450592041,
                        "yaw": -80.8395004272461
                    }
                },
                "velocity": {
                    "x": 1.276347041130066,
                    "y": -7.927457809448242,
                    "z": -0.028963511809706688
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.27443933486938477,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18265803158283234,
        "expert_target_speed": 7.793612323668374,
        "target_point": [
            19.56769191883665,
            0.2264528687036127
        ],
        "target_point_next": [
            38.06760141671585,
            0.23229536792361127
        ]
    },
    "670": {
        "acceleration": [
            0.43747901916503906,
            -2.5011539459228516,
            0.0027149170637130737
        ],
        "angular_velocity": [
            -1.5472787618637085,
            -0.16675664484500885,
            2.10884428024292
        ],
        "forward_vector": [
            -0.15480707585811615,
            0.9879394173622131,
            0.0032435597386211157
        ],
        "right_vector": [
            -0.9879447221755981,
            -0.15480569005012512,
            -0.0006755085778422654
        ],
        "location": [
            933.0983276367188,
            3552.204345703125,
            370.8605651855469
        ],
        "rotation": [
            0.03870399668812752,
            0.1858426034450531,
            98.90565490722656
        ],
        "velocity": [
            -1.1617348194122314,
            7.494211673736572,
            0.009821471758186817
        ],
        "speed": 7.583721804061927,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.622042655944824,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.7692260742188,
                3564.609619140625,
                370.8815612792969
            ],
            "velocity": [
                -0.754888653755188,
                4.6829729080200195,
                0.004562787711620331
            ],
            "speed_kmh": 17.076342228586586,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.4855041503906
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": -6.422199994027267e-10,
                    "y": -1.03329490797055e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2713012695312,
                        "y": 3439.65771484375,
                        "z": 370.47705078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.05991268157959,
                "transform": {
                    "location": {
                        "x": 983.7967529296875,
                        "y": 3586.1162109375,
                        "z": 370.34881591796875
                    },
                    "rotation": {
                        "roll": -0.0026245175395160913,
                        "pitch": 1.3148796558380127,
                        "yaw": -170.326171875
                    }
                },
                "velocity": {
                    "x": -4.9856696128845215,
                    "y": -0.8607099652290344,
                    "z": 0.07068418711423874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.932373046875,
                        "y": 3471.020263671875,
                        "z": 370.6305847167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.383518695831299,
                "transform": {
                    "location": {
                        "x": 934.6182861328125,
                        "y": 3603.162109375,
                        "z": 370.8962707519531
                    },
                    "rotation": {
                        "roll": 0.011436780914664268,
                        "pitch": -0.011993811465799809,
                        "yaw": -80.54674530029297
                    }
                },
                "velocity": {
                    "x": 1.0419937372207642,
                    "y": -6.297898292541504,
                    "z": 0.006128768902271986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.375133037567139,
                "transform": {
                    "location": {
                        "x": 896.9727172851562,
                        "y": 3574.975830078125,
                        "z": 371.1881103515625
                    },
                    "rotation": {
                        "roll": 0.0036933228839188814,
                        "pitch": -0.47155624628067017,
                        "yaw": 9.20238208770752
                    }
                },
                "velocity": {
                    "x": 7.280235290527344,
                    "y": 1.1781724691390991,
                    "z": -0.051670610904693604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.899731159210205,
                "transform": {
                    "location": {
                        "x": 931.45703125,
                        "y": 3602.35986328125,
                        "z": 370.89068603515625
                    },
                    "rotation": {
                        "roll": 0.00035639049019664526,
                        "pitch": 0.03101588785648346,
                        "yaw": -80.55219268798828
                    }
                },
                "velocity": {
                    "x": 0.9590744376182556,
                    "y": -5.82125186920166,
                    "z": 0.005355148110538721
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.971193790435791,
                "transform": {
                    "location": {
                        "x": 960.4710693359375,
                        "y": 3582.254638671875,
                        "z": 370.6219787597656
                    },
                    "rotation": {
                        "roll": -0.004058842547237873,
                        "pitch": 0.5392502546310425,
                        "yaw": -171.10447692871094
                    }
                },
                "velocity": {
                    "x": -5.894461154937744,
                    "y": -0.9522678256034851,
                    "z": 0.0605740062892437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.215622901916504,
                "transform": {
                    "location": {
                        "x": 943.280517578125,
                        "y": 3486.9052734375,
                        "z": 370.69586181640625
                    },
                    "rotation": {
                        "roll": 0.005839256569743156,
                        "pitch": 0.25710880756378174,
                        "yaw": 99.47017669677734
                    }
                },
                "velocity": {
                    "x": -1.3284060955047607,
                    "y": 8.10745906829834,
                    "z": 0.030042581260204315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7561645507812,
                        "y": 3455.2861328125,
                        "z": 370.5594482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.38430404663086,
                "transform": {
                    "location": {
                        "x": 945.8009643554688,
                        "y": 3533.83544921875,
                        "z": 370.8260498046875
                    },
                    "rotation": {
                        "roll": 0.0006991619011387229,
                        "pitch": -0.11294399946928024,
                        "yaw": -80.85014343261719
                    }
                },
                "velocity": {
                    "x": 2.1275150775909424,
                    "y": -13.21409797668457,
                    "z": -0.030010957270860672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.776206970214844,
                "transform": {
                    "location": {
                        "x": 928.8986206054688,
                        "y": 3617.849609375,
                        "z": 370.8836975097656
                    },
                    "rotation": {
                        "roll": -0.022186273708939552,
                        "pitch": -0.31668171286582947,
                        "yaw": -80.49571990966797
                    }
                },
                "velocity": {
                    "x": 0.8017473220825195,
                    "y": -4.708431243896484,
                    "z": -0.005369748920202255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455728530883789,
                "transform": {
                    "location": {
                        "x": 943.212646484375,
                        "y": 3529.455322265625,
                        "z": 370.8254699707031
                    },
                    "rotation": {
                        "roll": 0.00016787377535365522,
                        "pitch": -0.14547619223594666,
                        "yaw": -80.87035369873047
                    }
                },
                "velocity": {
                    "x": 2.136746406555176,
                    "y": -13.28494644165039,
                    "z": -0.03363968804478645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048260688781738,
                "transform": {
                    "location": {
                        "x": 952.4273071289062,
                        "y": 3492.657958984375,
                        "z": 370.74462890625
                    },
                    "rotation": {
                        "roll": 0.00040429786895401776,
                        "pitch": -0.20888766646385193,
                        "yaw": -80.8564224243164
                    }
                },
                "velocity": {
                    "x": 1.2790039777755737,
                    "y": -7.945932388305664,
                    "z": -0.028546098619699478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.392595291137695,
                "transform": {
                    "location": {
                        "x": 932.1204223632812,
                        "y": 3618.30078125,
                        "z": 370.88800048828125
                    },
                    "rotation": {
                        "roll": 0.002665375592187047,
                        "pitch": 0.052571963518857956,
                        "yaw": -80.44535827636719
                    }
                },
                "velocity": {
                    "x": 1.075084924697876,
                    "y": -6.30153226852417,
                    "z": 0.012665471993386745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.307861328125,
                        "y": 3470.50048828125,
                        "z": 370.6261291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032783508300781,
                "transform": {
                    "location": {
                        "x": 943.5485229492188,
                        "y": 3505.65625,
                        "z": 370.76068115234375
                    },
                    "rotation": {
                        "roll": -0.0006408730987459421,
                        "pitch": 0.16367864608764648,
                        "yaw": 99.11823272705078
                    }
                },
                "velocity": {
                    "x": -1.2756587266921997,
                    "y": 7.9308085441589355,
                    "z": 0.023857248947024345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049747467041016,
                "transform": {
                    "location": {
                        "x": 940.093017578125,
                        "y": 3527.126708984375,
                        "z": 370.8154296875
                    },
                    "rotation": {
                        "roll": 0.0006126579246483743,
                        "pitch": 0.1456332802772522,
                        "yaw": 99.15863037109375
                    }
                },
                "velocity": {
                    "x": -1.2788169384002686,
                    "y": 7.9474921226501465,
                    "z": 0.020662402734160423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.7434282302856445,
                "transform": {
                    "location": {
                        "x": 930.7692260742188,
                        "y": 3564.609619140625,
                        "z": 370.8815612792969
                    },
                    "rotation": {
                        "roll": 0.0005620935698971152,
                        "pitch": 0.06699049472808838,
                        "yaw": 99.15650177001953
                    }
                },
                "velocity": {
                    "x": -0.754888653755188,
                    "y": 4.6829729080200195,
                    "z": 0.004562787711620331
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059192657470703,
                "transform": {
                    "location": {
                        "x": 916.51171875,
                        "y": 3575.458984375,
                        "z": 371.0352783203125
                    },
                    "rotation": {
                        "roll": -0.6242368817329407,
                        "pitch": 0.4591048061847687,
                        "yaw": -170.8524169921875
                    }
                },
                "velocity": {
                    "x": -7.9460673332214355,
                    "y": -1.344046711921692,
                    "z": 0.06434423476457596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.904332637786865,
                "transform": {
                    "location": {
                        "x": 946.8652954101562,
                        "y": 3485.23779296875,
                        "z": 370.6856994628906
                    },
                    "rotation": {
                        "roll": 0.011223972775042057,
                        "pitch": 0.22244559228420258,
                        "yaw": 99.49640655517578
                    }
                },
                "velocity": {
                    "x": -1.2974417209625244,
                    "y": 7.797059535980225,
                    "z": 0.03145645186305046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7723212242126465,
                "transform": {
                    "location": {
                        "x": 936.99951171875,
                        "y": 3546.357666015625,
                        "z": 370.8551330566406
                    },
                    "rotation": {
                        "roll": 2.47483876592014e-05,
                        "pitch": -0.006406717002391815,
                        "yaw": 99.14002990722656
                    }
                },
                "velocity": {
                    "x": -1.075933575630188,
                    "y": 6.686300277709961,
                    "z": 0.009610767476260662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.104790687561035,
                "transform": {
                    "location": {
                        "x": 934.490234375,
                        "y": 3561.9453125,
                        "z": 370.8788146972656
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": 0.07853350788354874,
                        "yaw": 99.01844787597656
                    }
                },
                "velocity": {
                    "x": -0.8101485371589661,
                    "y": 5.040090560913086,
                    "z": 0.005836810916662216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029654502868652,
                "transform": {
                    "location": {
                        "x": 949.720458984375,
                        "y": 3489.028076171875,
                        "z": 370.6947937011719
                    },
                    "rotation": {
                        "roll": -0.001068117911927402,
                        "pitch": -0.20980973541736603,
                        "yaw": -80.86553192138672
                    }
                },
                "velocity": {
                    "x": 1.2768243551254272,
                    "y": -7.927434921264648,
                    "z": -0.02920679561793804
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.26729464530944824,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21623164415359497,
        "expert_target_speed": 7.480341521479639,
        "target_point": [
            17.620114966930107,
            0.30110828769110753
        ],
        "target_point_next": [
            36.11986733617432,
            0.3775794663199523
        ]
    },
    "675": {
        "acceleration": [
            0.006482601165771484,
            -0.14932632446289062,
            0.005618855357170105
        ],
        "angular_velocity": [
            -0.07687369734048843,
            0.12628896534442902,
            -3.268056631088257
        ],
        "forward_vector": [
            -0.15224409103393555,
            0.9883415699005127,
            -0.0016250602202489972
        ],
        "right_vector": [
            -0.9883427619934082,
            -0.15224479138851166,
            -0.0003245575644541532
        ],
        "location": [
            932.8235473632812,
            3553.97998046875,
            370.8636169433594
        ],
        "rotation": [
            0.018595803529024124,
            -0.093109130859375,
            98.75701141357422
        ],
        "velocity": [
            -1.058985948562622,
            6.8609514236450195,
            0.009636049158871174
        ],
        "speed": 6.942197467435632,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.989100456237793,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.5841064453125,
                3565.758056640625,
                370.8826599121094
            ],
            "velocity": [
                -0.7251203656196594,
                4.510626316070557,
                0.005748061928898096
            ],
            "speed_kmh": 16.446753698864836,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01194386649876833,
                "transform": {
                    "location": {
                        "x": 880.4483642578125,
                        "y": 3572.22021484375,
                        "z": 371.22705078125
                    },
                    "rotation": {
                        "roll": -0.0004272448713891208,
                        "pitch": -0.34817570447921753,
                        "yaw": 9.14023208618164
                    }
                },
                "velocity": {
                    "x": -5.064345714345109e-06,
                    "y": -7.272700167959556e-05,
                    "z": -0.011943643912672997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.954345703125,
                        "y": 3441.627685546875,
                        "z": 370.4879455566406
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3507561683654785,
                "transform": {
                    "location": {
                        "x": 982.4853515625,
                        "y": 3585.8896484375,
                        "z": 370.3670654296875
                    },
                    "rotation": {
                        "roll": 0.0034531683195382357,
                        "pitch": 1.075105905532837,
                        "yaw": -170.32611083984375
                    }
                },
                "velocity": {
                    "x": -5.272286415100098,
                    "y": -0.9104105830192566,
                    "z": 0.06882728636264801
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.61083984375,
                        "y": 3473.018310546875,
                        "z": 370.6389465332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.075504302978516,
                "transform": {
                    "location": {
                        "x": 934.8485107421875,
                        "y": 3601.764404296875,
                        "z": 370.8971252441406
                    },
                    "rotation": {
                        "roll": 0.006669795606285334,
                        "pitch": -0.18890252709388733,
                        "yaw": -80.63973236083984
                    }
                },
                "velocity": {
                    "x": 0.8222344517707825,
                    "y": -5.00846004486084,
                    "z": 0.0018097399733960629
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.109769821166992,
                "transform": {
                    "location": {
                        "x": 898.7561645507812,
                        "y": 3575.264404296875,
                        "z": 371.175537109375
                    },
                    "rotation": {
                        "roll": 0.00156788167078048,
                        "pitch": -0.48666462302207947,
                        "yaw": 9.180943489074707
                    }
                },
                "velocity": {
                    "x": 7.018487930297852,
                    "y": 1.1345313787460327,
                    "z": -0.049859266728162766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.835071563720703,
                "transform": {
                    "location": {
                        "x": 931.6962280273438,
                        "y": 3600.908447265625,
                        "z": 370.8916015625
                    },
                    "rotation": {
                        "roll": 0.0005020822864025831,
                        "pitch": 0.03107735887169838,
                        "yaw": -80.64185333251953
                    }
                },
                "velocity": {
                    "x": 0.9438477158546448,
                    "y": -5.7582292556762695,
                    "z": 0.0022395229898393154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.8034796714782715,
                "transform": {
                    "location": {
                        "x": 959.0254516601562,
                        "y": 3582.020751953125,
                        "z": 370.6365661621094
                    },
                    "rotation": {
                        "roll": -0.003662113333120942,
                        "pitch": 0.5328708291053772,
                        "yaw": -171.08656311035156
                    }
                },
                "velocity": {
                    "x": -5.728611469268799,
                    "y": -0.9273843169212341,
                    "z": 0.05785365775227547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.921306610107422,
                "transform": {
                    "location": {
                        "x": 942.9554443359375,
                        "y": 3488.893310546875,
                        "z": 370.7031555175781
                    },
                    "rotation": {
                        "roll": 0.004925778601318598,
                        "pitch": 0.18237970769405365,
                        "yaw": 99.4559326171875
                    }
                },
                "velocity": {
                    "x": -1.2752771377563477,
                    "y": 7.817921161651611,
                    "z": 0.029528120532631874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.4436645507812,
                        "y": 3457.228271484375,
                        "z": 370.56854248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.378949165344238,
                "transform": {
                    "location": {
                        "x": 946.3325805664062,
                        "y": 3530.532958984375,
                        "z": 370.8182678222656
                    },
                    "rotation": {
                        "roll": 0.0016775969415903091,
                        "pitch": -0.14316076040267944,
                        "yaw": -80.86168670654297
                    }
                },
                "velocity": {
                    "x": 2.125804901123047,
                    "y": -13.208941459655762,
                    "z": -0.033442750573158264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.759522438049316,
                "transform": {
                    "location": {
                        "x": 929.0986328125,
                        "y": 3616.67236328125,
                        "z": 370.8824462890625
                    },
                    "rotation": {
                        "roll": -0.005859375465661287,
                        "pitch": -0.08718735724687576,
                        "yaw": -80.41221618652344
                    }
                },
                "velocity": {
                    "x": 0.7992943525314331,
                    "y": -4.691927433013916,
                    "z": 0.0004630660987459123
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453946113586426,
                "transform": {
                    "location": {
                        "x": 943.746826171875,
                        "y": 3526.134033203125,
                        "z": 370.8167419433594
                    },
                    "rotation": {
                        "roll": -0.0010681210551410913,
                        "pitch": -0.14697200059890747,
                        "yaw": -80.8481674194336
                    }
                },
                "velocity": {
                    "x": 2.1387147903442383,
                    "y": -13.28282642364502,
                    "z": -0.03312676027417183
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011374473571777,
                "transform": {
                    "location": {
                        "x": 952.7462158203125,
                        "y": 3490.676513671875,
                        "z": 370.73736572265625
                    },
                    "rotation": {
                        "roll": 0.001224252744577825,
                        "pitch": -0.20861445367336273,
                        "yaw": -80.86122131347656
                    }
                },
                "velocity": {
                    "x": 1.2710177898406982,
                    "y": -7.909853935241699,
                    "z": -0.029006151482462883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.021218299865723,
                "transform": {
                    "location": {
                        "x": 932.3837280273438,
                        "y": 3616.751708984375,
                        "z": 370.8896484375
                    },
                    "rotation": {
                        "roll": 0.00010417714656796306,
                        "pitch": 0.07712649554014206,
                        "yaw": -80.37406921386719
                    }
                },
                "velocity": {
                    "x": 1.011018991470337,
                    "y": -5.935729026794434,
                    "z": 0.005477342288941145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0053100585938,
                        "y": 3472.3798828125,
                        "z": 370.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031509399414062,
                "transform": {
                    "location": {
                        "x": 943.2296752929688,
                        "y": 3507.638671875,
                        "z": 370.76654052734375
                    },
                    "rotation": {
                        "roll": 0.0008514625951647758,
                        "pitch": 0.16521543264389038,
                        "yaw": 99.1622085571289
                    }
                },
                "velocity": {
                    "x": -1.2779217958450317,
                    "y": 7.929158687591553,
                    "z": 0.02251841500401497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048118591308594,
                "transform": {
                    "location": {
                        "x": 939.7734985351562,
                        "y": 3529.113037109375,
                        "z": 370.8204650878906
                    },
                    "rotation": {
                        "roll": 0.0007734079845249653,
                        "pitch": 0.1453259289264679,
                        "yaw": 99.12165832519531
                    }
                },
                "velocity": {
                    "x": -1.277530312538147,
                    "y": 7.946048259735107,
                    "z": 0.02119532600045204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.56854248046875,
                "transform": {
                    "location": {
                        "x": 930.5841064453125,
                        "y": 3565.758056640625,
                        "z": 370.8826599121094
                    },
                    "rotation": {
                        "roll": 4.5326738472795114e-05,
                        "pitch": 0.06805600225925446,
                        "yaw": 99.15441131591797
                    }
                },
                "velocity": {
                    "x": -0.7251203656196594,
                    "y": 4.510626316070557,
                    "z": 0.005748061928898096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.98065710067749,
                "transform": {
                    "location": {
                        "x": 914.5388793945312,
                        "y": 3575.126708984375,
                        "z": 371.0510559082031
                    },
                    "rotation": {
                        "roll": -0.2672423720359802,
                        "pitch": 0.4355679750442505,
                        "yaw": -170.39915466308594
                    }
                },
                "velocity": {
                    "x": -7.864774227142334,
                    "y": -1.353596806526184,
                    "z": 0.06314431875944138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.578832626342773,
                "transform": {
                    "location": {
                        "x": 946.5606079101562,
                        "y": 3487.07861328125,
                        "z": 370.69256591796875
                    },
                    "rotation": {
                        "roll": 0.007029164582490921,
                        "pitch": 0.021918075159192085,
                        "yaw": 99.37864685058594
                    }
                },
                "velocity": {
                    "x": -1.0704593658447266,
                    "y": 6.491114139556885,
                    "z": 0.024362077936530113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8566272258758545,
                "transform": {
                    "location": {
                        "x": 936.788818359375,
                        "y": 3547.66650390625,
                        "z": 370.8564453125
                    },
                    "rotation": {
                        "roll": -0.0015868957852944732,
                        "pitch": -0.39397895336151123,
                        "yaw": 98.99150085449219
                    }
                },
                "velocity": {
                    "x": -0.45770958065986633,
                    "y": 2.8197197914123535,
                    "z": 0.0015301131643354893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.008519649505615,
                "transform": {
                    "location": {
                        "x": 934.2903442382812,
                        "y": 3563.18798828125,
                        "z": 370.8800354003906
                    },
                    "rotation": {
                        "roll": 0.00010911299614235759,
                        "pitch": 0.06399887055158615,
                        "yaw": 99.04229736328125
                    }
                },
                "velocity": {
                    "x": -0.7943922281265259,
                    "y": 4.945119380950928,
                    "z": 0.000991067849099636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029389381408691,
                "transform": {
                    "location": {
                        "x": 950.0394287109375,
                        "y": 3487.04638671875,
                        "z": 370.687255859375
                    },
                    "rotation": {
                        "roll": -0.00018311574240215123,
                        "pitch": -0.2175620049238205,
                        "yaw": -80.84069061279297
                    }
                },
                "velocity": {
                    "x": 1.2772611379623413,
                    "y": -7.927094459533691,
                    "z": -0.02963600493967533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.24933432042598724,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24473758041858673,
        "expert_target_speed": 6.906891592320502,
        "target_point": [
            15.822504635555434,
            0.3455784196338074
        ],
        "target_point_next": [
            34.32199630962421,
            0.4700507682821238
        ]
    },
    "680": {
        "acceleration": [
            0.9531068801879883,
            -5.923128128051758,
            -0.011389357969164848
        ],
        "angular_velocity": [
            -1.06400465965271,
            -0.3195853531360626,
            2.917189836502075
        ],
        "forward_vector": [
            -0.15075211226940155,
            0.9885444045066833,
            -0.007334762252867222
        ],
        "right_vector": [
            -0.9885706901550293,
            -0.15075792372226715,
            -0.00024280790239572525
        ],
        "location": [
            932.587158203125,
            3555.51171875,
            370.8666687011719
        ],
        "rotation": [
            0.013912242837250233,
            -0.4202546775341034,
            98.6707534790039
        ],
        "velocity": [
            -0.8093346357345581,
            5.283266544342041,
            0.005512189585715532
        ],
        "speed": 5.344897373305074,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.563644409179688,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.4054565429688,
                3566.86767578125,
                370.8836975097656
            ],
            "velocity": [
                -0.7011301517486572,
                4.363367080688477,
                0.005702085327357054
            ],
            "speed_kmh": 15.909633061908766,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6392468214035034,
                "transform": {
                    "location": {
                        "x": 880.4744873046875,
                        "y": 3572.224609375,
                        "z": 371.2572326660156
                    },
                    "rotation": {
                        "roll": -0.004364012740552425,
                        "pitch": -0.23837359249591827,
                        "yaw": 9.15990924835205
                    }
                },
                "velocity": {
                    "x": 0.6182972192764282,
                    "y": 0.10528156906366348,
                    "z": 0.12353476881980896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7754516601562,
                        "y": 3442.73876953125,
                        "z": 370.4940490722656
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.011301040649414,
                "transform": {
                    "location": {
                        "x": 980.958984375,
                        "y": 3585.626708984375,
                        "z": 370.38592529296875
                    },
                    "rotation": {
                        "roll": 0.015278251841664314,
                        "pitch": 1.2961034774780273,
                        "yaw": -170.19363403320312
                    }
                },
                "velocity": {
                    "x": -6.911013126373291,
                    "y": -1.1784299612045288,
                    "z": 0.08685214817523956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.294189453125,
                        "y": 3474.98486328125,
                        "z": 370.6471252441406
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.343635559082031,
                "transform": {
                    "location": {
                        "x": 935.0568237304688,
                        "y": 3600.493408203125,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.002571373013779521,
                        "pitch": -0.0010381886968389153,
                        "yaw": -80.66759490966797
                    }
                },
                "velocity": {
                    "x": 0.8642726540565491,
                    "y": -5.273278713226318,
                    "z": 0.002373666735365987
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.866993427276611,
                "transform": {
                    "location": {
                        "x": 900.4791259765625,
                        "y": 3575.542724609375,
                        "z": 371.1630859375
                    },
                    "rotation": {
                        "roll": 0.0010230436455458403,
                        "pitch": -0.45932337641716003,
                        "yaw": 9.174777030944824
                    }
                },
                "velocity": {
                    "x": 6.779103755950928,
                    "y": 1.094069004058838,
                    "z": -0.04858049750328064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.569802284240723,
                "transform": {
                    "location": {
                        "x": 931.927001953125,
                        "y": 3599.500244140625,
                        "z": 370.8923034667969
                    },
                    "rotation": {
                        "roll": 0.0004754210531245917,
                        "pitch": 0.017505774274468422,
                        "yaw": -80.68980407714844
                    }
                },
                "velocity": {
                    "x": 0.8987298607826233,
                    "y": -5.496815204620361,
                    "z": 0.0018828677712008357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.601895332336426,
                "transform": {
                    "location": {
                        "x": 957.6163330078125,
                        "y": 3581.792724609375,
                        "z": 370.6507263183594
                    },
                    "rotation": {
                        "roll": -0.0043029822409152985,
                        "pitch": 0.5482524037361145,
                        "yaw": -171.1212921142578
                    }
                },
                "velocity": {
                    "x": -5.529628753662109,
                    "y": -0.8951749205589294,
                    "z": 0.055684611201286316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.096193313598633,
                "transform": {
                    "location": {
                        "x": 942.6344604492188,
                        "y": 3490.865234375,
                        "z": 370.7104187011719
                    },
                    "rotation": {
                        "roll": 0.00448664091527462,
                        "pitch": 0.22178305685520172,
                        "yaw": 99.41263580322266
                    }
                },
                "velocity": {
                    "x": -1.2992291450500488,
                    "y": 7.991213798522949,
                    "z": 0.029074830934405327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2570190429688,
                        "y": 3458.3876953125,
                        "z": 370.5740051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.028667660430073738,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.8846435546875
                    },
                    "rotation": {
                        "roll": 0.0003060479066334665,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.0001248029584530741,
                    "y": -6.364446744555607e-05,
                    "z": -0.02866731770336628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.03155940771102905,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8847961425781
                    },
                    "rotation": {
                        "roll": 0.00018209227710030973,
                        "pitch": -0.03829686716198921,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00021753134205937386,
                    "y": -1.5597528545185924e-05,
                    "z": -0.03155865520238876
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.38034725189209,
                "transform": {
                    "location": {
                        "x": 946.8637084960938,
                        "y": 3527.230224609375,
                        "z": 370.80975341796875
                    },
                    "rotation": {
                        "roll": 0.0013489931588992476,
                        "pitch": -0.14227283000946045,
                        "yaw": -80.86174774169922
                    }
                },
                "velocity": {
                    "x": 2.124405860900879,
                    "y": -13.210582733154297,
                    "z": -0.03298357501626015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.275999069213867,
                "transform": {
                    "location": {
                        "x": 929.2846069335938,
                        "y": 3615.580322265625,
                        "z": 370.88311767578125
                    },
                    "rotation": {
                        "roll": -0.002288821851834655,
                        "pitch": -0.15157555043697357,
                        "yaw": -80.36895751953125
                    }
                },
                "velocity": {
                    "x": 0.718778669834137,
                    "y": -4.215153694152832,
                    "z": 0.0018860053969547153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45298957824707,
                "transform": {
                    "location": {
                        "x": 944.2813720703125,
                        "y": 3522.813720703125,
                        "z": 370.8080749511719
                    },
                    "rotation": {
                        "roll": 0.00010973029566230252,
                        "pitch": -0.14926011860370636,
                        "yaw": -80.86370086669922
                    }
                },
                "velocity": {
                    "x": 2.1378002166748047,
                    "y": -13.282000541687012,
                    "z": -0.03453337028622627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048663139343262,
                "transform": {
                    "location": {
                        "x": 953.0650024414062,
                        "y": 3488.6943359375,
                        "z": 370.7300720214844
                    },
                    "rotation": {
                        "roll": 0.0001994241465581581,
                        "pitch": -0.20815683901309967,
                        "yaw": -80.86174011230469
                    }
                },
                "velocity": {
                    "x": 1.2797924280166626,
                    "y": -7.946206569671631,
                    "z": -0.030208691954612732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.214179992675781,
                "transform": {
                    "location": {
                        "x": 932.6171875,
                        "y": 3615.379638671875,
                        "z": 370.8904113769531
                    },
                    "rotation": {
                        "roll": 0.00017775864398572594,
                        "pitch": 0.10566302388906479,
                        "yaw": -80.3559341430664
                    }
                },
                "velocity": {
                    "x": 0.8751837611198425,
                    "y": -5.140204906463623,
                    "z": 0.004229898564517498
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7698974609375,
                        "y": 3473.842529296875,
                        "z": 370.64019775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032153129577637,
                "transform": {
                    "location": {
                        "x": 942.9103393554688,
                        "y": 3509.62109375,
                        "z": 370.7723388671875
                    },
                    "rotation": {
                        "roll": -0.0010376061545684934,
                        "pitch": 0.16499003767967224,
                        "yaw": 99.12300872802734
                    }
                },
                "velocity": {
                    "x": -1.2746107578277588,
                    "y": 7.9303460121154785,
                    "z": 0.021637067198753357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047901153564453,
                "transform": {
                    "location": {
                        "x": 939.4541015625,
                        "y": 3531.099365234375,
                        "z": 370.8254699707031
                    },
                    "rotation": {
                        "roll": -0.0007019108161330223,
                        "pitch": 0.14223185181617737,
                        "yaw": 99.14965057373047
                    }
                },
                "velocity": {
                    "x": -1.2784898281097412,
                    "y": 7.945677280426025,
                    "z": 0.019812287762761116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.419342517852783,
                "transform": {
                    "location": {
                        "x": 930.4054565429688,
                        "y": 3566.86767578125,
                        "z": 370.8836975097656
                    },
                    "rotation": {
                        "roll": -0.00027465849416330457,
                        "pitch": 0.0668129101395607,
                        "yaw": 99.15178680419922
                    }
                },
                "velocity": {
                    "x": -0.7011301517486572,
                    "y": 4.363367080688477,
                    "z": 0.005702085327357054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.05493450164795,
                "transform": {
                    "location": {
                        "x": 912.5612182617188,
                        "y": 3574.794677734375,
                        "z": 371.06658935546875
                    },
                    "rotation": {
                        "roll": -0.0779113695025444,
                        "pitch": 0.4577660858631134,
                        "yaw": -170.47666931152344
                    }
                },
                "velocity": {
                    "x": -7.944009304046631,
                    "y": -1.3307101726531982,
                    "z": 0.06246228888630867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.409084796905518,
                "transform": {
                    "location": {
                        "x": 946.3016967773438,
                        "y": 3488.652099609375,
                        "z": 370.69866943359375
                    },
                    "rotation": {
                        "roll": 0.0036308960989117622,
                        "pitch": 0.13776490092277527,
                        "yaw": 99.3456802368164
                    }
                },
                "velocity": {
                    "x": -1.0399770736694336,
                    "y": 6.324099540710449,
                    "z": 0.02408882975578308
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.531966209411621,
                "transform": {
                    "location": {
                        "x": 936.6721801757812,
                        "y": 3548.39306640625,
                        "z": 370.8581848144531
                    },
                    "rotation": {
                        "roll": 0.0004972345195710659,
                        "pitch": -0.005710037890821695,
                        "yaw": 99.02691650390625
                    }
                },
                "velocity": {
                    "x": -0.5587787628173828,
                    "y": 3.4874794483184814,
                    "z": 0.006158656906336546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.831075191497803,
                "transform": {
                    "location": {
                        "x": 934.0935668945312,
                        "y": 3564.412109375,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": -0.0007019057520665228,
                        "pitch": 0.06662166118621826,
                        "yaw": 99.05751037597656
                    }
                },
                "velocity": {
                    "x": -0.7680388689041138,
                    "y": 4.769632339477539,
                    "z": 0.003154439851641655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2925415039062,
                        "y": 3485.009521484375,
                        "z": 370.68280029296875
                    },
                    "rotation": {
                        "roll": -6.670157315369352e-09,
                        "pitch": -0.2239072471857071,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26755625009536743,
        "expert_target_speed": 5.666137394718664,
        "target_point": [
            14.272097699290889,
            0.36661406717031
        ],
        "target_point_next": [
            32.771381179795064,
            0.5189172925574095
        ]
    },
    "685": {
        "acceleration": [
            0.5254924297332764,
            -3.4712600708007812,
            0.00769119244068861
        ],
        "angular_velocity": [
            0.3000907003879547,
            0.0792325809597969,
            0.07433857768774033
        ],
        "forward_vector": [
            -0.15114237368106842,
            0.988473653793335,
            -0.00870788935571909
        ],
        "right_vector": [
            -0.9885110259056091,
            -0.1511489450931549,
            -9.766918810782954e-05
        ],
        "location": [
            932.4108276367188,
            3556.66357421875,
            370.8680114746094
        ],
        "rotation": [
            0.00559624470770359,
            -0.4989316165447235,
            98.69346618652344
        ],
        "velocity": [
            -0.6196266412734985,
            4.0425238609313965,
            0.003398408880457282
        ],
        "speed": 4.089735485428802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.483804702758789,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.2329711914062,
                3567.93896484375,
                370.8846740722656
            ],
            "velocity": [
                -0.67913818359375,
                4.217401504516602,
                0.004796171095222235
            ],
            "speed_kmh": 15.378249040530763,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7597922086715698,
                "transform": {
                    "location": {
                        "x": 880.79052734375,
                        "y": 3572.278076171875,
                        "z": 371.2745361328125
                    },
                    "rotation": {
                        "roll": -0.010223388671875,
                        "pitch": 0.04706000164151192,
                        "yaw": 9.201607704162598
                    }
                },
                "velocity": {
                    "x": 1.7344517707824707,
                    "y": 0.2955096662044525,
                    "z": 0.03492371365427971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4898071289062,
                        "y": 3444.51513671875,
                        "z": 370.5039367675781
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.295702934265137,
                "transform": {
                    "location": {
                        "x": 979.0602416992188,
                        "y": 3585.304931640625,
                        "z": 370.40936279296875
                    },
                    "rotation": {
                        "roll": 0.027163557708263397,
                        "pitch": 1.291335940361023,
                        "yaw": -170.39112854003906
                    }
                },
                "velocity": {
                    "x": -8.179915428161621,
                    "y": -1.377563714981079,
                    "z": 0.09994933754205704
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.9727783203125,
                        "y": 3476.982177734375,
                        "z": 370.6554870605469
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.66428279876709,
                "transform": {
                    "location": {
                        "x": 935.28076171875,
                        "y": 3599.127685546875,
                        "z": 370.89849853515625
                    },
                    "rotation": {
                        "roll": 0.0006073136464692652,
                        "pitch": 0.07014603912830353,
                        "yaw": -80.67122650146484
                    }
                },
                "velocity": {
                    "x": 0.9154940843582153,
                    "y": -5.589808940887451,
                    "z": 0.0016389178344979882
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.6805243492126465,
                "transform": {
                    "location": {
                        "x": 902.1509399414062,
                        "y": 3575.8125,
                        "z": 371.15093994140625
                    },
                    "rotation": {
                        "roll": 0.0015823625726625323,
                        "pitch": -0.45495203137397766,
                        "yaw": 9.161806106567383
                    }
                },
                "velocity": {
                    "x": 6.595158100128174,
                    "y": 1.0634379386901855,
                    "z": -0.04894755408167839
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.302026271820068,
                "transform": {
                    "location": {
                        "x": 932.1452026367188,
                        "y": 3598.16552734375,
                        "z": 370.8928527832031
                    },
                    "rotation": {
                        "roll": 0.00022578479547519237,
                        "pitch": 0.016044113785028458,
                        "yaw": -80.71849822998047
                    }
                },
                "velocity": {
                    "x": 0.851482093334198,
                    "y": -5.2332072257995605,
                    "z": 0.0018822097918018699
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4099602699279785,
                "transform": {
                    "location": {
                        "x": 956.2578125,
                        "y": 3581.57177734375,
                        "z": 370.66436767578125
                    },
                    "rotation": {
                        "roll": -0.003326412755995989,
                        "pitch": 0.5333216190338135,
                        "yaw": -171.06263732910156
                    }
                },
                "velocity": {
                    "x": -5.339700222015381,
                    "y": -0.8673500418663025,
                    "z": 0.05453532934188843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024367332458496,
                "transform": {
                    "location": {
                        "x": 942.3106079101562,
                        "y": 3492.860595703125,
                        "z": 370.7176513671875
                    },
                    "rotation": {
                        "roll": 0.0043745581060647964,
                        "pitch": 0.20976875722408295,
                        "yaw": 99.38964080810547
                    }
                },
                "velocity": {
                    "x": -1.2835464477539062,
                    "y": 7.920990943908691,
                    "z": 0.029660586267709732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.98388671875,
                        "y": 3460.084716796875,
                        "z": 370.5816650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.007647074293345213,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.8805236816406
                    },
                    "rotation": {
                        "roll": 6.007599222357385e-05,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.248925925930962e-05,
                    "y": -2.4394243155256845e-05,
                    "z": -0.0076464759185910225
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01438167504966259,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8790283203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03850860521197319,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.917681053484557e-06,
                    "y": 1.3703712511414778e-06,
                    "z": -0.014381674118340015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381248474121094,
                "transform": {
                    "location": {
                        "x": 947.3950805664062,
                        "y": 3523.927490234375,
                        "z": 370.80120849609375
                    },
                    "rotation": {
                        "roll": -0.0005798342172056437,
                        "pitch": -0.14553765952587128,
                        "yaw": -80.86277770996094
                    }
                },
                "velocity": {
                    "x": 2.1254842281341553,
                    "y": -13.211318016052246,
                    "z": -0.03456633538007736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.31268310546875,
                "transform": {
                    "location": {
                        "x": 929.4861450195312,
                        "y": 3614.39794921875,
                        "z": 370.8825988769531
                    },
                    "rotation": {
                        "roll": -0.0011901836842298508,
                        "pitch": 0.2344120740890503,
                        "yaw": -80.34461975097656
                    }
                },
                "velocity": {
                    "x": 0.8938155174255371,
                    "y": -5.23695182800293,
                    "z": 0.005449085030704737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453191757202148,
                "transform": {
                    "location": {
                        "x": 944.81591796875,
                        "y": 3519.49365234375,
                        "z": 370.7990417480469
                    },
                    "rotation": {
                        "roll": 1.5081169294717256e-05,
                        "pitch": -0.15908876061439514,
                        "yaw": -80.84376525878906
                    }
                },
                "velocity": {
                    "x": 2.138692855834961,
                    "y": -13.282054901123047,
                    "z": -0.03714712709188461
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3428955078125,
                        "y": 3486.6455078125,
                        "z": 370.7049560546875
                    },
                    "rotation": {
                        "roll": -6.670157315369352e-09,
                        "pitch": -0.2239072471857071,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.220449924468994,
                "transform": {
                    "location": {
                        "x": 932.8348999023438,
                        "y": 3614.1005859375,
                        "z": 370.8917541503906
                    },
                    "rotation": {
                        "roll": -0.0002746617537923157,
                        "pitch": 0.05612366273999214,
                        "yaw": -80.3436050415039
                    }
                },
                "velocity": {
                    "x": 0.8771439790725708,
                    "y": -5.146232604980469,
                    "z": 0.0021332930773496628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5037231445312,
                        "y": 3475.49609375,
                        "z": 370.6470947265625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031655311584473,
                "transform": {
                    "location": {
                        "x": 942.5916748046875,
                        "y": 3511.603759765625,
                        "z": 370.7779541015625
                    },
                    "rotation": {
                        "roll": 0.00011732093844329938,
                        "pitch": 0.1577022224664688,
                        "yaw": 99.15814208984375
                    }
                },
                "velocity": {
                    "x": -1.2757923603057861,
                    "y": 7.929651737213135,
                    "z": 0.021734608337283134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4854607582092285,
                "transform": {
                    "location": {
                        "x": 939.141357421875,
                        "y": 3533.043701171875,
                        "z": 370.8298645019531
                    },
                    "rotation": {
                        "roll": -0.0014953634236007929,
                        "pitch": 0.05246267840266228,
                        "yaw": 99.12525939941406
                    }
                },
                "velocity": {
                    "x": -1.189150094985962,
                    "y": 7.390382289886475,
                    "z": 0.017053212970495224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.271736145019531,
                "transform": {
                    "location": {
                        "x": 930.2329711914062,
                        "y": 3567.93896484375,
                        "z": 370.8846740722656
                    },
                    "rotation": {
                        "roll": -3.051909152418375e-05,
                        "pitch": 0.06556298583745956,
                        "yaw": 99.14799499511719
                    }
                },
                "velocity": {
                    "x": -0.67913818359375,
                    "y": 4.217401504516602,
                    "z": 0.004796171095222235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011431694030762,
                "transform": {
                    "location": {
                        "x": 910.5792846679688,
                        "y": 3574.4638671875,
                        "z": 371.08209228515625
                    },
                    "rotation": {
                        "roll": -0.02188110165297985,
                        "pitch": 0.44912588596343994,
                        "yaw": -170.54693603515625
                    }
                },
                "velocity": {
                    "x": -7.902464389801025,
                    "y": -1.315468430519104,
                    "z": 0.06033872440457344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.852293491363525,
                "transform": {
                    "location": {
                        "x": 946.0249633789062,
                        "y": 3490.343994140625,
                        "z": 370.7052001953125
                    },
                    "rotation": {
                        "roll": 0.0051973420195281506,
                        "pitch": 0.38203978538513184,
                        "yaw": 99.28895568847656
                    }
                },
                "velocity": {
                    "x": -1.2634227275848389,
                    "y": 7.749938011169434,
                    "z": 0.027231091633439064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.925352096557617,
                "transform": {
                    "location": {
                        "x": 936.5021362304688,
                        "y": 3549.452392578125,
                        "z": 370.8601379394531
                    },
                    "rotation": {
                        "roll": -0.0009460559813305736,
                        "pitch": 0.23838724195957184,
                        "yaw": 99.08380889892578
                    }
                },
                "velocity": {
                    "x": -0.7809105515480042,
                    "y": 4.863048553466797,
                    "z": 0.005629424937069416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.699065208435059,
                "transform": {
                    "location": {
                        "x": 933.906005859375,
                        "y": 3565.57958984375,
                        "z": 370.8819885253906
                    },
                    "rotation": {
                        "roll": -3.0515755497617647e-05,
                        "pitch": 0.06524879485368729,
                        "yaw": 99.09517669677734
                    }
                },
                "velocity": {
                    "x": -0.7469698190689087,
                    "y": 4.639313697814941,
                    "z": 0.00425922404974699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5983276367188,
                        "y": 3482.94921875,
                        "z": 370.67572021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26468396186828613,
        "expert_target_speed": 4.596800806484473,
        "target_point": [
            13.106967612387361,
            0.3607644539252992
        ],
        "target_point_next": [
            31.60630988726515,
            0.5057505271784066
        ]
    },
    "690": {
        "acceleration": [
            -0.3748738765716553,
            2.401580810546875,
            0.002966504544019699
        ],
        "angular_velocity": [
            1.7755451202392578,
            0.289650022983551,
            -0.032434940338134766
        ],
        "forward_vector": [
            -0.15144388377666473,
            0.9884626865386963,
            -0.0025252073537558317
        ],
        "right_vector": [
            -0.9884657859802246,
            -0.1514444500207901,
            -3.4885830245912075e-05
        ],
        "location": [
            932.25537109375,
            3557.677001953125,
            370.8677673339844
        ],
        "rotation": [
            0.0019988170824944973,
            -0.14468388259410858,
            98.71063995361328
        ],
        "velocity": [
            -0.650076687335968,
            4.231165885925293,
            0.005853576585650444
        ],
        "speed": 4.280813527080533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.50703239440918,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.0662841796875,
                3568.973876953125,
                370.8856506347656
            ],
            "velocity": [
                -0.6556786894798279,
                4.070685863494873,
                0.004398507997393608
            ],
            "speed_kmh": 14.84336242493526,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.1942138671875,
                        "y": 3628.363037109375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.5859985351562,
                        "y": 3627.741455078125,
                        "z": 370.89190673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.754765272140503,
                "transform": {
                    "location": {
                        "x": 881.3444213867188,
                        "y": 3572.3720703125,
                        "z": 371.27728271484375
                    },
                    "rotation": {
                        "roll": -0.013031005859375,
                        "pitch": 0.07924385368824005,
                        "yaw": 9.376718521118164
                    }
                },
                "velocity": {
                    "x": 2.7153515815734863,
                    "y": 0.4643036127090454,
                    "z": -0.0044424342922866344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1839599609375,
                        "y": 3446.415283203125,
                        "z": 370.5141296386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.115716934204102,
                "transform": {
                    "location": {
                        "x": 977.0112915039062,
                        "y": 3584.960205078125,
                        "z": 370.4353942871094
                    },
                    "rotation": {
                        "roll": 0.015977757051587105,
                        "pitch": 0.8925212621688843,
                        "yaw": -170.44549560546875
                    }
                },
                "velocity": {
                    "x": -8.003153800964355,
                    "y": -1.3437074422836304,
                    "z": 0.09409230947494507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6546020507812,
                        "y": 3478.9599609375,
                        "z": 370.6638488769531
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.768355846405029,
                "transform": {
                    "location": {
                        "x": 935.4873046875,
                        "y": 3597.858642578125,
                        "z": 370.8985900878906
                    },
                    "rotation": {
                        "roll": 0.00026903930120170116,
                        "pitch": -0.11948049068450928,
                        "yaw": -80.48432922363281
                    }
                },
                "velocity": {
                    "x": 0.7682648301124573,
                    "y": -4.706058502197266,
                    "z": 0.0016319847200065851
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.392156600952148,
                "transform": {
                    "location": {
                        "x": 903.7626342773438,
                        "y": 3576.072509765625,
                        "z": 371.1392822265625
                    },
                    "rotation": {
                        "roll": -0.00021363093401305377,
                        "pitch": -0.4780585765838623,
                        "yaw": 9.158820152282715
                    }
                },
                "velocity": {
                    "x": 6.310473442077637,
                    "y": 1.0174872875213623,
                    "z": -0.048092130571603775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.26368522644043,
                "transform": {
                    "location": {
                        "x": 932.357421875,
                        "y": 3596.86083984375,
                        "z": 370.8933410644531
                    },
                    "rotation": {
                        "roll": 0.00013957782357465476,
                        "pitch": 0.02034030295908451,
                        "yaw": -80.75856018066406
                    }
                },
                "velocity": {
                    "x": 0.8423740267753601,
                    "y": -5.19584321975708,
                    "z": 0.0019869899842888117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.18765926361084,
                "transform": {
                    "location": {
                        "x": 954.9557495117188,
                        "y": 3581.361083984375,
                        "z": 370.6774597167969
                    },
                    "rotation": {
                        "roll": -0.0026245128829032183,
                        "pitch": 0.547063946723938,
                        "yaw": -171.1219024658203
                    }
                },
                "velocity": {
                    "x": -5.120945930480957,
                    "y": -0.8276450634002686,
                    "z": 0.05220849812030792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042125701904297,
                "transform": {
                    "location": {
                        "x": 941.9904174804688,
                        "y": 3494.83837890625,
                        "z": 370.72454833984375
                    },
                    "rotation": {
                        "roll": 0.0027354254852980375,
                        "pitch": 0.18898449838161469,
                        "yaw": 99.36151123046875
                    }
                },
                "velocity": {
                    "x": -1.2843730449676514,
                    "y": 7.938852310180664,
                    "z": 0.02815011888742447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6652221679688,
                        "y": 3462.064697265625,
                        "z": 370.5903015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001960339257493615,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.8799133300781
                    },
                    "rotation": {
                        "roll": 0.0005059309769421816,
                        "pitch": -0.03936920687556267,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00023351656273007393,
                    "y": -5.4044165153754875e-05,
                    "z": -0.001945630763657391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00183511630166322,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8771667480469
                    },
                    "rotation": {
                        "roll": 8.959622209658846e-05,
                        "pitch": -0.03850860521197319,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.50337835092796e-07,
                    "y": -1.4077872378948086e-07,
                    "z": -0.0018351160688325763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380990028381348,
                "transform": {
                    "location": {
                        "x": 947.9266357421875,
                        "y": 3520.625,
                        "z": 370.7922058105469
                    },
                    "rotation": {
                        "roll": -0.0016174333868548274,
                        "pitch": -0.15555071830749512,
                        "yaw": -80.84867858886719
                    }
                },
                "velocity": {
                    "x": 2.1270673274993896,
                    "y": -13.210793495178223,
                    "z": -0.037453096359968185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.108281135559082,
                "transform": {
                    "location": {
                        "x": 929.7014770507812,
                        "y": 3613.131103515625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.01365945115685463,
                        "pitch": 0.09012433886528015,
                        "yaw": -80.34605407714844
                    }
                },
                "velocity": {
                    "x": 0.8409452438354492,
                    "y": -5.038583755493164,
                    "z": 0.004281263332813978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453394889831543,
                "transform": {
                    "location": {
                        "x": 945.3507690429688,
                        "y": 3516.17333984375,
                        "z": 370.7897033691406
                    },
                    "rotation": {
                        "roll": 0.00016467220848426223,
                        "pitch": -0.15775004029273987,
                        "yaw": -80.8592758178711
                    }
                },
                "velocity": {
                    "x": 2.1390037536621094,
                    "y": -13.282211303710938,
                    "z": -0.037049148231744766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6348876953125,
                        "y": 3484.5830078125,
                        "z": 370.6836242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.004637241363525,
                "transform": {
                    "location": {
                        "x": 933.048095703125,
                        "y": 3612.830322265625,
                        "z": 370.8926086425781
                    },
                    "rotation": {
                        "roll": -0.002960205776616931,
                        "pitch": 0.04855581372976303,
                        "yaw": -80.43800354003906
                    }
                },
                "velocity": {
                    "x": 0.8180716037750244,
                    "y": -4.93732213973999,
                    "z": 0.0019525717943906784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1773071289062,
                        "y": 3477.5244140625,
                        "z": 370.6556701660156
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032341957092285,
                "transform": {
                    "location": {
                        "x": 942.2723388671875,
                        "y": 3513.5859375,
                        "z": 370.78350830078125
                    },
                    "rotation": {
                        "roll": 0.0004519080393947661,
                        "pitch": 0.15475842356681824,
                        "yaw": 99.12498474121094
                    }
                },
                "velocity": {
                    "x": -1.276489496231079,
                    "y": 7.930235385894775,
                    "z": 0.021634291857481003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.834843635559082,
                "transform": {
                    "location": {
                        "x": 938.8706665039062,
                        "y": 3534.7255859375,
                        "z": 370.8332824707031
                    },
                    "rotation": {
                        "roll": -0.0006408713525161147,
                        "pitch": -0.09573192894458771,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": -0.9265559315681458,
                    "y": 5.760794162750244,
                    "z": 0.012271814048290253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.1231560707092285,
                "transform": {
                    "location": {
                        "x": 930.0662841796875,
                        "y": 3568.973876953125,
                        "z": 370.8856506347656
                    },
                    "rotation": {
                        "roll": -0.00015258546045515686,
                        "pitch": 0.0656176209449768,
                        "yaw": 99.15237426757812
                    }
                },
                "velocity": {
                    "x": -0.6556786894798279,
                    "y": 4.070685863494873,
                    "z": 0.004398507997393608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026466369628906,
                "transform": {
                    "location": {
                        "x": 908.6030883789062,
                        "y": 3574.136474609375,
                        "z": 371.0971374511719
                    },
                    "rotation": {
                        "roll": 0.007654465734958649,
                        "pitch": 0.4365173578262329,
                        "yaw": -170.6070556640625
                    }
                },
                "velocity": {
                    "x": -7.919930458068848,
                    "y": -1.3020015954971313,
                    "z": 0.06040867790579796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.334091186523438,
                "transform": {
                    "location": {
                        "x": 945.6881103515625,
                        "y": 3492.413330078125,
                        "z": 370.7125549316406
                    },
                    "rotation": {
                        "roll": 0.0027177210431545973,
                        "pitch": 0.3098788261413574,
                        "yaw": 99.26302337646484
                    }
                },
                "velocity": {
                    "x": -1.338899850845337,
                    "y": 8.225786209106445,
                    "z": 0.029287824407219887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.431692123413086,
                "transform": {
                    "location": {
                        "x": 936.2925415039062,
                        "y": 3550.756591796875,
                        "z": 370.8621826171875
                    },
                    "rotation": {
                        "roll": -0.000915529381018132,
                        "pitch": 0.16931354999542236,
                        "yaw": 99.11253356933594
                    }
                },
                "velocity": {
                    "x": -0.862838864326477,
                    "y": 5.362717628479004,
                    "z": 0.0067107486538589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.503818988800049,
                "transform": {
                    "location": {
                        "x": 933.7238159179688,
                        "y": 3566.71240234375,
                        "z": 370.8830261230469
                    },
                    "rotation": {
                        "roll": 0.0005040002870373428,
                        "pitch": 0.06879366189241409,
                        "yaw": 99.1197738647461
                    }
                },
                "velocity": {
                    "x": -0.7170107364654541,
                    "y": 4.446374893188477,
                    "z": 0.00570692028850317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9280395507812,
                        "y": 3480.89208984375,
                        "z": 370.6673278808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2764075994491577,
        "expert_target_speed": 4.758773686383928,
        "target_point": [
            12.081793655719531,
            0.3566446141188342
        ],
        "target_point_next": [
            30.581178617511473,
            0.4960777520171442
        ]
    },
    "695": {
        "acceleration": [
            -0.5785417556762695,
            3.722553253173828,
            0.0968601182103157
        ],
        "angular_velocity": [
            1.1745808124542236,
            0.2084868997335434,
            0.0882154181599617
        ],
        "forward_vector": [
            -0.15180155634880066,
            0.9884035587310791,
            0.0038357877638190985
        ],
        "right_vector": [
            -0.9884108304977417,
            -0.15180277824401855,
            2.716423296078574e-05
        ],
        "location": [
            932.0768432617188,
            3558.838134765625,
            370.8677978515625
        ],
        "rotation": [
            -0.00155640731099993,
            0.21977499127388,
            98.73140716552734
        ],
        "velocity": [
            -0.7771257758140564,
            5.046566486358643,
            0.010226135142147541
        ],
        "speed": 5.106051093817297,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 65.43669128417969,
        "front_vehicle_info": {
            "id": 101139,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                921.4090576171875,
                3623.3994140625,
                370.8766174316406
            ],
            "velocity": [
                -9.913346730172634e-06,
                -3.4119746032956755e-06,
                -0.0021850906778126955
            ],
            "speed_kmh": 0.007866416984508467,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.206340789794922,
                "transform": {
                    "location": {
                        "x": 927.4696655273438,
                        "y": 3626.6591796875,
                        "z": 370.8857727050781
                    },
                    "rotation": {
                        "roll": 0.004293681588023901,
                        "pitch": 0.3792940378189087,
                        "yaw": -80.79883575439453
                    }
                },
                "velocity": {
                    "x": 0.683846116065979,
                    "y": -4.150214672088623,
                    "z": -0.03710140287876129
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.758549690246582,
                "transform": {
                    "location": {
                        "x": 930.7738037109375,
                        "y": 3626.591796875,
                        "z": 370.8883056640625
                    },
                    "rotation": {
                        "roll": -0.016509998589754105,
                        "pitch": -1.2767330408096313,
                        "yaw": -80.75762939453125
                    }
                },
                "velocity": {
                    "x": 0.2919864356517792,
                    "y": -1.7337287664413452,
                    "z": -0.03775668144226074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.160078048706055,
                "transform": {
                    "location": {
                        "x": 882.2039794921875,
                        "y": 3572.5185546875,
                        "z": 371.2731628417969
                    },
                    "rotation": {
                        "roll": -0.01486206240952015,
                        "pitch": 0.19830770790576935,
                        "yaw": 9.52935791015625
                    }
                },
                "velocity": {
                    "x": 4.1000590324401855,
                    "y": 0.7037544250488281,
                    "z": -0.02227264828979969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8560180664062,
                        "y": 3448.452392578125,
                        "z": 370.5250244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.810068607330322,
                "transform": {
                    "location": {
                        "x": 975.0718383789062,
                        "y": 3584.63623046875,
                        "z": 370.4591064453125
                    },
                    "rotation": {
                        "roll": 0.021781763061881065,
                        "pitch": 0.6423041224479675,
                        "yaw": -170.54347229003906
                    }
                },
                "velocity": {
                    "x": -7.7043962478637695,
                    "y": -1.2771092653274536,
                    "z": 0.09185220301151276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3349609375,
                        "y": 3480.945556640625,
                        "z": 370.671875
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.065646648406982,
                "transform": {
                    "location": {
                        "x": 935.69140625,
                        "y": 3596.609619140625,
                        "z": 370.8995361328125
                    },
                    "rotation": {
                        "roll": 0.0006169031839817762,
                        "pitch": 0.030462641268968582,
                        "yaw": -80.67093658447266
                    }
                },
                "velocity": {
                    "x": 0.8148030638694763,
                    "y": -4.999687194824219,
                    "z": 0.0015948009677231312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.198360443115234,
                "transform": {
                    "location": {
                        "x": 905.3147583007812,
                        "y": 3576.322509765625,
                        "z": 371.1276550292969
                    },
                    "rotation": {
                        "roll": -0.000488282588776201,
                        "pitch": -0.48452675342559814,
                        "yaw": 9.155672073364258
                    }
                },
                "velocity": {
                    "x": 6.119231224060059,
                    "y": 0.986221432685852,
                    "z": -0.04525994509458542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0492963790893555,
                "transform": {
                    "location": {
                        "x": 932.5626220703125,
                        "y": 3595.595458984375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0007892686408013105,
                        "pitch": 0.012540226802229881,
                        "yaw": -80.77912902832031
                    }
                },
                "velocity": {
                    "x": 0.807888388633728,
                    "y": -4.984246253967285,
                    "z": 0.0012590980622917414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.110352993011475,
                "transform": {
                    "location": {
                        "x": 953.679443359375,
                        "y": 3581.154296875,
                        "z": 370.6903381347656
                    },
                    "rotation": {
                        "roll": -0.004638676065951586,
                        "pitch": 0.5465448498725891,
                        "yaw": -171.10379028320312
                    }
                },
                "velocity": {
                    "x": -5.043882846832275,
                    "y": -0.8199641108512878,
                    "z": 0.051111191511154175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035721778869629,
                "transform": {
                    "location": {
                        "x": 941.66943359375,
                        "y": 3496.823974609375,
                        "z": 370.7313537597656
                    },
                    "rotation": {
                        "roll": 0.0020438190549612045,
                        "pitch": 0.1946740448474884,
                        "yaw": 99.35806274414062
                    }
                },
                "velocity": {
                    "x": -1.2816920280456543,
                    "y": 7.932811260223389,
                    "z": 0.02448616921901703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3405151367188,
                        "y": 3464.0830078125,
                        "z": 370.59912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006344679859466851,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.8797302246094
                    },
                    "rotation": {
                        "roll": 0.0005657535512000322,
                        "pitch": -0.03936920687556267,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.1855177035613451e-06,
                    "y": 5.225701897870749e-06,
                    "z": -0.0006344454013742507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00218511582352221,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8766174316406
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": -0.03850860521197319,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.913346730172634e-06,
                    "y": -3.4119746032956755e-06,
                    "z": -0.0021850906778126955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380894660949707,
                "transform": {
                    "location": {
                        "x": 948.458251953125,
                        "y": 3517.322021484375,
                        "z": 370.7829895019531
                    },
                    "rotation": {
                        "roll": -0.0010375988204032183,
                        "pitch": -0.15466278791427612,
                        "yaw": -80.85974884033203
                    }
                },
                "velocity": {
                    "x": 2.1263208389282227,
                    "y": -13.210817337036133,
                    "z": -0.03751501813530922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.058537483215332,
                "transform": {
                    "location": {
                        "x": 929.9096069335938,
                        "y": 3611.884521484375,
                        "z": 370.88507080078125
                    },
                    "rotation": {
                        "roll": 0.013207211159169674,
                        "pitch": 0.050304342061281204,
                        "yaw": -80.48158264160156
                    }
                },
                "velocity": {
                    "x": 0.8288681507110596,
                    "y": -4.990167617797852,
                    "z": 0.0021112156100571156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453376770019531,
                "transform": {
                    "location": {
                        "x": 945.8854370117188,
                        "y": 3512.85302734375,
                        "z": 370.78045654296875
                    },
                    "rotation": {
                        "roll": -0.0006713886978104711,
                        "pitch": -0.15570098161697388,
                        "yaw": -80.84288787841797
                    }
                },
                "velocity": {
                    "x": 2.1389904022216797,
                    "y": -13.282194137573242,
                    "z": -0.03708289936184883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101120,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.9613647460938,
                        "y": 3482.52392578125,
                        "z": 370.6737365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.862719774246216,
                "transform": {
                    "location": {
                        "x": 933.2090454101562,
                        "y": 3611.861083984375,
                        "z": 370.8923645019531
                    },
                    "rotation": {
                        "roll": -0.00012206989777041599,
                        "pitch": 0.123052679002285,
                        "yaw": -80.50492095947266
                    }
                },
                "velocity": {
                    "x": 0.6299102902412415,
                    "y": -3.8110125064849854,
                    "z": 0.0015412330394610763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.8560791015625,
                        "y": 3479.5205078125,
                        "z": 370.6639709472656
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032286643981934,
                "transform": {
                    "location": {
                        "x": 941.9535522460938,
                        "y": 3515.568359375,
                        "z": 370.78900146484375
                    },
                    "rotation": {
                        "roll": -0.00024414014478679746,
                        "pitch": 0.15527068078517914,
                        "yaw": 99.16291809082031
                    }
                },
                "velocity": {
                    "x": -1.2764638662338257,
                    "y": 7.930182933807373,
                    "z": 0.021743230521678925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7014408111572266,
                "transform": {
                    "location": {
                        "x": 938.708740234375,
                        "y": 3535.72998046875,
                        "z": 370.8349609375
                    },
                    "rotation": {
                        "roll": -0.0016479648184031248,
                        "pitch": -0.182126984000206,
                        "yaw": 99.24528503417969
                    }
                },
                "velocity": {
                    "x": -0.5904799103736877,
                    "y": 3.6540334224700928,
                    "z": 0.006153640802949667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.090246677398682,
                "transform": {
                    "location": {
                        "x": 929.9046630859375,
                        "y": 3569.977783203125,
                        "z": 370.88671875
                    },
                    "rotation": {
                        "roll": -0.00024413935898337513,
                        "pitch": 0.05884207785129547,
                        "yaw": 99.14630889892578
                    }
                },
                "velocity": {
                    "x": -0.6488270163536072,
                    "y": 4.038456916809082,
                    "z": 0.0027903937734663486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02535343170166,
                "transform": {
                    "location": {
                        "x": 906.6221923828125,
                        "y": 3573.811767578125,
                        "z": 371.1120910644531
                    },
                    "rotation": {
                        "roll": 0.011204906739294529,
                        "pitch": 0.43569090962409973,
                        "yaw": -170.70005798339844
                    }
                },
                "velocity": {
                    "x": -7.920165061950684,
                    "y": -1.293715476989746,
                    "z": 0.059812914580106735
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8331990242004395,
                "transform": {
                    "location": {
                        "x": 945.3665161132812,
                        "y": 3494.392822265625,
                        "z": 370.7194519042969
                    },
                    "rotation": {
                        "roll": 0.0015934748807922006,
                        "pitch": 0.16365131735801697,
                        "yaw": 99.20780944824219
                    }
                },
                "velocity": {
                    "x": -1.2534048557281494,
                    "y": 7.732215881347656,
                    "z": 0.028726480901241302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9375834465026855,
                "transform": {
                    "location": {
                        "x": 936.0584716796875,
                        "y": 3552.2109375,
                        "z": 370.86419677734375
                    },
                    "rotation": {
                        "roll": 0.000511563615873456,
                        "pitch": 0.28940877318382263,
                        "yaw": 99.13607025146484
                    }
                },
                "velocity": {
                    "x": -1.1016050577163696,
                    "y": 6.8495612144470215,
                    "z": 0.006036729551851749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.356264591217041,
                "transform": {
                    "location": {
                        "x": 933.5475463867188,
                        "y": 3567.80810546875,
                        "z": 370.88409423828125
                    },
                    "rotation": {
                        "roll": 4.799811722477898e-05,
                        "pitch": 0.06565860658884048,
                        "yaw": 99.12640380859375
                    }
                },
                "velocity": {
                    "x": -0.6910755038261414,
                    "y": 4.301095962524414,
                    "z": 0.005337657872587442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28072279691696167,
        "expert_target_speed": 5.412302160018067,
        "target_point": [
            10.907144788026368,
            0.3520729382451586
        ],
        "target_point_next": [
            29.406579033444878,
            0.48480637018629213
        ]
    },
    "700": {
        "acceleration": [
            -0.0468599796295166,
            0.2536201477050781,
            -0.012279320508241653
        ],
        "angular_velocity": [
            -0.4974523186683655,
            -0.06781492382287979,
            0.3946284055709839
        ],
        "forward_vector": [
            -0.15220125019550323,
            0.9883447289466858,
            0.003088588360697031
        ],
        "right_vector": [
            -0.988349437713623,
            -0.15220214426517487,
            5.37956329935696e-05
        ],
        "location": [
            931.8780517578125,
            3560.1279296875,
            370.86944580078125
        ],
        "rotation": [
            -0.003082277486100793,
            0.17696335911750793,
            98.75455474853516
        ],
        "velocity": [
            -0.794828474521637,
            5.149839878082275,
            0.0052231596782803535
        ],
        "speed": 5.210815970056595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.13174438476562,
        "front_vehicle_info": {
            "id": 101139,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                921.4090576171875,
                3623.3994140625,
                370.87652587890625
            ],
            "velocity": [
                6.898412539158016e-05,
                3.1906311050988734e-05,
                -0.0013588843867182732
            ],
            "speed_kmh": 0.004899629887986517,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.405771493911743,
                "transform": {
                    "location": {
                        "x": 927.5781860351562,
                        "y": 3626.016845703125,
                        "z": 370.8816223144531
                    },
                    "rotation": {
                        "roll": 0.004348809365183115,
                        "pitch": 0.2651752531528473,
                        "yaw": -80.64884948730469
                    }
                },
                "velocity": {
                    "x": 0.4120219349861145,
                    "y": -2.3702197074890137,
                    "z": -0.005692024249583483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.018053676933050156,
                "transform": {
                    "location": {
                        "x": 930.781982421875,
                        "y": 3626.5419921875,
                        "z": 370.8822937011719
                    },
                    "rotation": {
                        "roll": 0.002539204666391015,
                        "pitch": -1.261535882949829,
                        "yaw": -80.74607849121094
                    }
                },
                "velocity": {
                    "x": -0.002349540125578642,
                    "y": 0.012526598758995533,
                    "z": -0.0127866817638278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.427195072174072,
                "transform": {
                    "location": {
                        "x": 883.3965454101562,
                        "y": 3572.723388671875,
                        "z": 371.2662658691406
                    },
                    "rotation": {
                        "roll": -0.012725830078125,
                        "pitch": 0.22814196348190308,
                        "yaw": 9.655962944030762
                    }
                },
                "velocity": {
                    "x": 5.34840202331543,
                    "y": 0.9209274053573608,
                    "z": -0.030647171661257744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.54296875,
                        "y": 3450.396728515625,
                        "z": 370.53515625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.958755016326904,
                "transform": {
                    "location": {
                        "x": 973.1119384765625,
                        "y": 3584.311767578125,
                        "z": 370.48199462890625
                    },
                    "rotation": {
                        "roll": 0.014307516627013683,
                        "pitch": 0.7121906280517578,
                        "yaw": -170.58763122558594
                    }
                },
                "velocity": {
                    "x": -7.851711750030518,
                    "y": -1.2976477146148682,
                    "z": 0.09226877242326736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0154418945312,
                        "y": 3482.930908203125,
                        "z": 370.6799621582031
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.578211784362793,
                "transform": {
                    "location": {
                        "x": 935.87890625,
                        "y": 3595.451171875,
                        "z": 370.8992919921875
                    },
                    "rotation": {
                        "roll": 0.005626968573778868,
                        "pitch": -0.21689264476299286,
                        "yaw": -80.6610336303711
                    }
                },
                "velocity": {
                    "x": 0.5665916800498962,
                    "y": -3.5330681800842285,
                    "z": -0.0015943621983751655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.957489013671875,
                "transform": {
                    "location": {
                        "x": 906.8134765625,
                        "y": 3576.563720703125,
                        "z": 371.11651611328125
                    },
                    "rotation": {
                        "roll": 0.00028262543492019176,
                        "pitch": -0.474486380815506,
                        "yaw": 9.150347709655762
                    }
                },
                "velocity": {
                    "x": 5.881529808044434,
                    "y": 0.9472596645355225,
                    "z": -0.04453417658805847
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.002831935882568,
                "transform": {
                    "location": {
                        "x": 932.7493286132812,
                        "y": 3594.4443359375,
                        "z": 370.89373779296875
                    },
                    "rotation": {
                        "roll": 6.430150097003207e-05,
                        "pitch": -0.01815464161336422,
                        "yaw": -80.78688049316406
                    }
                },
                "velocity": {
                    "x": 0.6396256685256958,
                    "y": -3.95139741897583,
                    "z": -8.235931454692036e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.155518531799316,
                "transform": {
                    "location": {
                        "x": 952.4829711914062,
                        "y": 3580.959228515625,
                        "z": 370.7019958496094
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.45648884773254395,
                        "yaw": -170.8804168701172
                    }
                },
                "velocity": {
                    "x": -4.100621223449707,
                    "y": -0.672003984451294,
                    "z": 0.040635861456394196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.056497573852539,
                "transform": {
                    "location": {
                        "x": 941.3491821289062,
                        "y": 3498.809814453125,
                        "z": 370.73785400390625
                    },
                    "rotation": {
                        "roll": 0.0013458544854074717,
                        "pitch": 0.18637536466121674,
                        "yaw": 99.32463073730469
                    }
                },
                "velocity": {
                    "x": -1.282858967781067,
                    "y": 7.953661918640137,
                    "z": 0.026165703311562538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0274658203125,
                        "y": 3466.028076171875,
                        "z": 370.6072998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011207902571186423,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0006971246330067515,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.66210268920986e-06,
                    "y": 1.0018306966230739e-05,
                    "z": -0.0011207193601876497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0013610082678496838,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.87652587890625
                    },
                    "rotation": {
                        "roll": 0.0004620417021214962,
                        "pitch": -0.03872717171907425,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.898412539158016e-05,
                    "y": 3.1906311050988734e-05,
                    "z": -0.0013588843867182732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381001472473145,
                "transform": {
                    "location": {
                        "x": 948.9898071289062,
                        "y": 3514.019287109375,
                        "z": 370.7738342285156
                    },
                    "rotation": {
                        "roll": -0.0003662168455775827,
                        "pitch": -0.15453985333442688,
                        "yaw": -80.85371398925781
                    }
                },
                "velocity": {
                    "x": 2.126258134841919,
                    "y": -13.2109375,
                    "z": -0.03689521178603172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.693865776062012,
                "transform": {
                    "location": {
                        "x": 930.1517944335938,
                        "y": 3610.4267578125,
                        "z": 370.8844299316406
                    },
                    "rotation": {
                        "roll": 0.00853877142071724,
                        "pitch": 0.4703541100025177,
                        "yaw": -80.55049133300781
                    }
                },
                "velocity": {
                    "x": 1.094375491142273,
                    "y": -6.603799819946289,
                    "z": 0.002924203872680664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453661918640137,
                "transform": {
                    "location": {
                        "x": 946.4202880859375,
                        "y": 3509.53271484375,
                        "z": 370.77099609375
                    },
                    "rotation": {
                        "roll": -3.052253305213526e-05,
                        "pitch": -0.16412261128425598,
                        "yaw": -80.85912322998047
                    }
                },
                "velocity": {
                    "x": 2.1391966342926025,
                    "y": -13.282449722290039,
                    "z": -0.037086132913827896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.878029823303223,
                "transform": {
                    "location": {
                        "x": 933.3876342773438,
                        "y": 3610.782958984375,
                        "z": 370.89453125
                    },
                    "rotation": {
                        "roll": -0.00021362352708820254,
                        "pitch": -0.034273888915777206,
                        "yaw": -80.54898834228516
                    }
                },
                "velocity": {
                    "x": 0.7961835861206055,
                    "y": -4.812614440917969,
                    "z": 0.002880754414945841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.5416259765625,
                        "y": 3481.474609375,
                        "z": 370.67193603515625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03143310546875,
                "transform": {
                    "location": {
                        "x": 941.6342163085938,
                        "y": 3517.550537109375,
                        "z": 370.7945251464844
                    },
                    "rotation": {
                        "roll": -3.052251850022003e-05,
                        "pitch": 0.1560356616973877,
                        "yaw": 99.12686920166016
                    }
                },
                "velocity": {
                    "x": -1.2737115621566772,
                    "y": 7.929760456085205,
                    "z": 0.021981896832585335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.004988670349121,
                "transform": {
                    "location": {
                        "x": 938.5343017578125,
                        "y": 3536.810546875,
                        "z": 370.8377685546875
                    },
                    "rotation": {
                        "roll": 0.0005274085560813546,
                        "pitch": 0.202180415391922,
                        "yaw": 99.2018051147461
                    }
                },
                "velocity": {
                    "x": -0.7975001335144043,
                    "y": 4.941032409667969,
                    "z": 0.010192623361945152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.017565727233887,
                "transform": {
                    "location": {
                        "x": 929.7241821289062,
                        "y": 3571.098388671875,
                        "z": 370.890380859375
                    },
                    "rotation": {
                        "roll": 0.15452410280704498,
                        "pitch": 0.06189516931772232,
                        "yaw": 99.14627075195312
                    }
                },
                "velocity": {
                    "x": -0.802182674407959,
                    "y": 4.952910900115967,
                    "z": 0.03379834070801735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026714324951172,
                "transform": {
                    "location": {
                        "x": 904.6421508789062,
                        "y": 3573.48828125,
                        "z": 371.1268615722656
                    },
                    "rotation": {
                        "roll": 0.0068201180547475815,
                        "pitch": 0.4311215281486511,
                        "yaw": -170.73043823242188
                    }
                },
                "velocity": {
                    "x": -7.921688079833984,
                    "y": -1.2928354740142822,
                    "z": 0.05978633835911751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11789608001709,
                "transform": {
                    "location": {
                        "x": 945.0487060546875,
                        "y": 3496.35546875,
                        "z": 370.7264099121094
                    },
                    "rotation": {
                        "roll": 0.00160902738571167,
                        "pitch": 0.21250084042549133,
                        "yaw": 99.2120132446289
                    }
                },
                "velocity": {
                    "x": -1.2971303462982178,
                    "y": 8.013544082641602,
                    "z": 0.028246134519577026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.634311199188232,
                "transform": {
                    "location": {
                        "x": 935.7815551757812,
                        "y": 3553.930908203125,
                        "z": 370.8658142089844
                    },
                    "rotation": {
                        "roll": -0.0007629377651028335,
                        "pitch": 0.09238513559103012,
                        "yaw": 99.1691665649414
                    }
                },
                "velocity": {
                    "x": -1.0557390451431274,
                    "y": 6.549767971038818,
                    "z": 0.006465282291173935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.217228412628174,
                "transform": {
                    "location": {
                        "x": 933.3775634765625,
                        "y": 3568.864501953125,
                        "z": 370.88507080078125
                    },
                    "rotation": {
                        "roll": 0.00035920547088608146,
                        "pitch": 0.06536490470170975,
                        "yaw": 99.13694763183594
                    }
                },
                "velocity": {
                    "x": -0.6707718372344971,
                    "y": 4.163539409637451,
                    "z": 0.004832439124584198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2903437614440918,
        "expert_target_speed": 5.51063298430748,
        "target_point": [
            9.60226174856935,
            0.34749645939367113
        ],
        "target_point_next": [
            28.101748153421614,
            0.47274948811679085
        ]
    },
    "705": {
        "acceleration": [
            -0.029370784759521484,
            0.1409435272216797,
            -0.005785748362541199
        ],
        "angular_velocity": [
            -0.16731590032577515,
            -0.07122364640235901,
            -0.17530658841133118
        ],
        "forward_vector": [
            -0.15244682133197784,
            0.9882991909980774,
            0.004966238047927618
        ],
        "right_vector": [
            -0.9883113503456116,
            -0.15244895219802856,
            5.05994503328111e-05
        ],
        "location": [
            931.6666259765625,
            3561.496826171875,
            370.87030029296875
        ],
        "rotation": [
            -0.0028991708531975746,
            0.2845456600189209,
            98.76885986328125
        ],
        "velocity": [
            -0.8948267698287964,
            5.786225318908691,
            0.005889949854463339
        ],
        "speed": 5.855007975159575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.109781265258789,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                929.5150756835938,
                3572.396240234375,
                370.8992614746094
            ],
            "velocity": [
                -0.849934458732605,
                5.27964448928833,
                0.04472536966204643
            ],
            "speed_kmh": 19.252103573228624,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4195497035980225,
                "transform": {
                    "location": {
                        "x": 927.6803588867188,
                        "y": 3625.423583984375,
                        "z": 370.8832702636719
                    },
                    "rotation": {
                        "roll": 0.0011731889098882675,
                        "pitch": 0.060911621898412704,
                        "yaw": -80.51891326904297
                    }
                },
                "velocity": {
                    "x": 0.414817750453949,
                    "y": -2.3837242126464844,
                    "z": 0.0022929857950657606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007825054228305817,
                "transform": {
                    "location": {
                        "x": 930.7827758789062,
                        "y": 3626.537109375,
                        "z": 370.8775634765625
                    },
                    "rotation": {
                        "roll": 0.0011924519203603268,
                        "pitch": -0.45153695344924927,
                        "yaw": -80.74638366699219
                    }
                },
                "velocity": {
                    "x": -0.0012597787426784635,
                    "y": 0.006704025901854038,
                    "z": -0.0038341181352734566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.867844104766846,
                "transform": {
                    "location": {
                        "x": 884.7330322265625,
                        "y": 3572.953125,
                        "z": 371.25909423828125
                    },
                    "rotation": {
                        "roll": -0.00973510555922985,
                        "pitch": -0.044983621686697006,
                        "yaw": 9.742925643920898
                    }
                },
                "velocity": {
                    "x": 5.782237529754639,
                    "y": 0.9980063438415527,
                    "z": -0.0361955426633358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2216796875,
                        "y": 3452.39404296875,
                        "z": 370.5451965332031
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.411429405212402,
                "transform": {
                    "location": {
                        "x": 971.2174682617188,
                        "y": 3583.9990234375,
                        "z": 370.5046081542969
                    },
                    "rotation": {
                        "roll": 0.007844814099371433,
                        "pitch": 0.535398006439209,
                        "yaw": -170.64474487304688
                    }
                },
                "velocity": {
                    "x": -7.3123979568481445,
                    "y": -1.2047450542449951,
                    "z": 0.08188899606466293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6962890625,
                        "y": 3484.9140625,
                        "z": 370.68768310546875
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.006788009777665138,
                "transform": {
                    "location": {
                        "x": 935.9326171875,
                        "y": 3595.119384765625,
                        "z": 370.8992004394531
                    },
                    "rotation": {
                        "roll": -0.005523642059415579,
                        "pitch": -0.6608549356460571,
                        "yaw": -80.7196044921875
                    }
                },
                "velocity": {
                    "x": -0.0007073974702507257,
                    "y": 0.006750758737325668,
                    "z": -6.262601527851075e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.791219711303711,
                "transform": {
                    "location": {
                        "x": 908.2626342773438,
                        "y": 3576.797119140625,
                        "z": 371.10546875
                    },
                    "rotation": {
                        "roll": -0.0001525872794445604,
                        "pitch": -0.47619393467903137,
                        "yaw": 9.146775245666504
                    }
                },
                "velocity": {
                    "x": 5.717549800872803,
                    "y": 0.919696033000946,
                    "z": -0.04485103487968445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.47287654876709,
                "transform": {
                    "location": {
                        "x": 932.875732421875,
                        "y": 3593.656494140625,
                        "z": 370.8939514160156
                    },
                    "rotation": {
                        "roll": 0.002803281182423234,
                        "pitch": -0.0408923402428627,
                        "yaw": -80.84766387939453
                    }
                },
                "velocity": {
                    "x": 0.3239768445491791,
                    "y": -2.4515621662139893,
                    "z": 0.0010832976549863815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4602482318878174,
                "transform": {
                    "location": {
                        "x": 951.692138671875,
                        "y": 3580.82861328125,
                        "z": 370.7098388671875
                    },
                    "rotation": {
                        "roll": -0.0017089855391532183,
                        "pitch": 0.3358403742313385,
                        "yaw": -170.80398559570312
                    }
                },
                "velocity": {
                    "x": -2.427046537399292,
                    "y": -0.4020839333534241,
                    "z": 0.02439466491341591
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012664794921875,
                "transform": {
                    "location": {
                        "x": 941.0293579101562,
                        "y": 3500.791748046875,
                        "z": 370.7443542480469
                    },
                    "rotation": {
                        "roll": 0.0003330135368742049,
                        "pitch": 0.18949675559997559,
                        "yaw": 99.34454345703125
                    }
                },
                "velocity": {
                    "x": -1.2766387462615967,
                    "y": 7.9102678298950195,
                    "z": 0.02546342834830284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7046508789062,
                        "y": 3468.033935546875,
                        "z": 370.61572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002740276977419853,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0002604326873552054,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.644254219485447e-05,
                    "y": 4.4346757931634784e-05,
                    "z": -0.000259385968092829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0016187838045880198,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.87640380859375
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": -0.039642415940761566,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.4999014789937064e-05,
                    "y": 4.036117752548307e-05,
                    "z": -0.0016176548087969422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381150245666504,
                "transform": {
                    "location": {
                        "x": 949.521484375,
                        "y": 3510.716796875,
                        "z": 370.7643737792969
                    },
                    "rotation": {
                        "roll": 0.00030053616501390934,
                        "pitch": -0.16146565973758698,
                        "yaw": -80.8602066040039
                    }
                },
                "velocity": {
                    "x": 2.126312255859375,
                    "y": -13.211077690124512,
                    "z": -0.03739837929606438
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.294110298156738,
                "transform": {
                    "location": {
                        "x": 930.447021484375,
                        "y": 3608.64501953125,
                        "z": 370.8857421875
                    },
                    "rotation": {
                        "roll": 0.0055313799530267715,
                        "pitch": 0.42787718772888184,
                        "yaw": -80.58673095703125
                    }
                },
                "velocity": {
                    "x": 1.1916102170944214,
                    "y": -7.196115493774414,
                    "z": 0.005927457474172115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.4537353515625,
                "transform": {
                    "location": {
                        "x": 946.954833984375,
                        "y": 3506.21240234375,
                        "z": 370.76129150390625
                    },
                    "rotation": {
                        "roll": 0.00031100172782316804,
                        "pitch": -0.1685827225446701,
                        "yaw": -80.8470230102539
                    }
                },
                "velocity": {
                    "x": 2.1383633613586426,
                    "y": -13.28265380859375,
                    "z": -0.03865412250161171
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.70806884765625
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.454293251037598,
                "transform": {
                    "location": {
                        "x": 933.5996704101562,
                        "y": 3609.50244140625,
                        "z": 370.8955078125
                    },
                    "rotation": {
                        "roll": 0.00039570408989675343,
                        "pitch": -0.016208037734031677,
                        "yaw": -80.56871795654297
                    }
                },
                "velocity": {
                    "x": 0.8905936479568481,
                    "y": -5.381091594696045,
                    "z": 0.0035963724367320538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2183227539062,
                        "y": 3483.483642578125,
                        "z": 370.68011474609375
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03189468383789,
                "transform": {
                    "location": {
                        "x": 941.3153686523438,
                        "y": 3519.532958984375,
                        "z": 370.8000183105469
                    },
                    "rotation": {
                        "roll": 0.0011735028820112348,
                        "pitch": 0.1553526371717453,
                        "yaw": 99.16107940673828
                    }
                },
                "velocity": {
                    "x": -1.276206135749817,
                    "y": 7.9298272132873535,
                    "z": 0.021749505773186684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.434443950653076,
                "transform": {
                    "location": {
                        "x": 938.3228759765625,
                        "y": 3538.122314453125,
                        "z": 370.84075927734375
                    },
                    "rotation": {
                        "roll": 0.0002028324524872005,
                        "pitch": 0.19623816013336182,
                        "yaw": 99.16770935058594
                    }
                },
                "velocity": {
                    "x": -0.8645016551017761,
                    "y": 5.365231990814209,
                    "z": 0.010104217566549778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.347806453704834,
                "transform": {
                    "location": {
                        "x": 929.5150756835938,
                        "y": 3572.396240234375,
                        "z": 370.8992614746094
                    },
                    "rotation": {
                        "roll": 0.14742377400398254,
                        "pitch": 0.3599509596824646,
                        "yaw": 99.15264129638672
                    }
                },
                "velocity": {
                    "x": -0.849934458732605,
                    "y": 5.27964448928833,
                    "z": 0.04472536966204643
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018498420715332,
                "transform": {
                    "location": {
                        "x": 902.6627807617188,
                        "y": 3573.1669921875,
                        "z": 371.1415100097656
                    },
                    "rotation": {
                        "roll": 0.009932211600244045,
                        "pitch": 0.41942140460014343,
                        "yaw": -170.7795867919922
                    }
                },
                "velocity": {
                    "x": -7.915034770965576,
                    "y": -1.2826952934265137,
                    "z": 0.056866519153118134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0740327835083,
                "transform": {
                    "location": {
                        "x": 944.7241821289062,
                        "y": 3498.364013671875,
                        "z": 370.73297119140625
                    },
                    "rotation": {
                        "roll": 0.0016290423227474093,
                        "pitch": 0.18990656733512878,
                        "yaw": 99.16535949707031
                    }
                },
                "velocity": {
                    "x": -1.2870712280273438,
                    "y": 7.970747470855713,
                    "z": 0.025277480483055115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.519211769104004,
                "transform": {
                    "location": {
                        "x": 935.5343017578125,
                        "y": 3555.4658203125,
                        "z": 370.8673095703125
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.07507060468196869,
                        "yaw": 99.11378479003906
                    }
                },
                "velocity": {
                    "x": -0.876321017742157,
                    "y": 5.449195384979248,
                    "z": 0.005658197216689587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.067960739135742,
                "transform": {
                    "location": {
                        "x": 933.2133178710938,
                        "y": 3569.885498046875,
                        "z": 370.88604736328125
                    },
                    "rotation": {
                        "roll": 0.0003463655011728406,
                        "pitch": 0.06566543877124786,
                        "yaw": 99.13435363769531
                    }
                },
                "velocity": {
                    "x": -0.6460697054862976,
                    "y": 4.016327381134033,
                    "z": 0.003664741525426507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2973470389842987,
        "expert_target_speed": 6.023469011093755,
        "target_point": [
            8.217220791364948,
            0.34482761226181147
        ],
        "target_point_next": [
            26.71673794355926,
            0.4654538954112146
        ]
    },
    "710": {
        "acceleration": [
            -0.13464570045471191,
            0.8123588562011719,
            -0.004137223586440086
        ],
        "angular_velocity": [
            -0.16295285522937775,
            -0.03217416629195213,
            0.36464837193489075
        ],
        "forward_vector": [
            -0.1529071033000946,
            0.9882367253303528,
            0.00276767835021019
        ],
        "right_vector": [
            -0.9882404804229736,
            -0.1529078334569931,
            5.592614979832433e-05
        ],
        "location": [
            931.4432373046875,
            3562.939697265625,
            370.87200927734375
        ],
        "rotation": [
            -0.0032043447718024254,
            0.15857648849487305,
            98.79547119140625
        ],
        "velocity": [
            -0.9031715989112854,
            5.825112819671631,
            0.005564766004681587
        ],
        "speed": 5.894714437441626,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.082839965820312,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                929.2874755859375,
                3573.810791015625,
                370.9089050292969
            ],
            "velocity": [
                -0.941692054271698,
                5.822032928466797,
                0.05302116274833679
            ],
            "speed_kmh": 21.232573728884677,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8034234046936035,
                "transform": {
                    "location": {
                        "x": 927.7858276367188,
                        "y": 3624.8125,
                        "z": 370.8841857910156
                    },
                    "rotation": {
                        "roll": 0.0009691585437394679,
                        "pitch": 0.010955622419714928,
                        "yaw": -80.41862487792969
                    }
                },
                "velocity": {
                    "x": 0.48019513487815857,
                    "y": -2.761990547180176,
                    "z": 0.0017226218478754163
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.209063172340393,
                "transform": {
                    "location": {
                        "x": 930.8095703125,
                        "y": 3626.380615234375,
                        "z": 370.875
                    },
                    "rotation": {
                        "roll": -0.007629391737282276,
                        "pitch": 0.18041260540485382,
                        "yaw": -80.62705993652344
                    }
                },
                "velocity": {
                    "x": 0.20662951469421387,
                    "y": -1.1912754774093628,
                    "z": -0.0009196758037433028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.468033790588379,
                "transform": {
                    "location": {
                        "x": 886.4096069335938,
                        "y": 3573.235595703125,
                        "z": 371.24737548828125
                    },
                    "rotation": {
                        "roll": 0.0200661551207304,
                        "pitch": 0.20505592226982117,
                        "yaw": 9.579449653625488
                    }
                },
                "velocity": {
                    "x": 7.365532875061035,
                    "y": 1.2321784496307373,
                    "z": -0.04674328863620758
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9010620117188,
                        "y": 3454.38671875,
                        "z": 370.5552673339844
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.195147514343262,
                "transform": {
                    "location": {
                        "x": 969.4283447265625,
                        "y": 3583.704833984375,
                        "z": 370.5245666503906
                    },
                    "rotation": {
                        "roll": 0.009851725772023201,
                        "pitch": 0.49144574999809265,
                        "yaw": -170.6555938720703
                    }
                },
                "velocity": {
                    "x": -7.0997819900512695,
                    "y": -1.1648201942443848,
                    "z": 0.08023141324520111
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.3770141601562,
                        "y": 3486.8984375,
                        "z": 370.6953430175781
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003654490690678358,
                "transform": {
                    "location": {
                        "x": 935.93310546875,
                        "y": 3595.1162109375,
                        "z": 370.8993225097656
                    },
                    "rotation": {
                        "roll": -0.0013122624950483441,
                        "pitch": -0.17022879421710968,
                        "yaw": -80.71977233886719
                    }
                },
                "velocity": {
                    "x": -0.0005064635770395398,
                    "y": 0.0034263581037521362,
                    "z": 0.0011657049180939794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.54295539855957,
                "transform": {
                    "location": {
                        "x": 909.6602172851562,
                        "y": 3577.022216796875,
                        "z": 371.0947570800781
                    },
                    "rotation": {
                        "roll": -0.0011901871766895056,
                        "pitch": -0.4898338317871094,
                        "yaw": 9.1431245803833
                    }
                },
                "velocity": {
                    "x": 5.472377300262451,
                    "y": 0.8806494474411011,
                    "z": -0.04357146471738815
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015472820959985256,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435546875,
                        "z": 370.8942565917969
                    },
                    "rotation": {
                        "roll": -0.0029907242860645056,
                        "pitch": -0.06774864345788956,
                        "yaw": -81.26563262939453
                    }
                },
                "velocity": {
                    "x": -0.00014237085997592658,
                    "y": 3.157989340252243e-05,
                    "z": 0.0015403944998979568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0030828299932181835,
                "transform": {
                    "location": {
                        "x": 951.4478759765625,
                        "y": 3580.78125,
                        "z": 370.7121887207031
                    },
                    "rotation": {
                        "roll": 0.013897741213440895,
                        "pitch": 0.19758370518684387,
                        "yaw": -170.24960327148438
                    }
                },
                "velocity": {
                    "x": 0.002961446065455675,
                    "y": 9.47138832998462e-05,
                    "z": 0.0008512978092767298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073790550231934,
                "transform": {
                    "location": {
                        "x": 940.7092895507812,
                        "y": 3502.778076171875,
                        "z": 370.7505798339844
                    },
                    "rotation": {
                        "roll": 0.0023671849630773067,
                        "pitch": 0.1759524941444397,
                        "yaw": 99.31529998779297
                    }
                },
                "velocity": {
                    "x": -1.2822914123535156,
                    "y": 7.971269130706787,
                    "z": 0.026218794286251068
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3850708007812,
                        "y": 3470.0185546875,
                        "z": 370.62408447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013603087281808257,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0002604326873552054,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.4643103390408214e-06,
                    "y": 1.1701686162268743e-05,
                    "z": -0.001360254012979567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006553694838657975,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00097656378056854,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 9.49774585023988e-06,
                    "y": 4.156175418756902e-05,
                    "z": -0.0006539813475683331
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.38116455078125,
                "transform": {
                    "location": {
                        "x": 950.0529174804688,
                        "y": 3507.4140625,
                        "z": 370.7547607421875
                    },
                    "rotation": {
                        "roll": -0.00015258598432410508,
                        "pitch": -0.16512665152549744,
                        "yaw": -80.85384368896484
                    }
                },
                "velocity": {
                    "x": 2.1261823177337646,
                    "y": -13.211112976074219,
                    "z": -0.03767796605825424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.441835403442383,
                "transform": {
                    "location": {
                        "x": 930.7177124023438,
                        "y": 3607.000244140625,
                        "z": 370.88922119140625
                    },
                    "rotation": {
                        "roll": 0.011928868480026722,
                        "pitch": -0.21538999676704407,
                        "yaw": -80.6588363647461
                    }
                },
                "velocity": {
                    "x": 0.8789722323417664,
                    "y": -5.370377540588379,
                    "z": 0.005060682073235512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.4540376663208,
                "transform": {
                    "location": {
                        "x": 947.4894409179688,
                        "y": 3502.89208984375,
                        "z": 370.7512512207031
                    },
                    "rotation": {
                        "roll": 0.0009863331215456128,
                        "pitch": -0.1734321564435959,
                        "yaw": -80.86790466308594
                    }
                },
                "velocity": {
                    "x": 2.1374661922454834,
                    "y": -13.283095359802246,
                    "z": -0.0417027473449707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.182632327079773,
                "transform": {
                    "location": {
                        "x": 986.4252319335938,
                        "y": 3586.569091796875,
                        "z": 370.3179931640625
                    },
                    "rotation": {
                        "roll": 0.00030310172587633133,
                        "pitch": 0.7419702410697937,
                        "yaw": -170.74766540527344
                    }
                },
                "velocity": {
                    "x": -0.01509018149226904,
                    "y": -0.002464023418724537,
                    "z": -1.1825335025787354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.681499481201172,
                "transform": {
                    "location": {
                        "x": 933.8298950195312,
                        "y": 3608.102783203125,
                        "z": 370.8962707519531
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.00262279249727726,
                        "yaw": -80.60009002685547
                    }
                },
                "velocity": {
                    "x": 0.9143310189247131,
                    "y": -5.6074442863464355,
                    "z": 0.002092494862154126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8997192382812,
                        "y": 3485.4619140625,
                        "z": 370.68780517578125
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032276153564453,
                "transform": {
                    "location": {
                        "x": 940.9962768554688,
                        "y": 3521.515625,
                        "z": 370.8055419921875
                    },
                    "rotation": {
                        "roll": 0.0006072954274713993,
                        "pitch": 0.15570098161697388,
                        "yaw": 99.1187515258789
                    }
                },
                "velocity": {
                    "x": -1.2739132642745972,
                    "y": 7.930582046508789,
                    "z": 0.021805094555020332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.1032819747924805,
                "transform": {
                    "location": {
                        "x": 938.083740234375,
                        "y": 3539.607177734375,
                        "z": 370.84393310546875
                    },
                    "rotation": {
                        "roll": 0.0018276043701916933,
                        "pitch": 0.35615336894989014,
                        "yaw": 99.1584701538086
                    }
                },
                "velocity": {
                    "x": -1.1293658018112183,
                    "y": 7.012914180755615,
                    "z": 0.013349447399377823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.897937297821045,
                "transform": {
                    "location": {
                        "x": 929.2874755859375,
                        "y": 3573.810791015625,
                        "z": 370.9089050292969
                    },
                    "rotation": {
                        "roll": 0.2236412763595581,
                        "pitch": 0.5833801031112671,
                        "yaw": 99.1787109375
                    }
                },
                "velocity": {
                    "x": -0.941692054271698,
                    "y": 5.822032928466797,
                    "z": 0.05302116274833679
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033548355102539,
                "transform": {
                    "location": {
                        "x": 900.6817626953125,
                        "y": 3572.84619140625,
                        "z": 371.1557312011719
                    },
                    "rotation": {
                        "roll": 0.005699556786566973,
                        "pitch": 0.41467443108558655,
                        "yaw": -170.8055419921875
                    }
                },
                "velocity": {
                    "x": -7.930170059204102,
                    "y": -1.2833880186080933,
                    "z": 0.056761484593153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.997203350067139,
                "transform": {
                    "location": {
                        "x": 944.4052734375,
                        "y": 3500.34033203125,
                        "z": 370.7394714355469
                    },
                    "rotation": {
                        "roll": 0.0016313293017446995,
                        "pitch": 0.180214524269104,
                        "yaw": 99.17808532714844
                    }
                },
                "velocity": {
                    "x": -1.2729990482330322,
                    "y": 7.895194053649902,
                    "z": 0.025508975610136986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.06184196472168,
                "transform": {
                    "location": {
                        "x": 935.3297729492188,
                        "y": 3556.735595703125,
                        "z": 370.8688049316406
                    },
                    "rotation": {
                        "roll": -0.001678468193858862,
                        "pitch": -0.02340022660791874,
                        "yaw": 99.09329223632812
                    }
                },
                "velocity": {
                    "x": -0.8041665554046631,
                    "y": 4.997551918029785,
                    "z": 0.005672101862728596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.415740489959717,
                "transform": {
                    "location": {
                        "x": 933.0490112304688,
                        "y": 3570.90576171875,
                        "z": 370.8885803222656
                    },
                    "rotation": {
                        "roll": 0.0013790592784062028,
                        "pitch": 0.08286385238170624,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.7031849026679993,
                    "y": 4.359288215637207,
                    "z": 0.02999667078256607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3136606514453888,
        "expert_target_speed": 6.082638142468486,
        "target_point": [
            25.256889558950075,
            0.45292270422801906
        ],
        "target_point_next": [
            43.25647155790064,
            0.5619762007626301
        ]
    },
    "715": {
        "acceleration": [
            -0.4184579849243164,
            2.6229381561279297,
            -0.0016763713210821152
        ],
        "angular_velocity": [
            0.48844367265701294,
            0.068081334233284,
            -0.13399311900138855
        ],
        "forward_vector": [
            -0.1533098965883255,
            0.9881705045700073,
            0.003892650129273534
        ],
        "right_vector": [
            -0.9881778955459595,
            -0.15331131219863892,
            6.7643697548192e-05
        ],
        "location": [
            931.208251953125,
            3564.45361328125,
            370.8731689453125
        ],
        "rotation": [
            -0.003875727765262127,
            0.22303298115730286,
            98.81885528564453
        ],
        "velocity": [
            -0.9848089218139648,
            6.3330559730529785,
            0.005837135016918182
        ],
        "speed": 6.409168945370873,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.320367813110352,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                929.0062866210938,
                3575.5576171875,
                370.9295349121094
            ],
            "velocity": [
                -1.233552098274231,
                7.704747200012207,
                0.030260715633630753
            ],
            "speed_kmh": 28.09054322977534,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5021958351135254,
                "transform": {
                    "location": {
                        "x": 927.9267578125,
                        "y": 3623.9970703125,
                        "z": 370.8851013183594
                    },
                    "rotation": {
                        "roll": 0.0011926719453185797,
                        "pitch": -0.03131641447544098,
                        "yaw": -80.3238296508789
                    }
                },
                "velocity": {
                    "x": 0.6003208160400391,
                    "y": -3.45035982131958,
                    "z": 0.0028497695457190275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.045518398284912,
                "transform": {
                    "location": {
                        "x": 930.878662109375,
                        "y": 3625.978759765625,
                        "z": 370.87432861328125
                    },
                    "rotation": {
                        "roll": -0.008605935610830784,
                        "pitch": 0.35438433289527893,
                        "yaw": -80.51753997802734
                    }
                },
                "velocity": {
                    "x": 0.3485430181026459,
                    "y": -2.015604257583618,
                    "z": 0.0017581081483513117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.351590156555176,
                "transform": {
                    "location": {
                        "x": 888.381591796875,
                        "y": 3573.565185546875,
                        "z": 371.2351989746094
                    },
                    "rotation": {
                        "roll": 0.0125027596950531,
                        "pitch": 0.08254282921552658,
                        "yaw": 9.487276077270508
                    }
                },
                "velocity": {
                    "x": 8.237839698791504,
                    "y": 1.3726484775543213,
                    "z": -0.053796812891960144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5829467773438,
                        "y": 3456.362060546875,
                        "z": 370.5645751953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.059174060821533,
                "transform": {
                    "location": {
                        "x": 967.662841796875,
                        "y": 3583.41552734375,
                        "z": 370.54327392578125
                    },
                    "rotation": {
                        "roll": 0.005461619235575199,
                        "pitch": 0.5330005884170532,
                        "yaw": -170.70477294921875
                    }
                },
                "velocity": {
                    "x": -6.966036319732666,
                    "y": -1.1404629945755005,
                    "z": 0.07499387860298157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.057373046875,
                        "y": 3488.884033203125,
                        "z": 370.702880859375
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001675493665970862,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.115478515625,
                        "z": 370.8994140625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.03335864096879959,
                        "yaw": -80.71977233886719
                    }
                },
                "velocity": {
                    "x": -0.00025807053316384554,
                    "y": 0.0007625292055308819,
                    "z": 0.0014694310957565904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.389248847961426,
                "transform": {
                    "location": {
                        "x": 911.0081176757812,
                        "y": 3577.239013671875,
                        "z": 371.0841979980469
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.49294838309288025,
                        "yaw": 9.141642570495605
                    }
                },
                "velocity": {
                    "x": 5.3207688331604,
                    "y": 0.8554159998893738,
                    "z": -0.04102097824215889
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001334574306383729,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938903808594
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.018830830231308937,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -9.703125397209078e-05,
                    "y": 1.199584858113667e-05,
                    "z": 0.001330988248810172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017010901356115937,
                "transform": {
                    "location": {
                        "x": 951.4461669921875,
                        "y": 3580.780517578125,
                        "z": 370.7125244140625
                    },
                    "rotation": {
                        "roll": 0.007045614067465067,
                        "pitch": 0.4773072600364685,
                        "yaw": -170.2493438720703
                    }
                },
                "velocity": {
                    "x": 0.0011917810188606381,
                    "y": 0.00042866900912486017,
                    "z": 0.001135609345510602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004975318908691,
                "transform": {
                    "location": {
                        "x": 940.3899536132812,
                        "y": 3504.761474609375,
                        "z": 370.756591796875
                    },
                    "rotation": {
                        "roll": -0.0010070768184959888,
                        "pitch": 0.1659940779209137,
                        "yaw": 99.32634735107422
                    }
                },
                "velocity": {
                    "x": -1.2743595838546753,
                    "y": 7.902853965759277,
                    "z": 0.023246297612786293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0665893554688,
                        "y": 3471.997802734375,
                        "z": 370.6324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006779702962376177,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0010349522344768047,
                        "pitch": -0.03942384943366051,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.507223613676615e-05,
                    "y": -1.0821753676282242e-05,
                    "z": -0.0006756431539542973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.344425491988659e-05,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00097656378056854,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.6092137634113897e-06,
                    "y": 2.5387853597180765e-08,
                    "z": -6.334150384645909e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381339073181152,
                "transform": {
                    "location": {
                        "x": 950.5842895507812,
                        "y": 3504.111083984375,
                        "z": 370.7449951171875
                    },
                    "rotation": {
                        "roll": 0.00044904681271873415,
                        "pitch": -0.16802947223186493,
                        "yaw": -80.86598205566406
                    }
                },
                "velocity": {
                    "x": 2.125058889389038,
                    "y": -13.21146011352539,
                    "z": -0.04093204811215401
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9023303985595703,
                "transform": {
                    "location": {
                        "x": 930.8709106445312,
                        "y": 3606.063720703125,
                        "z": 370.891357421875
                    },
                    "rotation": {
                        "roll": 0.005742437671869993,
                        "pitch": -0.6621389985084534,
                        "yaw": -80.69441223144531
                    }
                },
                "velocity": {
                    "x": 0.6279424428939819,
                    "y": -3.851475477218628,
                    "z": 0.0025834941770881414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.454413414001465,
                "transform": {
                    "location": {
                        "x": 948.0235595703125,
                        "y": 3499.5712890625,
                        "z": 370.74066162109375
                    },
                    "rotation": {
                        "roll": -0.000274649792117998,
                        "pitch": -0.19125211238861084,
                        "yaw": -80.85343933105469
                    }
                },
                "velocity": {
                    "x": 2.1370139122009277,
                    "y": -13.283539772033691,
                    "z": -0.04450926557183266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15021347999572754,
                "transform": {
                    "location": {
                        "x": 986.4249267578125,
                        "y": 3586.568603515625,
                        "z": 370.2943420410156
                    },
                    "rotation": {
                        "roll": 0.0005057363887317479,
                        "pitch": 0.7406793236732483,
                        "yaw": -170.74765014648438
                    }
                },
                "velocity": {
                    "x": 0.0019194000633433461,
                    "y": 0.00016117491759359837,
                    "z": 0.15020112693309784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.036715984344482,
                "transform": {
                    "location": {
                        "x": 934.07568359375,
                        "y": 3606.598388671875,
                        "z": 370.8970947265625
                    },
                    "rotation": {
                        "roll": -0.00027465750463306904,
                        "pitch": 0.019629962742328644,
                        "yaw": -80.67729187011719
                    }
                },
                "velocity": {
                    "x": 0.9712419509887695,
                    "y": -5.958072185516357,
                    "z": 0.0029624556191265583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5806274414062,
                        "y": 3487.445556640625,
                        "z": 370.6954650878906
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03177261352539,
                "transform": {
                    "location": {
                        "x": 940.6778564453125,
                        "y": 3523.498046875,
                        "z": 370.8107604980469
                    },
                    "rotation": {
                        "roll": 0.0006181675125844777,
                        "pitch": 0.14802385866641998,
                        "yaw": 99.1524658203125
                    }
                },
                "velocity": {
                    "x": -1.2783432006835938,
                    "y": 7.929358959197998,
                    "z": 0.021863402798771858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046780586242676,
                "transform": {
                    "location": {
                        "x": 937.7764892578125,
                        "y": 3541.514892578125,
                        "z": 370.8474426269531
                    },
                    "rotation": {
                        "roll": 0.000777783861849457,
                        "pitch": 0.2815130650997162,
                        "yaw": 99.15225982666016
                    }
                },
                "velocity": {
                    "x": -1.2791306972503662,
                    "y": 7.944451332092285,
                    "z": 0.013848494738340378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.802928924560547,
                "transform": {
                    "location": {
                        "x": 929.0062866210938,
                        "y": 3575.5576171875,
                        "z": 370.9295349121094
                    },
                    "rotation": {
                        "roll": -0.1922912299633026,
                        "pitch": 0.45338109135627747,
                        "yaw": 99.13589477539062
                    }
                },
                "velocity": {
                    "x": -1.233552098274231,
                    "y": 7.704747200012207,
                    "z": 0.030260715633630753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015715599060059,
                "transform": {
                    "location": {
                        "x": 898.7017211914062,
                        "y": 3572.526123046875,
                        "z": 371.1697692871094
                    },
                    "rotation": {
                        "roll": 0.006279578898102045,
                        "pitch": 0.41207894682884216,
                        "yaw": -170.8177947998047
                    }
                },
                "velocity": {
                    "x": -7.913171291351318,
                    "y": -1.2768311500549316,
                    "z": 0.05589704215526581
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08121109008789,
                "transform": {
                    "location": {
                        "x": 944.0851440429688,
                        "y": 3502.326416015625,
                        "z": 370.7458801269531
                    },
                    "rotation": {
                        "roll": 0.0011785074602812529,
                        "pitch": 0.18876592814922333,
                        "yaw": 99.14114379882812
                    }
                },
                "velocity": {
                    "x": -1.2847565412521362,
                    "y": 7.978391647338867,
                    "z": 0.02553168311715126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.158519268035889,
                "transform": {
                    "location": {
                        "x": 935.1270141601562,
                        "y": 3557.99658203125,
                        "z": 370.87042236328125
                    },
                    "rotation": {
                        "roll": -0.000701905635651201,
                        "pitch": 0.057769738137722015,
                        "yaw": 99.1203842163086
                    }
                },
                "velocity": {
                    "x": -0.8191797733306885,
                    "y": 5.093057155609131,
                    "z": 0.005696105770766735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.292456150054932,
                "transform": {
                    "location": {
                        "x": 932.853271484375,
                        "y": 3572.121826171875,
                        "z": 370.8959045410156
                    },
                    "rotation": {
                        "roll": -0.1341552734375,
                        "pitch": 0.20748747885227203,
                        "yaw": 99.14080047607422
                    }
                },
                "velocity": {
                    "x": -0.8342874050140381,
                    "y": 5.226222991943359,
                    "z": 0.02551461197435856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32346469163894653,
        "expert_target_speed": 6.684788138749041,
        "target_point": [
            23.725028003056206,
            0.4425062691711017
        ],
        "target_point_next": [
            41.72465301524652,
            0.5442128205082817
        ]
    },
    "720": {
        "acceleration": [
            0.00012636184692382812,
            -0.09062767028808594,
            0.007848935201764107
        ],
        "angular_velocity": [
            -0.5801891088485718,
            -0.058979202061891556,
            0.34585726261138916
        ],
        "forward_vector": [
            -0.15383277833461761,
            0.9880892634391785,
            0.003892650129273534
        ],
        "right_vector": [
            -0.9880966544151306,
            -0.15383422374725342,
            7.296981493709609e-05
        ],
        "location": [
            930.9526977539062,
            3566.0947265625,
            370.8746337890625
        ],
        "rotation": [
            -0.004180894233286381,
            0.22303298115730286,
            98.84917449951172
        ],
        "velocity": [
            -1.0352718830108643,
            6.636946678161621,
            0.006242675706744194
        ],
        "speed": 6.717205451712299,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.689693450927734,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.6842041015625,
                3577.56201171875,
                370.93988037109375
            ],
            "velocity": [
                -1.2925481796264648,
                8.120555877685547,
                0.05182335898280144
            ],
            "speed_kmh": 29.60259537757924,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9479284286499023,
                "transform": {
                    "location": {
                        "x": 928.080322265625,
                        "y": 3623.106689453125,
                        "z": 370.8855285644531
                    },
                    "rotation": {
                        "roll": -0.004577635321766138,
                        "pitch": -0.007294641807675362,
                        "yaw": -80.28604888916016
                    }
                },
                "velocity": {
                    "x": 0.6461750864982605,
                    "y": -3.8946876525878906,
                    "z": 0.0021453476510941982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2835681438446045,
                "transform": {
                    "location": {
                        "x": 930.9913330078125,
                        "y": 3625.325927734375,
                        "z": 370.87432861328125
                    },
                    "rotation": {
                        "roll": -0.009704572148621082,
                        "pitch": 0.49892479181289673,
                        "yaw": -80.3978042602539
                    }
                },
                "velocity": {
                    "x": 0.5610147714614868,
                    "y": -3.2352864742279053,
                    "z": 0.002156438771635294
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.488649368286133,
                "transform": {
                    "location": {
                        "x": 890.5198974609375,
                        "y": 3573.920654296875,
                        "z": 371.2220764160156
                    },
                    "rotation": {
                        "roll": 0.019208230078220367,
                        "pitch": -0.14230015873908997,
                        "yaw": 9.417777061462402
                    }
                },
                "velocity": {
                    "x": 8.37564754486084,
                    "y": 1.379327654838562,
                    "z": -0.056209154427051544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623901367188,
                        "y": 3458.354248046875,
                        "z": 370.5738525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.678789138793945,
                "transform": {
                    "location": {
                        "x": 965.9688720703125,
                        "y": 3583.138427734375,
                        "z": 370.5613708496094
                    },
                    "rotation": {
                        "roll": 0.003025033976882696,
                        "pitch": 0.48301729559898376,
                        "yaw": -170.68569946289062
                    }
                },
                "velocity": {
                    "x": -6.590665817260742,
                    "y": -1.0790226459503174,
                    "z": 0.07112487405538559
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.7380981445312,
                        "y": 3490.86669921875,
                        "z": 370.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011784813832491636,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.115234375,
                        "z": 370.8994140625
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.007479056715965271,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": -5.8982270275009796e-05,
                    "y": 0.0002380536316195503,
                    "z": 0.0011526794405654073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.168063163757324,
                "transform": {
                    "location": {
                        "x": 912.3099975585938,
                        "y": 3577.4482421875,
                        "z": 371.0740966796875
                    },
                    "rotation": {
                        "roll": -0.0007629410829395056,
                        "pitch": -0.4876413345336914,
                        "yaw": 9.139317512512207
                    }
                },
                "velocity": {
                    "x": 5.102405071258545,
                    "y": 0.8201770782470703,
                    "z": -0.04058915004134178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005647139041684568,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -9.155221050605178e-05,
                        "pitch": -0.012663169763982296,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 1.5012258700153325e-05,
                    "y": 6.481987384177046e-06,
                    "z": -0.0005644771154038608
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012906568590551615,
                "transform": {
                    "location": {
                        "x": 951.4457397460938,
                        "y": 3580.780517578125,
                        "z": 370.712646484375
                    },
                    "rotation": {
                        "roll": 0.005865816492587328,
                        "pitch": 0.5514557957649231,
                        "yaw": -170.2493438720703
                    }
                },
                "velocity": {
                    "x": 0.0002713717403821647,
                    "y": 0.00010799997835420072,
                    "z": 0.0012571748811751604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073543548583984,
                "transform": {
                    "location": {
                        "x": 940.0701904296875,
                        "y": 3506.74609375,
                        "z": 370.762451171875
                    },
                    "rotation": {
                        "roll": 0.0012713678879663348,
                        "pitch": 0.17057713866233826,
                        "yaw": 99.3167495727539
                    }
                },
                "velocity": {
                    "x": -1.2831207513809204,
                    "y": 7.970896244049072,
                    "z": 0.02279340662062168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7462158203125,
                        "y": 3473.990478515625,
                        "z": 370.64080810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016617552319075912,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0011418340727686882,
                        "pitch": -0.03924626484513283,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.6682921543397242e-06,
                    "y": 4.009427357232198e-06,
                    "z": -0.00016610571765340865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.30841657519340515,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8713684082031
                    },
                    "rotation": {
                        "roll": 0.00012032708764309064,
                        "pitch": -0.042511094361543655,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.667245204676874e-05,
                    "y": -0.0002136063703801483,
                    "z": -0.308416485786438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009024152532219887,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0006713863695040345,
                        "pitch": -0.03933505713939667,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.6127430828637443e-05,
                    "y": -1.1434936823206954e-05,
                    "z": -0.0009019644930958748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5426687598228455,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.9407043457031
                    },
                    "rotation": {
                        "roll": 0.000390958390198648,
                        "pitch": -0.04674581065773964,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 6.7075284277962055e-06,
                    "y": -0.00042093952652066946,
                    "z": -0.5426685810089111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.3816556930542,
                "transform": {
                    "location": {
                        "x": 951.1154174804688,
                        "y": 3500.80859375,
                        "z": 370.73443603515625
                    },
                    "rotation": {
                        "roll": 0.0006734508788213134,
                        "pitch": -0.18692177534103394,
                        "yaw": -80.85972595214844
                    }
                },
                "velocity": {
                    "x": 2.12490177154541,
                    "y": -13.211797714233398,
                    "z": -0.04355829581618309
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.126481056213379,
                "transform": {
                    "location": {
                        "x": 931.0553588867188,
                        "y": 3604.93212890625,
                        "z": 370.8893127441406
                    },
                    "rotation": {
                        "roll": 0.0035674104001373053,
                        "pitch": 0.1417469084262848,
                        "yaw": -80.72123718261719
                    }
                },
                "velocity": {
                    "x": 0.824242889881134,
                    "y": -5.0597825050354,
                    "z": 0.00586186395958066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5213623046875,
                        "y": 3496.200927734375,
                        "z": 370.7274475097656
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5322842597961426,
                "transform": {
                    "location": {
                        "x": 986.2392578125,
                        "y": 3586.535888671875,
                        "z": 370.319091796875
                    },
                    "rotation": {
                        "roll": -0.009582527913153172,
                        "pitch": 0.9773727059364319,
                        "yaw": -170.65672302246094
                    }
                },
                "velocity": {
                    "x": -1.5076075792312622,
                    "y": -0.2670924961566925,
                    "z": 0.060632120817899704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.869379997253418,
                "transform": {
                    "location": {
                        "x": 934.2727661132812,
                        "y": 3605.39013671875,
                        "z": 370.8954162597656
                    },
                    "rotation": {
                        "roll": 0.0013726722681894898,
                        "pitch": 0.2918471395969391,
                        "yaw": -80.71281433105469
                    }
                },
                "velocity": {
                    "x": 0.46149417757987976,
                    "y": -2.8320250511169434,
                    "z": 0.0004123687685932964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2601928710938,
                        "y": 3489.436767578125,
                        "z": 370.7030334472656
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032920837402344,
                "transform": {
                    "location": {
                        "x": 940.3583984375,
                        "y": 3525.480224609375,
                        "z": 370.81591796875
                    },
                    "rotation": {
                        "roll": -9.155416046269238e-05,
                        "pitch": 0.14103657007217407,
                        "yaw": 99.12467193603516
                    }
                },
                "velocity": {
                    "x": -1.2763769626617432,
                    "y": 7.930840969085693,
                    "z": 0.021205471828579903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.130614757537842,
                "transform": {
                    "location": {
                        "x": 937.4729614257812,
                        "y": 3543.39990234375,
                        "z": 370.8504333496094
                    },
                    "rotation": {
                        "roll": 0.0003972474078182131,
                        "pitch": 0.0284272450953722,
                        "yaw": 99.14341735839844
                    }
                },
                "velocity": {
                    "x": -1.1333811283111572,
                    "y": 7.039954662322998,
                    "z": 0.012207956053316593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.222943305969238,
                "transform": {
                    "location": {
                        "x": 928.6842041015625,
                        "y": 3577.56201171875,
                        "z": 370.93988037109375
                    },
                    "rotation": {
                        "roll": -0.3969420790672302,
                        "pitch": 0.04124068096280098,
                        "yaw": 99.11476135253906
                    }
                },
                "velocity": {
                    "x": -1.2925481796264648,
                    "y": 8.120555877685547,
                    "z": 0.05182335898280144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033147811889648,
                "transform": {
                    "location": {
                        "x": 896.7213134765625,
                        "y": 3572.2060546875,
                        "z": 371.1836242675781
                    },
                    "rotation": {
                        "roll": 0.00244699465110898,
                        "pitch": 0.39993488788604736,
                        "yaw": -170.8295440673828
                    }
                },
                "velocity": {
                    "x": -7.9302897453308105,
                    "y": -1.2801423072814941,
                    "z": 0.05662326514720917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.038826942443848,
                "transform": {
                    "location": {
                        "x": 943.7645263671875,
                        "y": 3504.31640625,
                        "z": 370.75201416015625
                    },
                    "rotation": {
                        "roll": -0.00015258596977218986,
                        "pitch": 0.16338494420051575,
                        "yaw": 99.16879272460938
                    }
                },
                "velocity": {
                    "x": -1.2783845663070679,
                    "y": 7.936490535736084,
                    "z": 0.02434004656970501
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.588034629821777,
                "transform": {
                    "location": {
                        "x": 934.8812866210938,
                        "y": 3559.529052734375,
                        "z": 370.87225341796875
                    },
                    "rotation": {
                        "roll": -0.0007629382889717817,
                        "pitch": 0.20491932332515717,
                        "yaw": 99.05176544189453
                    }
                },
                "velocity": {
                    "x": -1.042845606803894,
                    "y": 6.504970073699951,
                    "z": 0.0059946440160274506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.705133438110352,
                "transform": {
                    "location": {
                        "x": 932.637939453125,
                        "y": 3573.465576171875,
                        "z": 370.9001159667969
                    },
                    "rotation": {
                        "roll": -0.3935241401195526,
                        "pitch": 0.35164543986320496,
                        "yaw": 99.21025848388672
                    }
                },
                "velocity": {
                    "x": -0.9000899791717529,
                    "y": 5.633655071258545,
                    "z": 0.017779788002371788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3073422908782959,
        "expert_target_speed": 7.012269717580936,
        "target_point": [
            22.0643671365189,
            0.42990626136960586
        ],
        "target_point_next": [
            40.06404341566249,
            0.5220943738758272
        ]
    },
    "725": {
        "acceleration": [
            0.10790824890136719,
            -0.7662391662597656,
            0.011463547125458717
        ],
        "angular_velocity": [
            -0.4422978162765503,
            -0.07756626605987549,
            -0.17761412262916565
        ],
        "forward_vector": [
            -0.15426798164844513,
            0.9880282282829285,
            0.0012316699139773846
        ],
        "right_vector": [
            -0.9880290031433105,
            -0.15426819026470184,
            7.776427082717419e-05
        ],
        "location": [
            930.697021484375,
            3567.732177734375,
            370.8766784667969
        ],
        "rotation": [
            -0.004455567803233862,
            0.07056950777769089,
            98.87435150146484
        ],
        "velocity": [
            -1.011273980140686,
            6.462960243225098,
            0.006160574033856392
        ],
        "speed": 6.5415999700698455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.056482315063477,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.3649291992188,
                3579.560791015625,
                370.94000244140625
            ],
            "velocity": [
                -1.2637859582901,
                7.873882293701172,
                -0.0063055227510631084
            ],
            "speed_kmh": 28.708779378376885,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.021851539611816,
                "transform": {
                    "location": {
                        "x": 928.266845703125,
                        "y": 3621.99560546875,
                        "z": 370.8867492675781
                    },
                    "rotation": {
                        "roll": -0.0010986304841935635,
                        "pitch": -0.06005784869194031,
                        "yaw": -80.3808822631836
                    }
                },
                "velocity": {
                    "x": 0.8287488222122192,
                    "y": -4.952995300292969,
                    "z": 0.0023549841716885567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.658187389373779,
                "transform": {
                    "location": {
                        "x": 931.1629638671875,
                        "y": 3624.334228515625,
                        "z": 370.8746337890625
                    },
                    "rotation": {
                        "roll": -0.009582502767443657,
                        "pitch": 0.6127772331237793,
                        "yaw": -80.27518463134766
                    }
                },
                "velocity": {
                    "x": 0.798019289970398,
                    "y": -4.589321136474609,
                    "z": 0.0024473094381392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.156822204589844,
                "transform": {
                    "location": {
                        "x": 892.549560546875,
                        "y": 3574.253662109375,
                        "z": 371.2093811035156
                    },
                    "rotation": {
                        "roll": 0.01813146471977234,
                        "pitch": -0.4196467995643616,
                        "yaw": 9.307727813720703
                    }
                },
                "velocity": {
                    "x": 8.049835205078125,
                    "y": 1.315665602684021,
                    "z": -0.05414062738418579
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.940673828125,
                        "y": 3460.353759765625,
                        "z": 370.5829162597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1740598678588867,
                "transform": {
                    "location": {
                        "x": 964.6044921875,
                        "y": 3582.9169921875,
                        "z": 370.5784606933594
                    },
                    "rotation": {
                        "roll": 0.01699584349989891,
                        "pitch": -0.25762104988098145,
                        "yaw": -170.3958282470703
                    }
                },
                "velocity": {
                    "x": -3.1351277828216553,
                    "y": -0.4946764409542084,
                    "z": 0.030405597761273384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.418701171875,
                        "y": 3492.8525390625,
                        "z": 370.7172546386719
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000906222325284034,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994140625
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.00034833961399272084,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 7.201433618320152e-05,
                    "y": 7.648391328984872e-05,
                    "z": 0.0009001127909868956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6676554679870605,
                "transform": {
                    "location": {
                        "x": 913.525634765625,
                        "y": 3577.6435546875,
                        "z": 371.0653076171875
                    },
                    "rotation": {
                        "roll": 0.0008812895393930376,
                        "pitch": -0.6008585095405579,
                        "yaw": 9.134727478027344
                    }
                },
                "velocity": {
                    "x": 3.621063709259033,
                    "y": 0.5818775296211243,
                    "z": -0.0318186953663826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.561959450365975e-05,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": -0.009767170064151287,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 7.641807314939797e-06,
                    "y": -1.4148582749839989e-06,
                    "z": 9.530324314255267e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011425712145864964,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7126770019531
                    },
                    "rotation": {
                        "roll": 0.005604310426861048,
                        "pitch": 0.5662977695465088,
                        "yaw": -170.24932861328125
                    }
                },
                "velocity": {
                    "x": 0.00014360382920131087,
                    "y": 5.282312486087903e-06,
                    "z": 0.0011334986193105578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.008336067199707,
                "transform": {
                    "location": {
                        "x": 939.7509765625,
                        "y": 3508.73095703125,
                        "z": 370.7682800292969
                    },
                    "rotation": {
                        "roll": 0.00022825202904641628,
                        "pitch": 0.1673532873392105,
                        "yaw": 99.31556701660156
                    }
                },
                "velocity": {
                    "x": -1.2738882303237915,
                    "y": 7.906338214874268,
                    "z": 0.021873654797673225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.427001953125,
                        "y": 3475.9736328125,
                        "z": 370.649169921875
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008683324558660388,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0003621101495809853,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.1459755923133343e-05,
                    "y": -2.967538193843211e-06,
                    "z": -0.0008668011869303882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.06586102396249771,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8669738769531
                    },
                    "rotation": {
                        "roll": -0.00024413930077571422,
                        "pitch": -0.042415473610162735,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.245814019057434e-05,
                    "y": 5.773648445028812e-05,
                    "z": 0.06586100161075592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000610681192483753,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00042724708328023553,
                        "pitch": -0.03942384943366051,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00010185477003687993,
                    "y": -2.2939675545785576e-05,
                    "z": -0.0006016900297254324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.10226910561323166,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8577575683594
                    },
                    "rotation": {
                        "roll": 7.127844583010301e-05,
                        "pitch": -0.04589886963367462,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -1.9833150872727856e-05,
                    "y": -8.182199235307053e-05,
                    "z": -0.10226906836032867
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.614013671875,
                        "y": 3497.42431640625,
                        "z": 370.72509765625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2252657413482666,
                "transform": {
                    "location": {
                        "x": 931.2151489257812,
                        "y": 3604.119873046875,
                        "z": 370.8932800292969
                    },
                    "rotation": {
                        "roll": -0.13165289163589478,
                        "pitch": -0.8255307674407959,
                        "yaw": -82.85049438476562
                    }
                },
                "velocity": {
                    "x": 0.3540840148925781,
                    "y": -1.1729868650436401,
                    "z": 0.001560316071845591
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101132,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0256958007812,
                        "y": 3492.76513671875,
                        "z": 370.7135314941406
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.899411678314209,
                "transform": {
                    "location": {
                        "x": 985.688720703125,
                        "y": 3586.44140625,
                        "z": 370.3307800292969
                    },
                    "rotation": {
                        "roll": 0.00017300985928159207,
                        "pitch": 1.0181353092193604,
                        "yaw": -170.52899169921875
                    }
                },
                "velocity": {
                    "x": -2.857598304748535,
                    "y": -0.48864883184432983,
                    "z": 0.04408014193177223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1055999994277954,
                "transform": {
                    "location": {
                        "x": 934.3287353515625,
                        "y": 3605.047119140625,
                        "z": 370.89599609375
                    },
                    "rotation": {
                        "roll": 0.0005477280355989933,
                        "pitch": 0.2585841119289398,
                        "yaw": -80.71720886230469
                    }
                },
                "velocity": {
                    "x": 0.17791692912578583,
                    "y": -1.0911897420883179,
                    "z": 0.001381673733703792
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9411010742188,
                        "y": 3491.4189453125,
                        "z": 370.71014404296875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031694412231445,
                "transform": {
                    "location": {
                        "x": 940.0396118164062,
                        "y": 3527.462646484375,
                        "z": 370.8209533691406
                    },
                    "rotation": {
                        "roll": -0.00018311500025447458,
                        "pitch": 0.14222502708435059,
                        "yaw": 99.16311645507812
                    }
                },
                "velocity": {
                    "x": -1.278079628944397,
                    "y": 7.929324626922607,
                    "z": 0.020869368687272072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.270556449890137,
                "transform": {
                    "location": {
                        "x": 937.221435546875,
                        "y": 3544.962646484375,
                        "z": 370.85260009765625
                    },
                    "rotation": {
                        "roll": -6.103172563598491e-05,
                        "pitch": -0.165891632437706,
                        "yaw": 99.13870239257812
                    }
                },
                "velocity": {
                    "x": -0.8386343121528625,
                    "y": 5.203398704528809,
                    "z": 0.009998139925301075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.974660873413086,
                "transform": {
                    "location": {
                        "x": 928.3649291992188,
                        "y": 3579.560791015625,
                        "z": 370.94000244140625
                    },
                    "rotation": {
                        "roll": -0.313934326171875,
                        "pitch": -0.02587958611547947,
                        "yaw": 99.13375854492188
                    }
                },
                "velocity": {
                    "x": -1.2637859582901,
                    "y": 7.873882293701172,
                    "z": -0.0063055227510631084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017577171325684,
                "transform": {
                    "location": {
                        "x": 894.7406616210938,
                        "y": 3571.886474609375,
                        "z": 371.19732666015625
                    },
                    "rotation": {
                        "roll": 0.0017565208254382014,
                        "pitch": 0.3951127529144287,
                        "yaw": -170.83164978027344
                    }
                },
                "velocity": {
                    "x": -7.9151506423950195,
                    "y": -1.2763056755065918,
                    "z": 0.05460631102323532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042403221130371,
                "transform": {
                    "location": {
                        "x": 943.4451293945312,
                        "y": 3506.299560546875,
                        "z": 370.7579345703125
                    },
                    "rotation": {
                        "roll": 0.0011262522311881185,
                        "pitch": 0.16741475462913513,
                        "yaw": 99.1352767944336
                    }
                },
                "velocity": {
                    "x": -1.2776459455490112,
                    "y": 7.940232753753662,
                    "z": 0.023923015221953392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4391584396362305,
                "transform": {
                    "location": {
                        "x": 934.6477661132812,
                        "y": 3560.995849609375,
                        "z": 370.8733825683594
                    },
                    "rotation": {
                        "roll": 0.0034484791103750467,
                        "pitch": -0.03704694285988808,
                        "yaw": 98.8591537475586
                    }
                },
                "velocity": {
                    "x": -0.8535803556442261,
                    "y": 5.371760845184326,
                    "z": 0.0055426121689379215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.006621360778809,
                "transform": {
                    "location": {
                        "x": 932.3956298828125,
                        "y": 3574.975830078125,
                        "z": 370.90753173828125
                    },
                    "rotation": {
                        "roll": -0.4299621284008026,
                        "pitch": 0.07473592460155487,
                        "yaw": 99.20703887939453
                    }
                },
                "velocity": {
                    "x": -1.109460473060608,
                    "y": 6.9181952476501465,
                    "z": 0.020296335220336914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33053267002105713,
        "expert_target_speed": 6.91359196215546,
        "target_point": [
            20.407262233763984,
            0.4201868136881215
        ],
        "target_point_next": [
            38.40697734347792,
            0.5044528874512579
        ]
    },
    "730": {
        "acceleration": [
            0.0009143352508544922,
            -0.07326126098632812,
            -0.013442616909742355
        ],
        "angular_velocity": [
            0.04002552479505539,
            -0.046013396233320236,
            0.3611826002597809
        ],
        "forward_vector": [
            -0.1547851264476776,
            0.9879481196403503,
            0.00041568276355974376
        ],
        "right_vector": [
            -0.9879481792449951,
            -0.1547851711511612,
            8.149269706336781e-05
        ],
        "location": [
            930.446533203125,
            3569.33056640625,
            370.8783264160156
        ],
        "rotation": [
            -0.004669188056141138,
            0.023816868662834167,
            98.90433502197266
        ],
        "velocity": [
            -0.999253511428833,
            6.366113185882568,
            0.005779714323580265
        ],
        "speed": 6.444059642459151,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.424161911010742,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.0508422851562,
                3581.521484375,
                370.9228515625
            ],
            "velocity": [
                -1.2789109945297241,
                7.903226852416992,
                -0.1615774929523468
            ],
            "speed_kmh": 28.82759771944307,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.366323947906494,
                "transform": {
                    "location": {
                        "x": 928.484375,
                        "y": 3620.697998046875,
                        "z": 370.887451171875
                    },
                    "rotation": {
                        "roll": 0.0005380611983127892,
                        "pitch": -0.010832679457962513,
                        "yaw": -80.42919158935547
                    }
                },
                "velocity": {
                    "x": 0.8851021528244019,
                    "y": -5.2928266525268555,
                    "z": 0.003925828728824854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3554792404174805,
                "transform": {
                    "location": {
                        "x": 931.3814086914062,
                        "y": 3623.0576171875,
                        "z": 370.8761291503906
                    },
                    "rotation": {
                        "roll": 0.019590383395552635,
                        "pitch": 0.48746374249458313,
                        "yaw": -80.31324768066406
                    }
                },
                "velocity": {
                    "x": 0.8901921510696411,
                    "y": -5.280975341796875,
                    "z": 0.0037022875621914864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.0727338790893555,
                "transform": {
                    "location": {
                        "x": 894.3798828125,
                        "y": 3574.552734375,
                        "z": 371.197998046875
                    },
                    "rotation": {
                        "roll": 0.007944297976791859,
                        "pitch": -0.6914063692092896,
                        "yaw": 9.276533126831055
                    }
                },
                "velocity": {
                    "x": 6.980283737182617,
                    "y": 1.1388028860092163,
                    "z": -0.04833586513996124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6212158203125,
                        "y": 3462.33837890625,
                        "z": 370.5915222167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8002649545669556,
                "transform": {
                    "location": {
                        "x": 964.3862915039062,
                        "y": 3582.884033203125,
                        "z": 370.5821533203125
                    },
                    "rotation": {
                        "roll": -0.0169982947409153,
                        "pitch": -0.6882644891738892,
                        "yaw": -170.28900146484375
                    }
                },
                "velocity": {
                    "x": -0.7895187139511108,
                    "y": -0.13040076196193695,
                    "z": 0.008938341401517391
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.0997314453125,
                        "y": 3494.834228515625,
                        "z": 370.72412109375
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001337300636805594,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994140625
                    },
                    "rotation": {
                        "roll": 0.000296862970571965,
                        "pitch": 0.0025544906966388226,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 6.09999151492957e-05,
                    "y": 4.178753079031594e-05,
                    "z": 0.001335254986770451
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0035620105918496847,
                "transform": {
                    "location": {
                        "x": 913.7528686523438,
                        "y": 3577.68017578125,
                        "z": 371.0699157714844
                    },
                    "rotation": {
                        "roll": -0.0007019127951934934,
                        "pitch": -1.4266351461410522,
                        "yaw": 9.133719444274902
                    }
                },
                "velocity": {
                    "x": -0.0033320265356451273,
                    "y": -0.0005368872662074864,
                    "z": -0.0011389777064323425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006486171623691916,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": -0.009855962358415127,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 7.316319170058705e-06,
                    "y": 2.3075879198586335e-06,
                    "z": -0.0006485717603936791
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014279199531301856,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.0054737115278840065,
                        "pitch": 0.5714613795280457,
                        "yaw": -170.2493133544922
                    }
                },
                "velocity": {
                    "x": 7.1562230004929e-05,
                    "y": 5.636913556372747e-05,
                    "z": 0.001425011083483696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0706205368042,
                "transform": {
                    "location": {
                        "x": 939.4312133789062,
                        "y": 3510.71533203125,
                        "z": 370.77392578125
                    },
                    "rotation": {
                        "roll": 0.0015604577492922544,
                        "pitch": 0.16399966180324554,
                        "yaw": 99.31693267822266
                    }
                },
                "velocity": {
                    "x": -1.2833142280578613,
                    "y": 7.967906475067139,
                    "z": 0.02193181961774826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1072998046875,
                        "y": 3477.959228515625,
                        "z": 370.65753173828125
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00047017118777148426,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0004967746208421886,
                        "pitch": -0.03872717171907425,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.0193945601931773e-05,
                    "y": -1.2307986025916762e-06,
                    "z": -0.00046973570715636015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.014103607274591923,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.876708984375
                    },
                    "rotation": {
                        "roll": -6.1034825193928555e-05,
                        "pitch": -0.042756982147693634,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.7543268515728414e-05,
                    "y": -4.748115316033363e-06,
                    "z": 0.014103579334914684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008601424051448703,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": 3.285194907221012e-05,
                        "pitch": -0.039703886955976486,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.950386260636151e-05,
                    "y": 3.574990478227846e-05,
                    "z": -0.0008588925702497363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0860200822353363,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8656921386719
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": -0.04589886963367462,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 1.2516125025285874e-06,
                    "y": 5.9909390984103084e-05,
                    "z": 0.08602005988359451
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1194458007812,
                        "y": 3493.9892578125,
                        "z": 370.71539306640625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": -0.21142849326133728,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8417787551879883,
                "transform": {
                    "location": {
                        "x": 931.3013305664062,
                        "y": 3603.580810546875,
                        "z": 370.89105224609375
                    },
                    "rotation": {
                        "roll": 0.025365250185132027,
                        "pitch": -0.10918739438056946,
                        "yaw": -82.63127899169922
                    }
                },
                "velocity": {
                    "x": 0.42680108547210693,
                    "y": -2.809544563293457,
                    "z": 0.0026581287384033203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.466129779815674,
                "transform": {
                    "location": {
                        "x": 984.76708984375,
                        "y": 3586.28369140625,
                        "z": 370.3434753417969
                    },
                    "rotation": {
                        "roll": -0.0002136197144864127,
                        "pitch": 1.055428147315979,
                        "yaw": -170.40065002441406
                    }
                },
                "velocity": {
                    "x": -4.4013166427612305,
                    "y": -0.7559003233909607,
                    "z": 0.057810135185718536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7679493427276611,
                "transform": {
                    "location": {
                        "x": 934.3843383789062,
                        "y": 3604.7060546875,
                        "z": 370.8982849121094
                    },
                    "rotation": {
                        "roll": 0.0005588340573012829,
                        "pitch": 0.01404969859868288,
                        "yaw": -80.72016906738281
                    }
                },
                "velocity": {
                    "x": 0.2847314476966858,
                    "y": -1.7448694705963135,
                    "z": 0.001736440579406917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.6214599609375,
                        "y": 3493.40576171875,
                        "z": 370.7174072265625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8933186531066895,
                "transform": {
                    "location": {
                        "x": 939.7210083007812,
                        "y": 3529.4404296875,
                        "z": 370.8258972167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15100181102752686,
                        "yaw": 99.12297058105469
                    }
                },
                "velocity": {
                    "x": -1.252348780632019,
                    "y": 7.793308734893799,
                    "z": 0.021000565961003304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.23562479019165,
                "transform": {
                    "location": {
                        "x": 937.0211791992188,
                        "y": 3546.20458984375,
                        "z": 370.8548889160156
                    },
                    "rotation": {
                        "roll": 0.0007186573348008096,
                        "pitch": 0.02047690562903881,
                        "yaw": 99.17964172363281
                    }
                },
                "velocity": {
                    "x": -0.8327643275260925,
                    "y": 5.168959617614746,
                    "z": 0.01132575049996376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00766658782959,
                "transform": {
                    "location": {
                        "x": 928.0508422851562,
                        "y": 3581.521484375,
                        "z": 370.9228515625
                    },
                    "rotation": {
                        "roll": -0.08169545978307724,
                        "pitch": -0.6884489059448242,
                        "yaw": 99.15972900390625
                    }
                },
                "velocity": {
                    "x": -1.2789109945297241,
                    "y": 7.903226852416992,
                    "z": -0.1615774929523468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031806945800781,
                "transform": {
                    "location": {
                        "x": 892.7600708007812,
                        "y": 3571.5673828125,
                        "z": 371.210693359375
                    },
                    "rotation": {
                        "roll": 0.0020381552167236805,
                        "pitch": 0.39152008295059204,
                        "yaw": -170.84408569335938
                    }
                },
                "velocity": {
                    "x": -7.929498672485352,
                    "y": -1.276803970336914,
                    "z": 0.052373189479112625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057181358337402,
                "transform": {
                    "location": {
                        "x": 943.1250610351562,
                        "y": 3508.287353515625,
                        "z": 370.7637939453125
                    },
                    "rotation": {
                        "roll": 0.0004077187040820718,
                        "pitch": 0.17029710114002228,
                        "yaw": 99.16339874267578
                    }
                },
                "velocity": {
                    "x": -1.280512809753418,
                    "y": 7.954742431640625,
                    "z": 0.023060321807861328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.571058750152588,
                "transform": {
                    "location": {
                        "x": 934.4554443359375,
                        "y": 3562.1962890625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": -0.0011596658732742071,
                        "pitch": -0.08480362594127655,
                        "yaw": 99.03868103027344
                    }
                },
                "velocity": {
                    "x": -0.7253905534744263,
                    "y": 4.513134002685547,
                    "z": 0.0028510570991784334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.500646591186523,
                "transform": {
                    "location": {
                        "x": 932.1005249023438,
                        "y": 3576.8115234375,
                        "z": 370.9118347167969
                    },
                    "rotation": {
                        "roll": -0.559783935546875,
                        "pitch": -0.058077096939086914,
                        "yaw": 99.17573547363281
                    }
                },
                "velocity": {
                    "x": -1.1874489784240723,
                    "y": 7.406054496765137,
                    "z": 0.004267377778887749
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3372330069541931,
        "expert_target_speed": 6.886747309039537,
        "target_point": [
            18.789582329244134,
            0.40944508863538287
        ],
        "target_point_next": [
            36.78933907299968,
            0.48429138232036983
        ]
    },
    "735": {
        "acceleration": [
            -0.1535940170288086,
            0.5844783782958984,
            0.251735121011734
        ],
        "angular_velocity": [
            1.3244059085845947,
            -0.126554936170578,
            -0.12466353923082352
        ],
        "forward_vector": [
            -0.1552121341228485,
            0.9878785610198975,
            0.002285835798829794
        ],
        "right_vector": [
            -0.9878802299499512,
            -0.1552082896232605,
            -0.0017735118744894862
        ],
        "location": [
            930.1954345703125,
            3570.93115234375,
            370.88104248046875
        ],
        "rotation": [
            0.1016150638461113,
            0.1309688687324524,
            98.92912292480469
        ],
        "velocity": [
            -1.0240108966827393,
            6.45195198059082,
            0.03223807364702225
        ],
        "speed": 6.532708678364189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.818986892700195,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                927.7297973632812,
                3583.5107421875,
                370.91229248046875
            ],
            "velocity": [
                -1.2895866632461548,
                7.987701892852783,
                -0.022491488605737686
            ],
            "speed_kmh": 29.128187348508856,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.935547351837158,
                "transform": {
                    "location": {
                        "x": 928.7218627929688,
                        "y": 3619.278564453125,
                        "z": 370.8882751464844
                    },
                    "rotation": {
                        "roll": 0.000560249958653003,
                        "pitch": -0.003053094493225217,
                        "yaw": -80.44841003417969
                    }
                },
                "velocity": {
                    "x": 0.9791271090507507,
                    "y": -5.854231834411621,
                    "z": 0.001795759191736579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.6436309814453125,
                "transform": {
                    "location": {
                        "x": 931.6193237304688,
                        "y": 3621.64453125,
                        "z": 370.8769836425781
                    },
                    "rotation": {
                        "roll": 0.01158548891544342,
                        "pitch": 0.5187733173370361,
                        "yaw": -80.33726501464844
                    }
                },
                "velocity": {
                    "x": 1.1013526916503906,
                    "y": -6.551705360412598,
                    "z": 0.0035565278958529234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5310258865356445,
                "transform": {
                    "location": {
                        "x": 896.1639404296875,
                        "y": 3574.8427734375,
                        "z": 371.1846008300781
                    },
                    "rotation": {
                        "roll": 0.009246869012713432,
                        "pitch": -0.4075573682785034,
                        "yaw": 9.23148250579834
                    }
                },
                "velocity": {
                    "x": 7.433918476104736,
                    "y": 1.2044434547424316,
                    "z": -0.05023316666483879
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3014526367188,
                        "y": 3464.325927734375,
                        "z": 370.60015869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.910258173942566,
                "transform": {
                    "location": {
                        "x": 964.0305786132812,
                        "y": 3582.824951171875,
                        "z": 370.581787109375
                    },
                    "rotation": {
                        "roll": -0.005157465115189552,
                        "pitch": 0.4728129804134369,
                        "yaw": -170.42645263671875
                    }
                },
                "velocity": {
                    "x": -1.884981393814087,
                    "y": -0.3090915381908417,
                    "z": 0.019848870113492012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.780029296875,
                        "y": 3496.819580078125,
                        "z": 370.7309265136719
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001125452108681202,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 2.0844082015969434e-10,
                        "pitch": 0.004091283306479454,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 8.390519360546023e-05,
                    "y": 5.8656562032410875e-05,
                    "z": -4.675201853387989e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005594208370894194,
                "transform": {
                    "location": {
                        "x": 913.7594604492188,
                        "y": 3577.681396484375,
                        "z": 371.06298828125
                    },
                    "rotation": {
                        "roll": -0.0003051766543649137,
                        "pitch": -0.5855726003646851,
                        "yaw": 9.133427619934082
                    }
                },
                "velocity": {
                    "x": -0.00536498473957181,
                    "y": -0.0008711616392247379,
                    "z": 0.0013240784173831344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030496265389956534,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": -0.009855962358415127,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 5.852152298757574e-06,
                    "y": -5.603884289939742e-08,
                    "z": -0.0003049065126106143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007576774223707616,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005939949303865433,
                        "pitch": 0.5723971128463745,
                        "yaw": -170.249267578125
                    }
                },
                "velocity": {
                    "x": 4.773944601765834e-05,
                    "y": -1.8901191651821136e-06,
                    "z": 0.0007561696111224592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0111722946167,
                "transform": {
                    "location": {
                        "x": 939.1118774414062,
                        "y": 3512.69970703125,
                        "z": 370.77947998046875
                    },
                    "rotation": {
                        "roll": 0.0016052871942520142,
                        "pitch": 0.15740853548049927,
                        "yaw": 99.31877136230469
                    }
                },
                "velocity": {
                    "x": -1.2719606161117554,
                    "y": 7.909523010253906,
                    "z": 0.0210123248398304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7874755859375,
                        "y": 3479.94677734375,
                        "z": 370.6657409667969
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015124642523005605,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0007196245715022087,
                        "pitch": -0.03924626484513283,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00011990742495981976,
                    "y": -4.705682295025326e-05,
                    "z": -0.0015069690998643637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007152793696150184,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8775329589844
                    },
                    "rotation": {
                        "roll": 0.0002388165594311431,
                        "pitch": -0.04330339655280113,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.8268792448216118e-05,
                    "y": 1.5869876506258151e-06,
                    "z": -0.0007147187716327608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007611987530253828,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": 0.00031664170091971755,
                        "pitch": -0.039765357971191406,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.9268637920031324e-05,
                    "y": 8.775079550105147e-06,
                    "z": -0.0007601345423609018
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.022323867306113243,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8802795410156
                    },
                    "rotation": {
                        "roll": 0.0002395936317043379,
                        "pitch": -0.04604913294315338,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 1.8371804344496923e-06,
                    "y": 2.1686282707378268e-05,
                    "z": 0.022323857992887497
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.6373596191406
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.643965005874634,
                "transform": {
                    "location": {
                        "x": 931.4126586914062,
                        "y": 3602.84716796875,
                        "z": 370.89105224609375
                    },
                    "rotation": {
                        "roll": 0.001462858053855598,
                        "pitch": 0.03138471767306328,
                        "yaw": -82.0870361328125
                    }
                },
                "velocity": {
                    "x": 0.4071565866470337,
                    "y": -2.6124260425567627,
                    "z": 0.0020805643871426582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.330288887023926,
                "transform": {
                    "location": {
                        "x": 983.5147705078125,
                        "y": 3586.068115234375,
                        "z": 370.360107421875
                    },
                    "rotation": {
                        "roll": 0.0022419665474444628,
                        "pitch": 0.9536582827568054,
                        "yaw": -170.27102661132812
                    }
                },
                "velocity": {
                    "x": -5.252250671386719,
                    "y": -0.9061959385871887,
                    "z": 0.06818319112062454
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8295135498046875,
                "transform": {
                    "location": {
                        "x": 934.4632568359375,
                        "y": 3604.221435546875,
                        "z": 370.8985900878906
                    },
                    "rotation": {
                        "roll": 0.0006451735971495509,
                        "pitch": 0.016973018646240234,
                        "yaw": -80.72032928466797
                    }
                },
                "velocity": {
                    "x": 0.293729305267334,
                    "y": -1.805779218673706,
                    "z": 0.002103404840454459
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3016967773438,
                        "y": 3495.39306640625,
                        "z": 370.7242736816406
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.07467794418335,
                "transform": {
                    "location": {
                        "x": 939.4332885742188,
                        "y": 3531.217041015625,
                        "z": 370.82928466796875
                    },
                    "rotation": {
                        "roll": -0.0001220778503920883,
                        "pitch": 0.28997567296028137,
                        "yaw": 98.92229461669922
                    }
                },
                "velocity": {
                    "x": -0.9679604172706604,
                    "y": 5.997046947479248,
                    "z": 0.013761462643742561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.579246997833252,
                "transform": {
                    "location": {
                        "x": 936.8059692382812,
                        "y": 3547.540283203125,
                        "z": 370.857177734375
                    },
                    "rotation": {
                        "roll": 0.001244578161276877,
                        "pitch": 0.1261604130268097,
                        "yaw": 99.1618881225586
                    }
                },
                "velocity": {
                    "x": -0.8866639733314514,
                    "y": 5.508333206176758,
                    "z": 0.009617328643798828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.09116268157959,
                "transform": {
                    "location": {
                        "x": 927.7297973632812,
                        "y": 3583.5107421875,
                        "z": 370.91229248046875
                    },
                    "rotation": {
                        "roll": -0.07388298958539963,
                        "pitch": -0.6892070174217224,
                        "yaw": 99.18733215332031
                    }
                },
                "velocity": {
                    "x": -1.2895866632461548,
                    "y": 7.987701892852783,
                    "z": -0.022491488605737686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018118858337402,
                "transform": {
                    "location": {
                        "x": 890.7796020507812,
                        "y": 3571.248291015625,
                        "z": 371.2238464355469
                    },
                    "rotation": {
                        "roll": 0.0033594523556530476,
                        "pitch": 0.37831732630729675,
                        "yaw": -170.85549926757812
                    }
                },
                "velocity": {
                    "x": -7.91621732711792,
                    "y": -1.2731751203536987,
                    "z": 0.05261993408203125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0432710647583,
                "transform": {
                    "location": {
                        "x": 942.8055419921875,
                        "y": 3510.2744140625,
                        "z": 370.76953125
                    },
                    "rotation": {
                        "roll": 0.0006122715421952307,
                        "pitch": 0.16313906013965607,
                        "yaw": 99.12416076660156
                    }
                },
                "velocity": {
                    "x": -1.2766997814178467,
                    "y": 7.941269397735596,
                    "z": 0.02222372032701969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0922393798828125,
                "transform": {
                    "location": {
                        "x": 934.2579345703125,
                        "y": 3563.428955078125,
                        "z": 370.8758850097656
                    },
                    "rotation": {
                        "roll": 0.011459377594292164,
                        "pitch": 0.08180516958236694,
                        "yaw": 99.04573059082031
                    }
                },
                "velocity": {
                    "x": -0.7821058630943298,
                    "y": 5.031817436218262,
                    "z": 0.005042657721787691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038219451904297,
                "transform": {
                    "location": {
                        "x": 931.79443359375,
                        "y": 3578.718017578125,
                        "z": 370.9122619628906
                    },
                    "rotation": {
                        "roll": -0.5443419814109802,
                        "pitch": -0.0517045296728611,
                        "yaw": 99.17609405517578
                    }
                },
                "velocity": {
                    "x": -1.2752104997634888,
                    "y": 7.9364213943481445,
                    "z": 0.005301999859511852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34494084119796753,
        "expert_target_speed": 7.003700302013573,
        "target_point": [
            17.16959549634764,
            0.4016904811679951
        ],
        "target_point_next": [
            35.16938294304567,
            0.46874773837335937
        ]
    },
    "740": {
        "acceleration": [
            -0.340423583984375,
            2.176980972290039,
            -0.009402334690093994
        ],
        "angular_velocity": [
            1.9570125341415405,
            0.3647007942199707,
            0.36398330330848694
        ],
        "forward_vector": [
            -0.15591131150722504,
            0.9877191185951233,
            0.010129755362868309
        ],
        "right_vector": [
            -0.9877709746360779,
            -0.15590012073516846,
            -0.0018892533844336867
        ],
        "location": [
            929.9332885742188,
            3572.588623046875,
            370.8906555175781
        ],
        "rotation": [
            0.10825186967849731,
            0.580402135848999,
            98.9701156616211
        ],
        "velocity": [
            -1.0800586938858032,
            6.829110622406006,
            0.047959525138139725
        ],
        "speed": 6.913991515419791,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.153681755065918,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                927.408935546875,
                3585.497802734375,
                370.8974609375
            ],
            "velocity": [
                -1.2715386152267456,
                7.883129119873047,
                0.0036822985857725143
            ],
            "speed_kmh": 28.746072975970847,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.60561990737915,
                "transform": {
                    "location": {
                        "x": 929.012939453125,
                        "y": 3617.53271484375,
                        "z": 370.8901062011719
                    },
                    "rotation": {
                        "roll": -0.004791263956576586,
                        "pitch": -0.09478253126144409,
                        "yaw": -80.52957916259766
                    }
                },
                "velocity": {
                    "x": 1.2325316667556763,
                    "y": -7.505084037780762,
                    "z": 0.005740833003073931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.939367771148682,
                "transform": {
                    "location": {
                        "x": 931.9234008789062,
                        "y": 3619.83642578125,
                        "z": 370.877685546875
                    },
                    "rotation": {
                        "roll": 0.010450068861246109,
                        "pitch": 0.6410542130470276,
                        "yaw": -80.46166229248047
                    }
                },
                "velocity": {
                    "x": 1.3117470741271973,
                    "y": -7.830251693725586,
                    "z": 0.005940294358879328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.241908550262451,
                "transform": {
                    "location": {
                        "x": 898.0242919921875,
                        "y": 3575.144287109375,
                        "z": 371.1717834472656
                    },
                    "rotation": {
                        "roll": 0.006109110079705715,
                        "pitch": -0.4434773325920105,
                        "yaw": 9.205568313598633
                    }
                },
                "velocity": {
                    "x": 7.148649215698242,
                    "y": 1.1573302745819092,
                    "z": -0.05136559531092644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9819946289062,
                        "y": 3466.310791015625,
                        "z": 370.6085510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6808624267578125,
                "transform": {
                    "location": {
                        "x": 963.5079345703125,
                        "y": 3582.73876953125,
                        "z": 370.5867919921875
                    },
                    "rotation": {
                        "roll": 0.002205883152782917,
                        "pitch": 0.6430622935295105,
                        "yaw": -170.6409912109375
                    }
                },
                "velocity": {
                    "x": -1.6591739654541016,
                    "y": -0.26853644847869873,
                    "z": 0.018122339621186256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.4613037109375,
                        "y": 3498.802001953125,
                        "z": 370.73748779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005699258181266487,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.00031341140856966376,
                        "pitch": 0.0042688678950071335,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 1.4412998098123353e-05,
                    "y": 3.323897090012906e-06,
                    "z": 0.000569733849260956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018001673743128777,
                "transform": {
                    "location": {
                        "x": 913.7614135742188,
                        "y": 3577.681884765625,
                        "z": 371.06109619140625
                    },
                    "rotation": {
                        "roll": 0.001014363719150424,
                        "pitch": -0.3353281319141388,
                        "yaw": 9.133403778076172
                    }
                },
                "velocity": {
                    "x": 0.00035174033837392926,
                    "y": 7.654714863747358e-05,
                    "z": 0.0017638088902458549
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006869505159556866,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0006713861948810518,
                        "pitch": -0.009555433876812458,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -1.5973322433637804e-06,
                    "y": 1.1533265933394432e-06,
                    "z": -0.0006869476637803018
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013079927884973586,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.00494576059281826,
                        "pitch": 0.572779655456543,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 2.789951759041287e-05,
                    "y": -1.0459199074830394e-05,
                    "z": 0.00012736039934679866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069685935974121,
                "transform": {
                    "location": {
                        "x": 938.7926635742188,
                        "y": 3514.684326171875,
                        "z": 370.7850036621094
                    },
                    "rotation": {
                        "roll": -0.0007934588938951492,
                        "pitch": 0.15986056625843048,
                        "yaw": 99.30725860595703
                    }
                },
                "velocity": {
                    "x": -1.282882809638977,
                    "y": 7.967031002044678,
                    "z": 0.021337509155273438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.468017578125,
                        "y": 3481.931884765625,
                        "z": 370.6737365722656
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002739139017648995,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0011705472134053707,
                        "pitch": -0.03915064036846161,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.2134803657536395e-05,
                    "y": 4.019832431367831e-06,
                    "z": -0.00027298848726786673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001743340166285634,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.87750244140625
                    },
                    "rotation": {
                        "roll": -3.0517412596964277e-05,
                        "pitch": -0.04303019121289253,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.564414484775625e-05,
                    "y": -2.409764420008287e-06,
                    "z": -0.001742740860208869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.526015279931016e-05,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.461178721408942e-07,
                    "y": 8.863536322678556e-07,
                    "z": -3.524731073412113e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017373448936268687,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8800354003906
                    },
                    "rotation": {
                        "roll": 0.00016462327039334923,
                        "pitch": -0.04596034064888954,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 8.044123660511104e-07,
                    "y": 4.4306739255262073e-07,
                    "z": -0.001737344660796225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.620993435382843,
                "transform": {
                    "location": {
                        "x": 880.4485473632812,
                        "y": 3572.22021484375,
                        "z": 371.2311706542969
                    },
                    "rotation": {
                        "roll": 3.5490607842803e-05,
                        "pitch": -0.34295743703842163,
                        "yaw": 9.140231132507324
                    }
                },
                "velocity": {
                    "x": -0.003579035634174943,
                    "y": -0.0007325108745135367,
                    "z": -0.6209827065467834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005415608640760183,
                "transform": {
                    "location": {
                        "x": 931.4668579101562,
                        "y": 3602.49560546875,
                        "z": 370.89404296875
                    },
                    "rotation": {
                        "roll": 0.03112751804292202,
                        "pitch": -0.7192325592041016,
                        "yaw": -81.89347076416016
                    }
                },
                "velocity": {
                    "x": 0.0015257421182468534,
                    "y": -0.005194332450628281,
                    "z": -0.00014084577560424805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.536068439483643,
                "transform": {
                    "location": {
                        "x": 982.1680908203125,
                        "y": 3585.835205078125,
                        "z": 370.37744140625
                    },
                    "rotation": {
                        "roll": 0.005252746865153313,
                        "pitch": 0.8153538107872009,
                        "yaw": -170.2021484375
                    }
                },
                "velocity": {
                    "x": -5.454540252685547,
                    "y": -0.9440169930458069,
                    "z": 0.06985454261302948
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013039920013397932,
                "transform": {
                    "location": {
                        "x": 934.4743041992188,
                        "y": 3604.15185546875,
                        "z": 370.89739990234375
                    },
                    "rotation": {
                        "roll": -0.0004272553778719157,
                        "pitch": 0.16324834525585175,
                        "yaw": -80.68901062011719
                    }
                },
                "velocity": {
                    "x": -0.00019151109154336154,
                    "y": 0.0008209780207835138,
                    "z": 0.000994843547232449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.982177734375,
                        "y": 3497.3779296875,
                        "z": 370.7310791015625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.784637212753296,
                "transform": {
                    "location": {
                        "x": 939.2603759765625,
                        "y": 3532.260009765625,
                        "z": 370.8307800292969
                    },
                    "rotation": {
                        "roll": 0.0011653556721284986,
                        "pitch": 0.34693261981010437,
                        "yaw": 97.86858367919922
                    }
                },
                "velocity": {
                    "x": -0.5996978282928467,
                    "y": 3.7368147373199463,
                    "z": 0.007616548333317041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.289304733276367,
                "transform": {
                    "location": {
                        "x": 936.5594482421875,
                        "y": 3549.0732421875,
                        "z": 370.8599548339844
                    },
                    "rotation": {
                        "roll": 0.000927226385101676,
                        "pitch": 0.3246115446090698,
                        "yaw": 99.14291381835938
                    }
                },
                "velocity": {
                    "x": -1.1570128202438354,
                    "y": 7.196887016296387,
                    "z": 0.010127200745046139
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.985020637512207,
                "transform": {
                    "location": {
                        "x": 927.408935546875,
                        "y": 3585.497802734375,
                        "z": 370.8974609375
                    },
                    "rotation": {
                        "roll": 0.009442104026675224,
                        "pitch": 0.14062675833702087,
                        "yaw": 99.18268585205078
                    }
                },
                "velocity": {
                    "x": -1.2715386152267456,
                    "y": 7.883129119873047,
                    "z": 0.0036822985857725143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033137321472168,
                "transform": {
                    "location": {
                        "x": 888.7986450195312,
                        "y": 3570.9296875,
                        "z": 371.2367858886719
                    },
                    "rotation": {
                        "roll": 0.0026490369345992804,
                        "pitch": 0.3773884177207947,
                        "yaw": -170.86073303222656
                    }
                },
                "velocity": {
                    "x": -7.9309868812561035,
                    "y": -1.2759047746658325,
                    "z": 0.0529092401266098
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049193382263184,
                "transform": {
                    "location": {
                        "x": 942.4859008789062,
                        "y": 3512.260009765625,
                        "z": 370.775146484375
                    },
                    "rotation": {
                        "roll": -0.00012207675899844617,
                        "pitch": 0.15884287655353546,
                        "yaw": 99.16183471679688
                    }
                },
                "velocity": {
                    "x": -1.2798490524291992,
                    "y": 7.9467644691467285,
                    "z": 0.0211110208183527
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.807085037231445,
                "transform": {
                    "location": {
                        "x": 934.0744018554688,
                        "y": 3564.641845703125,
                        "z": 370.8765563964844
                    },
                    "rotation": {
                        "roll": 0.010989382863044739,
                        "pitch": 0.027252452448010445,
                        "yaw": 98.66278839111328
                    }
                },
                "velocity": {
                    "x": -0.7134953141212463,
                    "y": 4.7538371086120605,
                    "z": 0.0046984669752418995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.126996040344238,
                "transform": {
                    "location": {
                        "x": 931.4705810546875,
                        "y": 3580.7333984375,
                        "z": 370.9126892089844
                    },
                    "rotation": {
                        "roll": -0.522735595703125,
                        "pitch": 0.018591774627566338,
                        "yaw": 99.18046569824219
                    }
                },
                "velocity": {
                    "x": -1.2906190156936646,
                    "y": 8.0238618850708,
                    "z": 0.0019900226034224033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31096670031547546,
        "expert_target_speed": 7.323036683903723,
        "target_point": [
            15.491805480946082,
            0.3888946103360946
        ],
        "target_point_next": [
            33.49163631229992,
            0.4430688172565729
        ]
    },
    "745": {
        "acceleration": [
            -0.4428410530090332,
            3.350353240966797,
            0.051143765449523926
        ],
        "angular_velocity": [
            -0.10375256836414337,
            1.828977108001709,
            -0.09575559198856354
        ],
        "forward_vector": [
            -0.15638329088687897,
            0.9875763058662415,
            0.015402899123728275
        ],
        "right_vector": [
            -0.9876964688301086,
            -0.15636499226093292,
            -0.0023930214811116457
        ],
        "location": [
            929.6480102539062,
            3574.38720703125,
            370.905029296875
        ],
        "rotation": [
            0.13712643086910248,
            0.8825560212135315,
            98.99810791015625
        ],
        "velocity": [
            -1.1990077495574951,
            7.553271770477295,
            0.07746181637048721
        ],
        "speed": 7.647845057412456,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.69987487792969,
        "front_vehicle_info": {
            "id": 101139,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                921.4090576171875,
                3623.3994140625,
                370.8763732910156
            ],
            "velocity": [
                4.184993485978339e-06,
                -2.9759062272205483e-06,
                -0.0009056745911948383
            ],
            "speed_kmh": 0.0032604809378069944,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.61081600189209,
                "transform": {
                    "location": {
                        "x": 929.3050537109375,
                        "y": 3615.757080078125,
                        "z": 370.8898620605469
                    },
                    "rotation": {
                        "roll": -0.0008544984157197177,
                        "pitch": 0.09056147187948227,
                        "yaw": -80.64128112792969
                    }
                },
                "velocity": {
                    "x": 1.0682684183120728,
                    "y": -6.523930072784424,
                    "z": 0.005156278610229492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.402686595916748,
                "transform": {
                    "location": {
                        "x": 932.2444458007812,
                        "y": 3617.9140625,
                        "z": 370.8806457519531
                    },
                    "rotation": {
                        "roll": 0.019033260643482208,
                        "pitch": 0.17852747440338135,
                        "yaw": -80.51438903808594
                    }
                },
                "velocity": {
                    "x": 1.2085092067718506,
                    "y": -7.303371906280518,
                    "z": 0.005685367621481419
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.503177165985107,
                "transform": {
                    "location": {
                        "x": 899.6376342773438,
                        "y": 3575.405029296875,
                        "z": 371.1618957519531
                    },
                    "rotation": {
                        "roll": 0.005733112804591656,
                        "pitch": -0.8669422268867493,
                        "yaw": 9.18994426727295
                    }
                },
                "velocity": {
                    "x": 5.4327826499938965,
                    "y": 0.8765038847923279,
                    "z": -0.03964017704129219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.6600341796875,
                        "y": 3468.311279296875,
                        "z": 370.6169738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7806404232978821,
                "transform": {
                    "location": {
                        "x": 963.3826293945312,
                        "y": 3582.7177734375,
                        "z": 370.5892639160156
                    },
                    "rotation": {
                        "roll": 0.0007536329794675112,
                        "pitch": 0.3326301872730255,
                        "yaw": -170.667724609375
                    }
                },
                "velocity": {
                    "x": -0.7702034115791321,
                    "y": -0.12698203325271606,
                    "z": 0.007854795083403587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.1416015625,
                        "y": 3500.787353515625,
                        "z": 370.7437744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000795949250459671,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 2.2058458853280172e-05,
                        "pitch": 0.004241547081619501,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": -2.1920746803516522e-05,
                    "y": 1.5540239473921247e-05,
                    "z": 0.0007954955799505115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006268135039135814,
                "transform": {
                    "location": {
                        "x": 913.7608642578125,
                        "y": 3577.681884765625,
                        "z": 371.0616760253906
                    },
                    "rotation": {
                        "roll": 0.0008584772585891187,
                        "pitch": -0.4030221104621887,
                        "yaw": 9.133382797241211
                    }
                },
                "velocity": {
                    "x": 0.000612348027061671,
                    "y": 0.0001292781380470842,
                    "z": 3.48171015502885e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006337396916933358,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.009398339316248894,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -5.782896096206969e-06,
                    "y": -4.6132481656968594e-07,
                    "z": -0.0006337131489999592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009781394619494677,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 2.1990908862790093e-05,
                    "y": 1.849889667937532e-05,
                    "z": 0.0009777172235772014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.010677337646484,
                "transform": {
                    "location": {
                        "x": 938.4730224609375,
                        "y": 3516.668701171875,
                        "z": 370.7904968261719
                    },
                    "rotation": {
                        "roll": 0.0006707284483127296,
                        "pitch": 0.15870626270771027,
                        "yaw": 99.32537078857422
                    }
                },
                "velocity": {
                    "x": -1.273332953453064,
                    "y": 7.908799648284912,
                    "z": 0.021343745291233063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1482543945312,
                        "y": 3483.9189453125,
                        "z": 370.6818542480469
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015773715858813375,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0009494948317296803,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.592146847746335e-05,
                    "y": -6.9170023380138446e-06,
                    "z": -0.00015543887275271118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047207242459990084,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8774108886719
                    },
                    "rotation": {
                        "roll": 4.891190110356547e-05,
                        "pitch": -0.042511094361543655,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.6140985937672667e-05,
                    "y": 6.014001428411575e-06,
                    "z": -0.0004713097005151212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009056891431100667,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.184993485978339e-06,
                    "y": -2.9759062272205483e-06,
                    "z": -0.0009056745911948383
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101138,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008887132629752159,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87823486328125
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": -0.04601498320698738,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -3.0022904411453055e-06,
                    "y": -2.249735734949354e-05,
                    "z": -0.008887103758752346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23005124926567078,
                "transform": {
                    "location": {
                        "x": 880.4486694335938,
                        "y": 3572.22021484375,
                        "z": 371.2525939941406
                    },
                    "rotation": {
                        "roll": -0.00015258642088156193,
                        "pitch": -0.3431350290775299,
                        "yaw": 9.140215873718262
                    }
                },
                "velocity": {
                    "x": 0.0013652637135237455,
                    "y": 0.00013957059127278626,
                    "z": 0.23004715144634247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005420340225100517,
                "transform": {
                    "location": {
                        "x": 931.4671630859375,
                        "y": 3602.493408203125,
                        "z": 370.8927307128906
                    },
                    "rotation": {
                        "roll": 0.015217112377285957,
                        "pitch": -0.37053772807121277,
                        "yaw": -81.893310546875
                    }
                },
                "velocity": {
                    "x": -0.0016038146568462253,
                    "y": 0.005173168145120144,
                    "z": 0.000214930551010184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.096444129943848,
                "transform": {
                    "location": {
                        "x": 980.4220581054688,
                        "y": 3585.534912109375,
                        "z": 370.39971923828125
                    },
                    "rotation": {
                        "roll": 0.020603585988283157,
                        "pitch": 1.1038541793823242,
                        "yaw": -170.25758361816406
                    }
                },
                "velocity": {
                    "x": -7.981406211853027,
                    "y": -1.3564529418945312,
                    "z": 0.0979522317647934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.898193359375
                    },
                    "rotation": {
                        "roll": -3.0515755497617647e-05,
                        "pitch": 0.06460675597190857,
                        "yaw": -80.68901062011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6624755859375,
                        "y": 3499.3642578125,
                        "z": 370.73773193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.77327823638916,
                "transform": {
                    "location": {
                        "x": 939.0958251953125,
                        "y": 3533.31396484375,
                        "z": 370.8354187011719
                    },
                    "rotation": {
                        "roll": 0.0015675027389079332,
                        "pitch": 0.0683496966958046,
                        "yaw": 98.37406921386719
                    }
                },
                "velocity": {
                    "x": -0.7558647990226746,
                    "y": 4.713040351867676,
                    "z": 0.010211114771664143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.928133010864258,
                "transform": {
                    "location": {
                        "x": 936.2704467773438,
                        "y": 3550.87060546875,
                        "z": 370.8620910644531
                    },
                    "rotation": {
                        "roll": -0.0005798331112600863,
                        "pitch": 0.0937580019235611,
                        "yaw": 99.13630676269531
                    }
                },
                "velocity": {
                    "x": -1.099853754043579,
                    "y": 6.840266704559326,
                    "z": 0.010044622235000134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064263343811035,
                "transform": {
                    "location": {
                        "x": 927.089599609375,
                        "y": 3587.4775390625,
                        "z": 370.90093994140625
                    },
                    "rotation": {
                        "roll": 0.0012598783941939473,
                        "pitch": 0.0464862659573555,
                        "yaw": 99.16773986816406
                    }
                },
                "velocity": {
                    "x": -1.2846192121505737,
                    "y": 7.961282253265381,
                    "z": 0.008573627099394798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017005920410156,
                "transform": {
                    "location": {
                        "x": 886.8180541992188,
                        "y": 3570.61083984375,
                        "z": 371.2496032714844
                    },
                    "rotation": {
                        "roll": 0.0022084552329033613,
                        "pitch": 0.3717944920063019,
                        "yaw": -170.8612518310547
                    }
                },
                "velocity": {
                    "x": -7.91507625579834,
                    "y": -1.2733310461044312,
                    "z": 0.05079755559563637
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049969673156738,
                "transform": {
                    "location": {
                        "x": 942.1658935546875,
                        "y": 3514.2470703125,
                        "z": 370.7806701660156
                    },
                    "rotation": {
                        "roll": -0.0015869176713749766,
                        "pitch": 0.1585969775915146,
                        "yaw": 99.13468170166016
                    }
                },
                "velocity": {
                    "x": -1.279453992843628,
                    "y": 7.9476141929626465,
                    "z": 0.020774181932210922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.668354034423828,
                "transform": {
                    "location": {
                        "x": 933.8993530273438,
                        "y": 3565.8125,
                        "z": 370.8776550292969
                    },
                    "rotation": {
                        "roll": 0.00413336418569088,
                        "pitch": 0.02827015146613121,
                        "yaw": 98.55760955810547
                    }
                },
                "velocity": {
                    "x": -0.6887584328651428,
                    "y": 4.617262363433838,
                    "z": 0.00558547955006361
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987470626831055,
                "transform": {
                    "location": {
                        "x": 931.1520385742188,
                        "y": 3582.71533203125,
                        "z": 370.90521240234375
                    },
                    "rotation": {
                        "roll": -0.11529537290334702,
                        "pitch": -0.2647381126880646,
                        "yaw": 99.1883316040039
                    }
                },
                "velocity": {
                    "x": -1.2783154249191284,
                    "y": 7.884434700012207,
                    "z": -0.03586899861693382
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2991436719894409,
        "expert_target_speed": 7.88378311088474,
        "target_point": [
            13.670925473471799,
            0.38087523050930683
        ],
        "target_point_next": [
            31.670780578860416,
            0.4262733259224829
        ]
    },
    "750": {
        "acceleration": [
            -0.30278921127319336,
            1.5576934814453125,
            -0.07268622517585754
        ],
        "angular_velocity": [
            -2.318668842315674,
            -0.0654766857624054,
            0.19603945314884186
        ],
        "forward_vector": [
            -0.156556636095047,
            0.9876086115837097,
            0.010920665226876736
        ],
        "right_vector": [
            -0.9876582622528076,
            -0.15659688413143158,
            0.0029287657234817743
        ],
        "location": [
            929.333740234375,
            3576.3671875,
            370.9211730957031
        ],
        "rotation": [
            -0.167816162109375,
            0.6257204413414001,
            99.00762939453125
        ],
        "velocity": [
            -1.2939248085021973,
            8.184818267822266,
            0.037347935140132904
        ],
        "speed": 8.28646435383237,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.342422485351562,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                926.7698364257812,
                3589.4609375,
                370.90240478515625
            ],
            "velocity": [
                -1.2739932537078857,
                7.903300762176514,
                0.001953601837158203
            ],
            "speed_kmh": 28.819169372408577,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.609663009643555,
                "transform": {
                    "location": {
                        "x": 929.54443359375,
                        "y": 3614.29638671875,
                        "z": 370.89007568359375
                    },
                    "rotation": {
                        "roll": 0.0014487417647615075,
                        "pitch": 0.19080814719200134,
                        "yaw": -80.67731475830078
                    }
                },
                "velocity": {
                    "x": 0.7440192103385925,
                    "y": -4.549222946166992,
                    "z": -0.0003292560577392578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.240550518035889,
                "transform": {
                    "location": {
                        "x": 932.5112915039062,
                        "y": 3616.297119140625,
                        "z": 370.88409423828125
                    },
                    "rotation": {
                        "roll": 0.013743337243795395,
                        "pitch": -0.44253477454185486,
                        "yaw": -80.71947479248047
                    }
                },
                "velocity": {
                    "x": 0.8477606177330017,
                    "y": -5.171523094177246,
                    "z": 0.004388370551168919
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.018121464177966118,
                "transform": {
                    "location": {
                        "x": 900.309326171875,
                        "y": 3575.511474609375,
                        "z": 371.16143798828125
                    },
                    "rotation": {
                        "roll": 0.024615390226244926,
                        "pitch": -2.115172863006592,
                        "yaw": 9.447967529296875
                    }
                },
                "velocity": {
                    "x": 0.017982006072998047,
                    "y": -0.0016366480849683285,
                    "z": -0.001535011688247323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3403930664062,
                        "y": 3470.298095703125,
                        "z": 370.6253356933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.693622350692749,
                "transform": {
                    "location": {
                        "x": 963.0690307617188,
                        "y": 3582.666259765625,
                        "z": 370.5909729003906
                    },
                    "rotation": {
                        "roll": 0.0016762757441028953,
                        "pitch": 0.7703086733818054,
                        "yaw": -170.7068634033203
                    }
                },
                "velocity": {
                    "x": -1.6712019443511963,
                    "y": -0.27411556243896484,
                    "z": 0.017369631677865982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.8226928710938,
                        "y": 3502.76953125,
                        "z": 370.75018310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003010236832778901,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": 0.004118603654205799,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 7.914911111583933e-05,
                    "y": 3.647978155640885e-05,
                    "z": 0.00028813176322728395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000256012863246724,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0002070276386803016,
                    "y": 3.6959499993827194e-05,
                    "z": -0.00014600045687984675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.575156577222515e-05,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.009398339316248894,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 3.364708334174793e-07,
                    "y": -3.777176402763871e-07,
                    "z": -2.5746596293174662e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003798730904236436,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 2.441480683046393e-05,
                    "y": -2.8391182240739e-06,
                    "z": 0.00037907707155682147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06984806060791,
                "transform": {
                    "location": {
                        "x": 938.1538696289062,
                        "y": 3518.653564453125,
                        "z": 370.7960510253906
                    },
                    "rotation": {
                        "roll": -3.051585372304544e-05,
                        "pitch": 0.160024493932724,
                        "yaw": 99.29963684082031
                    }
                },
                "velocity": {
                    "x": -1.2824264764785767,
                    "y": 7.967268466949463,
                    "z": 0.021578025072813034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8284912109375,
                        "y": 3485.9052734375,
                        "z": 370.6894836425781
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012050420045852661,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0005392731982283294,
                        "pitch": -0.03921211510896683,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -4.691370122600347e-05,
                    "y": -5.24094321008306e-06,
                    "z": -0.0012041170848533511
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016789595247246325,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.87744140625
                    },
                    "rotation": {
                        "roll": 9.46621730690822e-05,
                        "pitch": -0.042756982147693634,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.2875643480801955e-05,
                    "y": 3.5689397464011563e-06,
                    "z": -0.00016629196761641651
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003174974990542978,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.6028643301524426e-07,
                    "y": 2.60068554780446e-06,
                    "z": -0.0003174867888446897
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24211080372333527,
                "transform": {
                    "location": {
                        "x": 880.4528198242188,
                        "y": 3572.220947265625,
                        "z": 371.2823486328125
                    },
                    "rotation": {
                        "roll": -0.00018310431914869696,
                        "pitch": -0.3406078517436981,
                        "yaw": 9.140717506408691
                    }
                },
                "velocity": {
                    "x": 0.23620040714740753,
                    "y": 0.03976326063275337,
                    "z": 0.03529715538024902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002337877405807376,
                "transform": {
                    "location": {
                        "x": 931.4674072265625,
                        "y": 3602.49169921875,
                        "z": 370.8917236328125
                    },
                    "rotation": {
                        "roll": 0.004851132165640593,
                        "pitch": -0.09802687168121338,
                        "yaw": -81.8931884765625
                    }
                },
                "velocity": {
                    "x": -0.0003396693500690162,
                    "y": 0.0020422199741005898,
                    "z": 0.0010861092014238238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.764529705047607,
                "transform": {
                    "location": {
                        "x": 978.4182739257812,
                        "y": 3585.1962890625,
                        "z": 370.4244079589844
                    },
                    "rotation": {
                        "roll": 0.01500529795885086,
                        "pitch": 0.7207693457603455,
                        "yaw": -170.406494140625
                    }
                },
                "velocity": {
                    "x": -7.655993461608887,
                    "y": -1.2901670932769775,
                    "z": 0.09568773210048676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002476658846717328,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.89837646484375
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": 0.042442794889211655,
                        "yaw": -80.68901062011719
                    }
                },
                "velocity": {
                    "x": -5.0505565013736486e-05,
                    "y": 3.10649375023786e-05,
                    "z": 0.00024046319595072418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3429565429688,
                        "y": 3501.3505859375,
                        "z": 370.7440490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2235612869262695,
                "transform": {
                    "location": {
                        "x": 938.8948974609375,
                        "y": 3534.584228515625,
                        "z": 370.8385314941406
                    },
                    "rotation": {
                        "roll": 0.000897990248631686,
                        "pitch": 0.05923139676451683,
                        "yaw": 98.74354553222656
                    }
                },
                "velocity": {
                    "x": -0.8284614086151123,
                    "y": 5.157436370849609,
                    "z": 0.009869422763586044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.386083602905273,
                "transform": {
                    "location": {
                        "x": 936.0089111328125,
                        "y": 3552.498046875,
                        "z": 370.8641052246094
                    },
                    "rotation": {
                        "roll": 0.0007295632967725396,
                        "pitch": 0.0012157736346125603,
                        "yaw": 99.12632751464844
                    }
                },
                "velocity": {
                    "x": -1.0132219791412354,
                    "y": 6.305187225341797,
                    "z": 0.007865294814109802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005325317382812,
                "transform": {
                    "location": {
                        "x": 926.7698364257812,
                        "y": 3589.4609375,
                        "z": 370.90240478515625
                    },
                    "rotation": {
                        "roll": 0.00015925211482681334,
                        "pitch": 0.01011550985276699,
                        "yaw": 99.1592788696289
                    }
                },
                "velocity": {
                    "x": -1.2739932537078857,
                    "y": 7.903300762176514,
                    "z": 0.001953601837158203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03289794921875,
                "transform": {
                    "location": {
                        "x": 884.8373413085938,
                        "y": 3570.29248046875,
                        "z": 371.26214599609375
                    },
                    "rotation": {
                        "roll": 0.0003406923497095704,
                        "pitch": 0.3586327135562897,
                        "yaw": -170.86318969726562
                    }
                },
                "velocity": {
                    "x": -7.930656433105469,
                    "y": -1.2766215801239014,
                    "z": 0.04860490560531616
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04653549194336,
                "transform": {
                    "location": {
                        "x": 941.8460693359375,
                        "y": 3516.2333984375,
                        "z": 370.78619384765625
                    },
                    "rotation": {
                        "roll": 0.0002279117179568857,
                        "pitch": 0.15884970128536224,
                        "yaw": 99.16350555419922
                    }
                },
                "velocity": {
                    "x": -1.2786943912506104,
                    "y": 7.94425630569458,
                    "z": 0.021529968827962875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.504700660705566,
                "transform": {
                    "location": {
                        "x": 933.7310180664062,
                        "y": 3566.944091796875,
                        "z": 370.8787536621094
                    },
                    "rotation": {
                        "roll": 0.0012303570983931422,
                        "pitch": 0.026774339377880096,
                        "yaw": 98.49906158447266
                    }
                },
                "velocity": {
                    "x": -0.662380576133728,
                    "y": 4.455732822418213,
                    "z": 0.004968624096363783
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.011701583862305,
                "transform": {
                    "location": {
                        "x": 930.8338623046875,
                        "y": 3584.685546875,
                        "z": 370.9043273925781
                    },
                    "rotation": {
                        "roll": -0.051971420645713806,
                        "pitch": -0.20401090383529663,
                        "yaw": 99.2103271484375
                    }
                },
                "velocity": {
                    "x": -1.2837258577346802,
                    "y": 7.908181190490723,
                    "z": -0.008743180893361568
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4735355079174042,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2726964056491852,
        "expert_target_speed": 8.31692888313661,
        "target_point": [
            11.666222040865945,
            0.37821187062747996
        ],
        "target_point_next": [
            29.66608442165122,
            0.42062737301567044
        ]
    },
    "755": {
        "acceleration": [
            -0.34241676330566406,
            0.9152412414550781,
            -0.19448775053024292
        ],
        "angular_velocity": [
            -0.7001277804374695,
            -0.17548756301403046,
            -0.06686997413635254
        ],
        "forward_vector": [
            -0.1568765789270401,
            0.9876137375831604,
            0.002966041909530759
        ],
        "right_vector": [
            -0.98758864402771,
            -0.15689440071582794,
            0.007258615922182798
        ],
        "location": [
            929.00390625,
            3578.44775390625,
            370.9300842285156
        ],
        "rotation": [
            -0.4158935546875,
            0.16994193196296692,
            99.02568817138672
        ],
        "velocity": [
            -1.3361499309539795,
            8.468621253967285,
            -0.0005105686141178012
        ],
        "speed": 8.573379880836656,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.833751893692806,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.366265296936035,
        "front_vehicle_info": {
            "id": 101044,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.5115356445312,
                3586.677001953125,
                370.8997497558594
            ],
            "velocity": [
                -1.286064624786377,
                7.975460529327393,
                0.007343597244471312
            ],
            "speed_kmh": 29.08256090785661,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.002450146246701479,
                "transform": {
                    "location": {
                        "x": 929.6173706054688,
                        "y": 3613.85205078125,
                        "z": 370.8878173828125
                    },
                    "rotation": {
                        "roll": 0.0005356016918085515,
                        "pitch": 0.48067453503608704,
                        "yaw": -80.7083511352539
                    }
                },
                "velocity": {
                    "x": -0.0002739191986620426,
                    "y": 0.0010743417078629136,
                    "z": 0.0021849428303539753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0031816179398447275,
                "transform": {
                    "location": {
                        "x": 932.5940551757812,
                        "y": 3615.77734375,
                        "z": 370.8890686035156
                    },
                    "rotation": {
                        "roll": 0.029925310984253883,
                        "pitch": -1.7354143857955933,
                        "yaw": -80.43659210205078
                    }
                },
                "velocity": {
                    "x": -0.0026988207828253508,
                    "y": -0.0002096938987961039,
                    "z": -0.0016718513797968626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0885131359100342,
                "transform": {
                    "location": {
                        "x": 900.4484252929688,
                        "y": 3575.53369140625,
                        "z": 371.1564025878906
                    },
                    "rotation": {
                        "roll": 0.004267064854502678,
                        "pitch": -1.056029200553894,
                        "yaw": 9.440139770507812
                    }
                },
                "velocity": {
                    "x": 1.074716329574585,
                    "y": 0.17263685166835785,
                    "z": -0.0065001677721738815
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.020751953125,
                        "y": 3472.283935546875,
                        "z": 370.6336975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1681082248687744,
                "transform": {
                    "location": {
                        "x": 962.5489501953125,
                        "y": 3582.5810546875,
                        "z": 370.5960388183594
                    },
                    "rotation": {
                        "roll": 0.005276927724480629,
                        "pitch": 0.8545249104499817,
                        "yaw": -170.8138885498047
                    }
                },
                "velocity": {
                    "x": -2.139907121658325,
                    "y": -0.3478858768939972,
                    "z": 0.021583709865808487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.503173828125,
                        "y": 3504.755859375,
                        "z": 370.7561950683594
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004762598837260157,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0003529645036906004,
                        "pitch": 0.004159585107117891,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 7.982621900737286e-05,
                    "y": -3.021121983692865e-06,
                    "z": 0.00046951265539973974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001542895333841443,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.009398339316248894,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -8.490157597407233e-06,
                    "y": -8.495745760228601e-07,
                    "z": -0.00015405341400764883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010658008977770805,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 2.7404426873545162e-05,
                    "y": -1.8863752302422654e-06,
                    "z": 0.0010654468787834048
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.010123252868652,
                "transform": {
                    "location": {
                        "x": 937.8342895507812,
                        "y": 3520.6376953125,
                        "z": 370.801513671875
                    },
                    "rotation": {
                        "roll": -0.0006408796180039644,
                        "pitch": 0.15829645097255707,
                        "yaw": 99.32799530029297
                    }
                },
                "velocity": {
                    "x": -1.2743161916732788,
                    "y": 7.908081531524658,
                    "z": 0.021114978939294815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.509033203125,
                        "y": 3487.890869140625,
                        "z": 370.6971740722656
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003717089130077511,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 4.102116236026632e-06,
                        "pitch": -0.03918479382991791,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.1014868306347125e-07,
                    "y": 5.984273684589425e-06,
                    "z": -0.00037166071706451476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005371877341531217,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.87744140625
                    },
                    "rotation": {
                        "roll": 9.46621730690822e-05,
                        "pitch": -0.042756982147693634,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.6064784833579324e-05,
                    "y": -4.911078121949686e-06,
                    "z": -0.0005365325487218797
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009499486768618226,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 5.1489391807990614e-06,
                    "y": -3.93353388972173e-07,
                    "z": -0.0009499346488155425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4167238473892212,
                "transform": {
                    "location": {
                        "x": 880.6934814453125,
                        "y": 3572.2607421875,
                        "z": 371.28253173828125
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": -0.3101862072944641,
                        "yaw": 9.250298500061035
                    }
                },
                "velocity": {
                    "x": 1.3962349891662598,
                    "y": 0.2397807389497757,
                    "z": -0.011797704733908176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015821954002603889,
                "transform": {
                    "location": {
                        "x": 931.467529296875,
                        "y": 3602.490966796875,
                        "z": 370.891357421875
                    },
                    "rotation": {
                        "roll": 4.6272194595076144e-05,
                        "pitch": -0.004084452986717224,
                        "yaw": -81.89318084716797
                    }
                },
                "velocity": {
                    "x": -0.0002771192230284214,
                    "y": 0.0005862624966539443,
                    "z": 0.001443205983377993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.133530139923096,
                "transform": {
                    "location": {
                        "x": 976.7188110351562,
                        "y": 3584.91015625,
                        "z": 370.4444580078125
                    },
                    "rotation": {
                        "roll": 0.007277529686689377,
                        "pitch": 0.28501012921333313,
                        "yaw": -170.4597625732422
                    }
                },
                "velocity": {
                    "x": -5.062324523925781,
                    "y": -0.850002110004425,
                    "z": 0.059138018637895584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016548525309190154,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": 0.0003825140302069485,
                        "pitch": 0.03902769833803177,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -2.0465795387281105e-05,
                    "y": 1.547525607747957e-05,
                    "z": 0.0001634840591577813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0234375,
                        "y": 3503.336181640625,
                        "z": 370.7503356933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.915623664855957,
                "transform": {
                    "location": {
                        "x": 938.6725463867188,
                        "y": 3535.97705078125,
                        "z": 370.8412170410156
                    },
                    "rotation": {
                        "roll": 0.00020354508887976408,
                        "pitch": 0.06528977304697037,
                        "yaw": 98.95730590820312
                    }
                },
                "velocity": {
                    "x": -0.941332995891571,
                    "y": 5.840238094329834,
                    "z": 0.010874109342694283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.3029465675354,
                "transform": {
                    "location": {
                        "x": 935.7560424804688,
                        "y": 3554.072021484375,
                        "z": 370.8659362792969
                    },
                    "rotation": {
                        "roll": 0.00043243810068815947,
                        "pitch": 0.04033226519823074,
                        "yaw": 99.12600708007812
                    }
                },
                "velocity": {
                    "x": -0.9995020627975464,
                    "y": 6.2231903076171875,
                    "z": 0.005953988991677761
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057869911193848,
                "transform": {
                    "location": {
                        "x": 926.450439453125,
                        "y": 3591.443115234375,
                        "z": 370.90264892578125
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.007554188836365938,
                        "yaw": 99.14957427978516
                    }
                },
                "velocity": {
                    "x": -1.2794408798217773,
                    "y": 7.955645561218262,
                    "z": 0.0018467043992131948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017930030822754,
                "transform": {
                    "location": {
                        "x": 882.8563842773438,
                        "y": 3569.973388671875,
                        "z": 371.27435302734375
                    },
                    "rotation": {
                        "roll": 0.0012250089785084128,
                        "pitch": 0.3582912087440491,
                        "yaw": -170.8613739013672
                    }
                },
                "velocity": {
                    "x": -7.916009902954102,
                    "y": -1.2734187841415405,
                    "z": 0.04904486611485481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048596382141113,
                "transform": {
                    "location": {
                        "x": 941.5262451171875,
                        "y": 3518.2197265625,
                        "z": 370.7917175292969
                    },
                    "rotation": {
                        "roll": 0.00013590393064077944,
                        "pitch": 0.15890434384346008,
                        "yaw": 99.13550567626953
                    }
                },
                "velocity": {
                    "x": -1.2794526815414429,
                    "y": 7.946221351623535,
                    "z": 0.021511564031243324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.347244739532471,
                "transform": {
                    "location": {
                        "x": 933.5684204101562,
                        "y": 3568.0380859375,
                        "z": 370.8797302246094
                    },
                    "rotation": {
                        "roll": 0.0003216700570192188,
                        "pitch": 0.027716906741261482,
                        "yaw": 98.46854400634766
                    }
                },
                "velocity": {
                    "x": -0.6382727026939392,
                    "y": 4.300130367279053,
                    "z": 0.004921054933220148
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.078489303588867,
                "transform": {
                    "location": {
                        "x": 930.5115356445312,
                        "y": 3586.677001953125,
                        "z": 370.8997497558594
                    },
                    "rotation": {
                        "roll": 0.00905174482613802,
                        "pitch": 0.07458566129207611,
                        "yaw": 99.1874008178711
                    }
                },
                "velocity": {
                    "x": -1.286064624786377,
                    "y": 7.975460529327393,
                    "z": 0.007343597244471312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29331547021865845,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27578794956207275,
        "expert_target_speed": 8.495692975503712,
        "target_point": [
            9.559792340829945,
            0.3751723604119277
        ],
        "target_point_next": [
            27.559667213955926,
            0.41190591264581844
        ]
    },
    "760": {
        "acceleration": [
            -0.5467557907104492,
            1.4479255676269531,
            -1.3465886116027832
        ],
        "angular_velocity": [
            -3.3079023361206055,
            -2.244906425476074,
            0.3689259886741638
        ],
        "forward_vector": [
            -0.15759533643722534,
            0.9875033497810364,
            -0.0009187458781525493
        ],
        "right_vector": [
            -0.9874925017356873,
            -0.15758900344371796,
            0.004932151176035404
        ],
        "location": [
            928.6650390625,
            3580.592041015625,
            370.926513671875
        ],
        "rotation": [
            -0.2825927138328552,
            -0.052640266716480255,
            99.06735229492188
        ],
        "velocity": [
            -1.3956120014190674,
            8.701333999633789,
            -0.08686615526676178
        ],
        "speed": 8.812544821542065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.080484390258789,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                926.1315307617188,
                3593.4248046875,
                370.9028015136719
            ],
            "velocity": [
                -1.2717489004135132,
                7.90140438079834,
                -0.0017327975947409868
            ],
            "speed_kmh": 28.811144221727435,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 371.2635498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2028777599334717,
                "transform": {
                    "location": {
                        "x": 929.6461791992188,
                        "y": 3613.677978515625,
                        "z": 370.8916320800781
                    },
                    "rotation": {
                        "roll": 0.0008450192981399596,
                        "pitch": 0.03819441422820091,
                        "yaw": -80.72544860839844
                    }
                },
                "velocity": {
                    "x": 0.19418324530124664,
                    "y": -1.1870989799499512,
                    "z": 0.0019744967576116323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4276645183563232,
                "transform": {
                    "location": {
                        "x": 932.6317138671875,
                        "y": 3615.550537109375,
                        "z": 370.88427734375
                    },
                    "rotation": {
                        "roll": 0.006447223946452141,
                        "pitch": -0.4276790916919708,
                        "yaw": -80.5306167602539
                    }
                },
                "velocity": {
                    "x": 0.23043546080589294,
                    "y": -1.4089436531066895,
                    "z": 0.0017911624163389206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9170098304748535,
                "transform": {
                    "location": {
                        "x": 900.8345336914062,
                        "y": 3575.5966796875,
                        "z": 371.1512451171875
                    },
                    "rotation": {
                        "roll": 0.003613207023590803,
                        "pitch": -0.36602982878685,
                        "yaw": 9.398441314697266
                    }
                },
                "velocity": {
                    "x": 1.8922665119171143,
                    "y": 0.30670350790023804,
                    "z": -0.0136843491345644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7012329101562,
                        "y": 3474.27001953125,
                        "z": 370.64202880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6359872817993164,
                "transform": {
                    "location": {
                        "x": 962.3540649414062,
                        "y": 3582.54931640625,
                        "z": 370.6003112792969
                    },
                    "rotation": {
                        "roll": 0.005049294326454401,
                        "pitch": 0.23937763273715973,
                        "yaw": -170.88731384277344
                    }
                },
                "velocity": {
                    "x": -0.627820611000061,
                    "y": -0.10135047882795334,
                    "z": 0.00701293908059597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.1839599609375,
                        "y": 3506.73828125,
                        "z": 370.7621154785156
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013639031385537237,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 3.487006324576214e-05,
                        "pitch": 0.004309849347919226,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 4.847184413847572e-07,
                    "y": -1.1608004797381e-06,
                    "z": -0.00013638450764119625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002852987090591341,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.009398339316248894,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 9.623938268532584e-08,
                    "y": -2.8559938414218777e-07,
                    "z": -0.0002852985344361514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000874633202329278,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": -3.4012643936875975e-06,
                    "y": 6.048604700481519e-05,
                    "z": 0.0008725325460545719
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07053279876709,
                "transform": {
                    "location": {
                        "x": 937.514892578125,
                        "y": 3522.622802734375,
                        "z": 370.80682373046875
                    },
                    "rotation": {
                        "roll": 0.0022617143113166094,
                        "pitch": 0.15305086970329285,
                        "yaw": 99.3051986694336
                    }
                },
                "velocity": {
                    "x": -1.2805267572402954,
                    "y": 7.968268871307373,
                    "z": 0.021011581644415855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1895141601562,
                        "y": 3489.87646484375,
                        "z": 370.70458984375
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014353952137753367,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.00047603892744518816,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.299015123862773e-05,
                    "y": 1.6439286127933883e-06,
                    "z": -0.0014335372252389789
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101140,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010267777543049306,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.87744140625
                    },
                    "rotation": {
                        "roll": -0.00012207131658215076,
                        "pitch": -0.042729660868644714,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.223357867274899e-05,
                    "y": 5.99782424615114e-06,
                    "z": -0.00010176979412790388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8047792911529541,
                "transform": {
                    "location": {
                        "x": 921.399658203125,
                        "y": 3623.45556640625,
                        "z": 370.8756408691406
                    },
                    "rotation": {
                        "roll": -0.005126954987645149,
                        "pitch": 0.15058517456054688,
                        "yaw": 99.15459442138672
                    }
                },
                "velocity": {
                    "x": -0.131450816988945,
                    "y": 0.7939698100090027,
                    "z": -0.0015120315365493298
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9679681062698364,
                "transform": {
                    "location": {
                        "x": 881.1114501953125,
                        "y": 3572.331787109375,
                        "z": 371.2794494628906
                    },
                    "rotation": {
                        "roll": -0.0010070821736007929,
                        "pitch": -0.3246456980705261,
                        "yaw": 9.345748901367188
                    }
                },
                "velocity": {
                    "x": 1.9395135641098022,
                    "y": 0.3331555426120758,
                    "z": -0.013893213123083115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00023200863506644964,
                "transform": {
                    "location": {
                        "x": 931.467529296875,
                        "y": 3602.490478515625,
                        "z": 370.8913269042969
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.02040177397429943,
                        "yaw": -81.89318084716797
                    }
                },
                "velocity": {
                    "x": -2.6644765966921113e-06,
                    "y": 0.00019602527027018368,
                    "z": 0.00012407659960445017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009161929599940777,
                "transform": {
                    "location": {
                        "x": 976.2594604492188,
                        "y": 3584.8330078125,
                        "z": 370.4493408203125
                    },
                    "rotation": {
                        "roll": 0.0028050499968230724,
                        "pitch": -0.3008424937725067,
                        "yaw": -170.47091674804688
                    }
                },
                "velocity": {
                    "x": 0.009035577066242695,
                    "y": 0.0014414661563932896,
                    "z": 0.00047061609802767634
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015942304162308574,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03859056532382965,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -7.274558356584748e-06,
                    "y": 1.346661701973062e-05,
                    "z": 0.00015868659829720855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.7037963867188,
                        "y": 3505.32177734375,
                        "z": 370.75640869140625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.521613121032715,
                "transform": {
                    "location": {
                        "x": 938.40966796875,
                        "y": 3537.6123046875,
                        "z": 370.8453674316406
                    },
                    "rotation": {
                        "roll": 0.0008784281671978533,
                        "pitch": -0.03357037901878357,
                        "yaw": 99.06981658935547
                    }
                },
                "velocity": {
                    "x": -1.198663353919983,
                    "y": 7.425474166870117,
                    "z": 0.014326552860438824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4552178382873535,
                "transform": {
                    "location": {
                        "x": 935.5795288085938,
                        "y": 3555.171142578125,
                        "z": 370.8660583496094
                    },
                    "rotation": {
                        "roll": 0.0033075290266424417,
                        "pitch": -0.5335060358047485,
                        "yaw": 98.86640167236328
                    }
                },
                "velocity": {
                    "x": -0.23357099294662476,
                    "y": 1.4363479614257812,
                    "z": 0.0027895451057702303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003095626831055,
                "transform": {
                    "location": {
                        "x": 926.1315307617188,
                        "y": 3593.4248046875,
                        "z": 370.9028015136719
                    },
                    "rotation": {
                        "roll": 1.5585885648761177e-06,
                        "pitch": 5.464151035994291e-05,
                        "yaw": 99.14360809326172
                    }
                },
                "velocity": {
                    "x": -1.2717489004135132,
                    "y": 7.90140438079834,
                    "z": -0.0017327975947409868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032197952270508,
                "transform": {
                    "location": {
                        "x": 880.8756713867188,
                        "y": 3569.654541015625,
                        "z": 371.28643798828125
                    },
                    "rotation": {
                        "roll": 0.0007264200248755515,
                        "pitch": 0.352519690990448,
                        "yaw": -170.86122131347656
                    }
                },
                "velocity": {
                    "x": -7.930093288421631,
                    "y": -1.2757432460784912,
                    "z": 0.04801404848694801
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0490083694458,
                "transform": {
                    "location": {
                        "x": 941.206298828125,
                        "y": 3520.2060546875,
                        "z": 370.7972106933594
                    },
                    "rotation": {
                        "roll": 0.0004996128845959902,
                        "pitch": 0.15871310234069824,
                        "yaw": 99.16497802734375
                    }
                },
                "velocity": {
                    "x": -1.279463291168213,
                    "y": 7.94663667678833,
                    "z": 0.021684912964701653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.002082347869873,
                "transform": {
                    "location": {
                        "x": 933.4689331054688,
                        "y": 3569.172119140625,
                        "z": 370.8808898925781
                    },
                    "rotation": {
                        "roll": 0.11436551064252853,
                        "pitch": 0.12229453027248383,
                        "yaw": 96.05986785888672
                    }
                },
                "velocity": {
                    "x": -0.3392406105995178,
                    "y": 4.990561485290527,
                    "z": 0.006179914344102144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.986854553222656,
                "transform": {
                    "location": {
                        "x": 930.1918334960938,
                        "y": 3588.657470703125,
                        "z": 370.90167236328125
                    },
                    "rotation": {
                        "roll": 0.0011189412325620651,
                        "pitch": 0.027061207219958305,
                        "yaw": 99.1713638305664
                    }
                },
                "velocity": {
                    "x": -1.2712860107421875,
                    "y": 7.8850274085998535,
                    "z": 0.004558696877211332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29930752515792847,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2755879759788513,
        "expert_target_speed": 8.621228049319335,
        "target_point": [
            25.389064135421297,
            0.3951496800371874
        ],
        "target_point_next": [
            25.389064135421297,
            0.3951496800371874
        ]
    },
    "765": {
        "acceleration": [
            -0.12520551681518555,
            0.6992149353027344,
            0.5418236255645752
        ],
        "angular_velocity": [
            -0.18138881027698517,
            -0.009168569929897785,
            0.05209993198513985
        ],
        "forward_vector": [
            -0.15861736238002777,
            0.9872598052024841,
            -0.01259472407400608
        ],
        "right_vector": [
            -0.9873395562171936,
            -0.15859022736549377,
            0.003132156329229474
        ],
        "location": [
            928.3131713867188,
            3582.789306640625,
            370.9081115722656
        ],
        "rotation": [
            -0.1794738620519638,
            -0.7216436266899109,
            99.12738037109375
        ],
        "velocity": [
            -1.429719090461731,
            8.899863243103027,
            -0.013529691845178604
        ],
        "speed": 9.013970402856172,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.864073753356934,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                925.8123779296875,
                3595.407958984375,
                370.90240478515625
            ],
            "velocity": [
                -1.2791128158569336,
                7.960114002227783,
                -0.0018899249844253063
            ],
            "speed_kmh": 29.024027000465573,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2572190761566162,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8780517578125
                    },
                    "rotation": {
                        "roll": 0.00023120595142245293,
                        "pitch": 0.03846762329339981,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 0.00016782525926828384,
                    "y": -0.0008312182617373765,
                    "z": -1.257218837738037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0432891845703125,
                "transform": {
                    "location": {
                        "x": 929.711669921875,
                        "y": 3613.275634765625,
                        "z": 370.8926086425781
                    },
                    "rotation": {
                        "roll": 4.0620957406645175e-06,
                        "pitch": -0.044771887362003326,
                        "yaw": -80.73551940917969
                    }
                },
                "velocity": {
                    "x": 0.32706359028816223,
                    "y": -2.016942024230957,
                    "z": 0.0020922564435750246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2567644119262695,
                "transform": {
                    "location": {
                        "x": 932.7090454101562,
                        "y": 3615.07958984375,
                        "z": 370.8825988769531
                    },
                    "rotation": {
                        "roll": 0.0035784835927188396,
                        "pitch": 0.1463163048028946,
                        "yaw": -80.56462097167969
                    }
                },
                "velocity": {
                    "x": 0.36524027585983276,
                    "y": -2.2270116806030273,
                    "z": 0.00208003050647676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.124084949493408,
                "transform": {
                    "location": {
                        "x": 901.3826904296875,
                        "y": 3575.685546875,
                        "z": 371.14703369140625
                    },
                    "rotation": {
                        "roll": 0.0024175853468477726,
                        "pitch": -0.27930009365081787,
                        "yaw": 9.341830253601074
                    }
                },
                "velocity": {
                    "x": 2.096778154373169,
                    "y": 0.3391638994216919,
                    "z": -0.01503655407577753
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3814697265625,
                        "y": 3476.256103515625,
                        "z": 370.650390625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4484024047851562,
                "transform": {
                    "location": {
                        "x": 962.0745239257812,
                        "y": 3582.503662109375,
                        "z": 370.6015930175781
                    },
                    "rotation": {
                        "roll": -0.0005493207718245685,
                        "pitch": 0.6987351179122925,
                        "yaw": -170.8726806640625
                    }
                },
                "velocity": {
                    "x": -1.4295037984848022,
                    "y": -0.23278068006038666,
                    "z": 0.01420261338353157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.864501953125,
                        "y": 3508.724609375,
                        "z": 370.76788330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.98871837509796e-05,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0003030621155630797,
                        "pitch": 0.0039888303726911545,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 1.6140451407409273e-05,
                    "y": 2.092586328217294e-06,
                    "z": -9.855230018729344e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.3555402701022103e-05,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.00918660406023264,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -5.678286470356397e-06,
                    "y": -5.748996159127273e-07,
                    "z": -5.325042366166599e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015988975064828992,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 2.5849043595371768e-05,
                    "y": -1.0738261153164785e-05,
                    "z": 0.0001574206107761711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011032104492188,
                "transform": {
                    "location": {
                        "x": 937.1954345703125,
                        "y": 3524.606689453125,
                        "z": 370.81201171875
                    },
                    "rotation": {
                        "roll": -0.00027466248138807714,
                        "pitch": 0.14379596710205078,
                        "yaw": 99.32679748535156
                    }
                },
                "velocity": {
                    "x": -1.2749491930007935,
                    "y": 7.90889835357666,
                    "z": 0.021379422396421432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8697509765625,
                        "y": 3491.863037109375,
                        "z": 370.7117919921875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006159383920021355,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0007719899876974523,
                        "pitch": -0.03885011374950409,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.434142051148228e-06,
                    "y": 7.598963293276029e-06,
                    "z": -0.0006158578908070922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7304227352142334,
                "transform": {
                    "location": {
                        "x": 921.3446044921875,
                        "y": 3623.7802734375,
                        "z": 370.8746032714844
                    },
                    "rotation": {
                        "roll": -0.011932382360100746,
                        "pitch": 0.3335932493209839,
                        "yaw": 99.25023651123047
                    }
                },
                "velocity": {
                    "x": -0.2911795377731323,
                    "y": 1.7057467699050903,
                    "z": -0.0022847556974738836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.545349597930908,
                "transform": {
                    "location": {
                        "x": 881.670654296875,
                        "y": 3572.42626953125,
                        "z": 371.27593994140625
                    },
                    "rotation": {
                        "roll": -0.0015564000932499766,
                        "pitch": -0.3306904137134552,
                        "yaw": 9.459174156188965
                    }
                },
                "velocity": {
                    "x": 2.50846004486084,
                    "y": 0.4315452575683594,
                    "z": -0.014201517216861248
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002795097534544766,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912658691406
                    },
                    "rotation": {
                        "roll": -0.0003967279917560518,
                        "pitch": 0.03292151167988777,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": 7.13024492142722e-05,
                    "y": 0.00011772226571338251,
                    "z": 0.00024327584833372384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6198519468307495,
                "transform": {
                    "location": {
                        "x": 976.01953125,
                        "y": 3584.79345703125,
                        "z": 370.4525451660156
                    },
                    "rotation": {
                        "roll": 0.003084419760853052,
                        "pitch": 0.6514292359352112,
                        "yaw": -170.53053283691406
                    }
                },
                "velocity": {
                    "x": -1.5980679988861084,
                    "y": -0.2641104459762573,
                    "z": 0.01855926401913166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.705402771942317e-05,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": 0.03862471878528595,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": 1.4356396604853217e-05,
                    "y": 5.258805799712718e-07,
                    "z": 9.598490578355268e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.3842163085938,
                        "y": 3507.308349609375,
                        "z": 370.7622985839844
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002074241638184,
                "transform": {
                    "location": {
                        "x": 938.0935668945312,
                        "y": 3539.57421875,
                        "z": 370.8487548828125
                    },
                    "rotation": {
                        "roll": 0.00042543114977888763,
                        "pitch": 0.03794169798493385,
                        "yaw": 99.14041137695312
                    }
                },
                "velocity": {
                    "x": -1.273970127105713,
                    "y": 7.8999924659729,
                    "z": 0.017450742423534393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.00002121925354,
                "transform": {
                    "location": {
                        "x": 935.559326171875,
                        "y": 3555.2958984375,
                        "z": 370.8667907714844
                    },
                    "rotation": {
                        "roll": 0.0038186300080269575,
                        "pitch": -0.15680064260959625,
                        "yaw": 98.88299560546875
                    }
                },
                "velocity": {
                    "x": -0.15798990428447723,
                    "y": 0.9874605536460876,
                    "z": 0.0018122481415048242
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06222915649414,
                "transform": {
                    "location": {
                        "x": 925.8123779296875,
                        "y": 3595.407958984375,
                        "z": 370.90240478515625
                    },
                    "rotation": {
                        "roll": -0.0004272453370504081,
                        "pitch": -0.024199359118938446,
                        "yaw": 99.14142608642578
                    }
                },
                "velocity": {
                    "x": -1.2791128158569336,
                    "y": 7.960114002227783,
                    "z": -0.0018899249844253063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017646789550781,
                "transform": {
                    "location": {
                        "x": 878.8951416015625,
                        "y": 3569.3359375,
                        "z": 371.2983093261719
                    },
                    "rotation": {
                        "roll": -0.00012207008694531396,
                        "pitch": 0.339351087808609,
                        "yaw": -170.86122131347656
                    }
                },
                "velocity": {
                    "x": -7.9157328605651855,
                    "y": -1.2733815908432007,
                    "z": 0.04828088730573654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047492980957031,
                "transform": {
                    "location": {
                        "x": 940.88671875,
                        "y": 3522.1923828125,
                        "z": 370.8026123046875
                    },
                    "rotation": {
                        "roll": 0.0016331749502569437,
                        "pitch": 0.15660256147384644,
                        "yaw": 99.12606811523438
                    }
                },
                "velocity": {
                    "x": -1.2779682874679565,
                    "y": 7.945343017578125,
                    "z": 0.021393870934844017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5010175704956055,
                "transform": {
                    "location": {
                        "x": 933.3942260742188,
                        "y": 3570.50048828125,
                        "z": 370.8825988769531
                    },
                    "rotation": {
                        "roll": 0.05135538429021835,
                        "pitch": 0.1378195434808731,
                        "yaw": 93.92182922363281
                    }
                },
                "velocity": {
                    "x": -0.27109548449516296,
                    "y": 5.494316101074219,
                    "z": 0.01386368740350008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065308570861816,
                "transform": {
                    "location": {
                        "x": 929.872314453125,
                        "y": 3590.638427734375,
                        "z": 370.9024963378906
                    },
                    "rotation": {
                        "roll": -0.00021362287225201726,
                        "pitch": 0.005470981355756521,
                        "yaw": 99.16405487060547
                    }
                },
                "velocity": {
                    "x": -1.284485936164856,
                    "y": 7.962367534637451,
                    "z": 0.0023755549918860197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.26354455947875977,
        "expert_target_speed": 8.71876106966329,
        "target_point": [
            23.16420315420583,
            0.3697027705702336
        ],
        "target_point_next": [
            23.16420315420583,
            0.3697027705702336
        ]
    },
    "770": {
        "acceleration": [
            -0.04818439483642578,
            0.3065681457519531,
            0.8710904121398926
        ],
        "angular_velocity": [
            1.460206389427185,
            0.19692517817020416,
            0.2477724403142929
        ],
        "forward_vector": [
            -0.15953847765922546,
            0.9871891140937805,
            0.00226580910384655
        ],
        "right_vector": [
            -0.9871915578842163,
            -0.15953920781612396,
            0.00014540831034537405
        ],
        "location": [
            927.949462890625,
            3585.048095703125,
            370.8897705078125
        ],
        "rotation": [
            -0.008331304416060448,
            0.12982140481472015,
            99.18013000488281
        ],
        "velocity": [
            -1.4696240425109863,
            9.070926666259766,
            -0.030167721211910248
        ],
        "speed": 9.189205918412583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.583990097045898,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                925.4937133789062,
                3597.39013671875,
                370.90155029296875
            ],
            "velocity": [
                -1.270460605621338,
                7.900315284729004,
                -0.0027194309514015913
            ],
            "speed_kmh": 28.80653756535948,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.14005790650844574,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8233642578125
                    },
                    "rotation": {
                        "roll": -0.0002746550308074802,
                        "pitch": 0.03868618980050087,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 9.758454689290375e-05,
                    "y": 0.00010989826114382595,
                    "z": 0.14005783200263977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8475621938705444,
                "transform": {
                    "location": {
                        "x": 929.7949829101562,
                        "y": 3612.76220703125,
                        "z": 370.8922119140625
                    },
                    "rotation": {
                        "roll": 0.0004427834355738014,
                        "pitch": 0.03787339851260185,
                        "yaw": -80.74627685546875
                    }
                },
                "velocity": {
                    "x": 0.2956736981868744,
                    "y": -1.8237491846084595,
                    "z": 0.001452541328035295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.025453325361013412,
                "transform": {
                    "location": {
                        "x": 932.7777099609375,
                        "y": 3614.661376953125,
                        "z": 370.88470458984375
                    },
                    "rotation": {
                        "roll": -0.0007324322941713035,
                        "pitch": -0.3617541193962097,
                        "yaw": -80.57542419433594
                    }
                },
                "velocity": {
                    "x": 0.0036262606736272573,
                    "y": -0.025182684883475304,
                    "z": 0.0007445751107297838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.48888254165649414,
                "transform": {
                    "location": {
                        "x": 901.5277099609375,
                        "y": 3575.708984375,
                        "z": 371.14794921875
                    },
                    "rotation": {
                        "roll": -0.0020751822739839554,
                        "pitch": -0.8323609828948975,
                        "yaw": 9.345744132995605
                    }
                },
                "velocity": {
                    "x": 0.48260703682899475,
                    "y": 0.07802658528089523,
                    "z": -0.0029060745146125555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0619506835938,
                        "y": 3478.2421875,
                        "z": 370.6586608886719
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.293203353881836,
                "transform": {
                    "location": {
                        "x": 961.5877075195312,
                        "y": 3582.42431640625,
                        "z": 370.60577392578125
                    },
                    "rotation": {
                        "roll": -0.004730229265987873,
                        "pitch": 0.9000481367111206,
                        "yaw": -170.7805633544922
                    }
                },
                "velocity": {
                    "x": -2.263019323348999,
                    "y": -0.3701461851596832,
                    "z": 0.02273358218371868
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.5452880859375,
                        "y": 3510.70703125,
                        "z": 370.7734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022988292039372027,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0008628816576674581,
                        "pitch": 0.0036609810777008533,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 2.2832065951661207e-05,
                    "y": -9.05209071788704e-06,
                    "z": 0.00022856707801111042
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004556177300401032,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.00918660406023264,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 4.432301921042381e-06,
                    "y": 2.228410380666901e-07,
                    "z": -0.00045559610589407384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009818730177357793,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": 4.018686740892008e-05,
                    "y": 4.347334470367059e-05,
                    "z": 0.000980086624622345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.070289611816406,
                "transform": {
                    "location": {
                        "x": 936.875732421875,
                        "y": 3526.591796875,
                        "z": 370.8170471191406
                    },
                    "rotation": {
                        "roll": 0.0011841477826237679,
                        "pitch": 0.1466919630765915,
                        "yaw": 99.31184387207031
                    }
                },
                "velocity": {
                    "x": -1.2817749977111816,
                    "y": 7.967820644378662,
                    "z": 0.02144142985343933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.55029296875,
                        "y": 3493.848876953125,
                        "z": 370.71905517578125
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002904033462982625,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": -0.000244139286223799,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0001098669963539578,
                    "y": 1.7807855329010636e-05,
                    "z": 0.00026822794461622834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7219736576080322,
                "transform": {
                    "location": {
                        "x": 921.251220703125,
                        "y": 3624.3291015625,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.012237539514899254,
                        "pitch": 0.3702167272567749,
                        "yaw": 99.40409088134766
                    }
                },
                "velocity": {
                    "x": -0.4600355327129364,
                    "y": 2.682816505432129,
                    "z": -0.0017963695572689176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.125783681869507,
                "transform": {
                    "location": {
                        "x": 882.3711547851562,
                        "y": 3572.5458984375,
                        "z": 371.27166748046875
                    },
                    "rotation": {
                        "roll": -0.0019531266298145056,
                        "pitch": -0.3323364853858948,
                        "yaw": 9.564229011535645
                    }
                },
                "velocity": {
                    "x": 3.080308675765991,
                    "y": 0.5309308171272278,
                    "z": -0.018303021788597107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.467163908993825e-05,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": 0.0361863411962986,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": -2.661369217094034e-05,
                    "y": 3.531098263920285e-05,
                    "z": -8.371119474759325e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3307418823242188,
                "transform": {
                    "location": {
                        "x": 975.472412109375,
                        "y": 3584.70263671875,
                        "z": 370.4590148925781
                    },
                    "rotation": {
                        "roll": 0.0015614014118909836,
                        "pitch": 0.7933947443962097,
                        "yaw": -170.5460662841797
                    }
                },
                "velocity": {
                    "x": -2.299243688583374,
                    "y": -0.38087546825408936,
                    "z": 0.02776142954826355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017062471306417137,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": 0.03861105814576149,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": 1.4700344763696194e-05,
                    "y": 4.75328391758012e-07,
                    "z": 0.00016998960927594453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.0645751953125,
                        "y": 3509.294189453125,
                        "z": 370.7680358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158602237701416,
                "transform": {
                    "location": {
                        "x": 937.7924194335938,
                        "y": 3541.443603515625,
                        "z": 370.8511962890625
                    },
                    "rotation": {
                        "roll": -0.0001831018744269386,
                        "pitch": 0.16828219592571259,
                        "yaw": 99.1525650024414
                    }
                },
                "velocity": {
                    "x": -1.1387969255447388,
                    "y": 7.067429065704346,
                    "z": 0.013153076171875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9320087432861328,
                "transform": {
                    "location": {
                        "x": 935.499755859375,
                        "y": 3555.669677734375,
                        "z": 370.8676452636719
                    },
                    "rotation": {
                        "roll": 0.00072954484494403,
                        "pitch": 0.13275155425071716,
                        "yaw": 98.92898559570312
                    }
                },
                "velocity": {
                    "x": -0.30436232686042786,
                    "y": 1.9078823328018188,
                    "z": 0.002532863523811102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001815795898438,
                "transform": {
                    "location": {
                        "x": 925.4937133789062,
                        "y": 3597.39013671875,
                        "z": 370.90155029296875
                    },
                    "rotation": {
                        "roll": -0.00039672793354839087,
                        "pitch": -0.024165207520127296,
                        "yaw": 99.13578796386719
                    }
                },
                "velocity": {
                    "x": -1.270460605621338,
                    "y": 7.900315284729004,
                    "z": -0.0027194309514015913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033896446228027,
                "transform": {
                    "location": {
                        "x": 876.9140625,
                        "y": 3569.01708984375,
                        "z": 371.3100280761719
                    },
                    "rotation": {
                        "roll": 0.0012297441717237234,
                        "pitch": 0.3402116894721985,
                        "yaw": -170.86306762695312
                    }
                },
                "velocity": {
                    "x": -7.932013988494873,
                    "y": -1.274579644203186,
                    "z": 0.04580875113606453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04690933227539,
                "transform": {
                    "location": {
                        "x": 940.567138671875,
                        "y": 3524.1787109375,
                        "z": 370.80792236328125
                    },
                    "rotation": {
                        "roll": -0.0008239808958023787,
                        "pitch": 0.14589282870292664,
                        "yaw": 99.15731048583984
                    }
                },
                "velocity": {
                    "x": -1.278667688369751,
                    "y": 7.944639682769775,
                    "z": 0.02147987298667431
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.005789279937744,
                "transform": {
                    "location": {
                        "x": 933.3697509765625,
                        "y": 3571.989501953125,
                        "z": 370.8880920410156
                    },
                    "rotation": {
                        "roll": 0.04444434493780136,
                        "pitch": 0.4684075117111206,
                        "yaw": 91.05835723876953
                    }
                },
                "velocity": {
                    "x": 0.24180428683757782,
                    "y": 7.001593589782715,
                    "z": 0.017313070595264435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003303527832031,
                "transform": {
                    "location": {
                        "x": 929.5526123046875,
                        "y": 3592.621826171875,
                        "z": 370.90277099609375
                    },
                    "rotation": {
                        "roll": -0.0010986331617459655,
                        "pitch": 0.008544566109776497,
                        "yaw": 99.1575698852539
                    }
                },
                "velocity": {
                    "x": -1.2714258432388306,
                    "y": 7.90166711807251,
                    "z": 0.002180995885282755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.252608060836792,
        "expert_target_speed": 8.773665432650818,
        "target_point": [
            20.876650324623686,
            0.3496928637755037
        ],
        "target_point_next": [
            20.876650324623686,
            0.3496928637755037
        ]
    },
    "775": {
        "acceleration": [
            0.2452850341796875,
            -1.64764404296875,
            -0.011986363679170609
        ],
        "angular_velocity": [
            -0.8810490965843201,
            -0.14414049685001373,
            -0.07527262717485428
        ],
        "forward_vector": [
            -0.16015660762786865,
            0.9870911240577698,
            0.0009825227316468954
        ],
        "right_vector": [
            -0.987091600894928,
            -0.16015680134296417,
            0.00012836435053031892
        ],
        "location": [
            927.5845336914062,
            3587.298583984375,
            370.8912048339844
        ],
        "rotation": [
            -0.007354739122092724,
            0.05629441514611244,
            99.21598815917969
        ],
        "velocity": [
            -1.4391075372695923,
            8.85562801361084,
            0.013481835834681988
        ],
        "speed": 8.971799040285912,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.312576293945312,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                925.1748046875,
                3599.373046875,
                370.90069580078125
            ],
            "velocity": [
                -1.2799936532974243,
                7.959682941436768,
                -0.004721546079963446
            ],
            "speed_kmh": 29.02300231049286,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1722438335418701,
                "transform": {
                    "location": {
                        "x": 927.18505859375,
                        "y": 3628.43017578125,
                        "z": 370.8545227050781
                    },
                    "rotation": {
                        "roll": -0.015319825150072575,
                        "pitch": 0.34038245677948,
                        "yaw": -80.80455780029297
                    }
                },
                "velocity": {
                    "x": 0.20347385108470917,
                    "y": -1.150964379310608,
                    "z": 0.08963756263256073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3830941915512085,
                "transform": {
                    "location": {
                        "x": 929.86474609375,
                        "y": 3612.33251953125,
                        "z": 370.8923034667969
                    },
                    "rotation": {
                        "roll": 0.0004070868599228561,
                        "pitch": 0.06607524305582047,
                        "yaw": -80.75361633300781
                    }
                },
                "velocity": {
                    "x": 0.2215396761894226,
                    "y": -1.365235447883606,
                    "z": 0.0013739299029111862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9764408469200134,
                "transform": {
                    "location": {
                        "x": 932.7958984375,
                        "y": 3614.548583984375,
                        "z": 370.88385009765625
                    },
                    "rotation": {
                        "roll": 0.0020954834762960672,
                        "pitch": -0.09585487097501755,
                        "yaw": -80.52295684814453
                    }
                },
                "velocity": {
                    "x": 0.15827269852161407,
                    "y": -0.9635259509086609,
                    "z": 0.0020449161529541016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101156,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4266740083694458,
                "transform": {
                    "location": {
                        "x": 901.77880859375,
                        "y": 3575.74951171875,
                        "z": 371.1443176269531
                    },
                    "rotation": {
                        "roll": 0.00023274676641449332,
                        "pitch": -0.31045258045196533,
                        "yaw": 9.319496154785156
                    }
                },
                "velocity": {
                    "x": 1.4083892107009888,
                    "y": 0.2274438440799713,
                    "z": -0.010383129119873047
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101155,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.739990234375,
                        "y": 3480.2421875,
                        "z": 370.6669006347656
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101154,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0033662656787782907,
                "transform": {
                    "location": {
                        "x": 961.315185546875,
                        "y": 3582.380126953125,
                        "z": 370.61163330078125
                    },
                    "rotation": {
                        "roll": -0.005340575240552425,
                        "pitch": 0.07901162654161453,
                        "yaw": -170.64356994628906
                    }
                },
                "velocity": {
                    "x": -0.003288551466539502,
                    "y": -0.0007129043806344271,
                    "z": 9.45566498558037e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101153,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.2257080078125,
                        "y": 3512.693359375,
                        "z": 370.7789306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.916830509202555e-05,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0007029497646726668,
                        "pitch": 0.0037975849118083715,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": 2.660909558471758e-06,
                    "y": 2.6744557999336394e-06,
                    "z": 7.907836697995663e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101146,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 913.7604370117188,
                        "y": 3577.681884765625,
                        "z": 371.0621032714844
                    },
                    "rotation": {
                        "roll": 0.00036684420774690807,
                        "pitch": -0.45736992359161377,
                        "yaw": 9.133359909057617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.00918660406023264,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101144,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006036781705915928,
                "transform": {
                    "location": {
                        "x": 951.4456176757812,
                        "y": 3580.780517578125,
                        "z": 370.7127380371094
                    },
                    "rotation": {
                        "roll": 0.005091206636279821,
                        "pitch": 0.5729435682296753,
                        "yaw": -170.24925231933594
                    }
                },
                "velocity": {
                    "x": -1.4044940144231077e-05,
                    "y": 6.5148517023772e-05,
                    "z": 0.0005999880959279835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101143,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.010560989379883,
                "transform": {
                    "location": {
                        "x": 936.5567626953125,
                        "y": 3528.576171875,
                        "z": 370.8221130371094
                    },
                    "rotation": {
                        "roll": -0.0003357008390594274,
                        "pitch": 0.14499124884605408,
                        "yaw": 99.30973052978516
                    }
                },
                "velocity": {
                    "x": -1.2734543085098267,
                    "y": 7.908663749694824,
                    "z": 0.02079974114894867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101142,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.2285766601562,
                        "y": 3495.847412109375,
                        "z": 370.7258605957031
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1013262271881104,
                "transform": {
                    "location": {
                        "x": 924.6018676757812,
                        "y": 3624.00830078125,
                        "z": 370.8797607421875
                    },
                    "rotation": {
                        "roll": -0.004974369425326586,
                        "pitch": 0.10050623118877411,
                        "yaw": 99.1252670288086
                    }
                },
                "velocity": {
                    "x": -0.18614040315151215,
                    "y": 1.0854803323745728,
                    "z": -0.001849918277002871
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.123279571533203,
                "transform": {
                    "location": {
                        "x": 921.1058349609375,
                        "y": 3625.17919921875,
                        "z": 370.8729553222656
                    },
                    "rotation": {
                        "roll": -0.01296994648873806,
                        "pitch": 0.5089446902275085,
                        "yaw": 99.5504150390625
                    }
                },
                "velocity": {
                    "x": -0.6986584067344666,
                    "y": 4.063656806945801,
                    "z": -0.0025064849760383368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101163,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8468732833862305,
                "transform": {
                    "location": {
                        "x": 883.2294921875,
                        "y": 3572.693115234375,
                        "z": 371.2662658691406
                    },
                    "rotation": {
                        "roll": -0.002777104265987873,
                        "pitch": -0.32818374037742615,
                        "yaw": 9.656596183776855
                    }
                },
                "velocity": {
                    "x": 3.7907214164733887,
                    "y": 0.6544818878173828,
                    "z": -0.022765154018998146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.416120514681097e-05,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": -0.0016174328047782183,
                        "pitch": 0.03780509531497955,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": 8.62501565279672e-06,
                    "y": 9.968662197934464e-06,
                    "z": 2.024842433456797e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101161,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7449433207511902,
                "transform": {
                    "location": {
                        "x": 975.2769165039062,
                        "y": 3584.670654296875,
                        "z": 370.4612731933594
                    },
                    "rotation": {
                        "roll": 0.0008748896070756018,
                        "pitch": 0.4882287383079529,
                        "yaw": -170.50535583496094
                    }
                },
                "velocity": {
                    "x": -0.7350098490715027,
                    "y": -0.12096834182739258,
                    "z": 0.008233432658016682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002118660049745813,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": 7.561234087916091e-05,
                        "pitch": 0.03860422596335411,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -1.2906722076877486e-05,
                    "y": 4.86437238578219e-06,
                    "z": 0.00021141655452083796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101073,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.7439575195312,
                        "y": 3511.28515625,
                        "z": 370.7735900878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5657529830932617,
                "transform": {
                    "location": {
                        "x": 937.5753784179688,
                        "y": 3542.792724609375,
                        "z": 370.8517150878906
                    },
                    "rotation": {
                        "roll": 0.0037783589214086533,
                        "pitch": 0.36624836921691895,
                        "yaw": 99.30829620361328
                    }
                },
                "velocity": {
                    "x": -0.5884674787521362,
                    "y": 3.5168569087982178,
                    "z": 0.004232320468872786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101061,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.370917320251465,
                "transform": {
                    "location": {
                        "x": 935.3963012695312,
                        "y": 3556.31640625,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0011596762342378497,
                        "pitch": 0.2552851438522339,
                        "yaw": 98.99547576904297
                    }
                },
                "velocity": {
                    "x": -0.5324984192848206,
                    "y": 3.3285913467407227,
                    "z": 0.0029345510993152857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061944961547852,
                "transform": {
                    "location": {
                        "x": 925.1748046875,
                        "y": 3599.373046875,
                        "z": 370.90069580078125
                    },
                    "rotation": {
                        "roll": 0.00034322787541896105,
                        "pitch": -0.02871411293745041,
                        "yaw": 99.13569641113281
                    }
                },
                "velocity": {
                    "x": -1.2799936532974243,
                    "y": 7.959682941436768,
                    "z": -0.004721546079963446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101047,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.987955093383789,
                "transform": {
                    "location": {
                        "x": 874.9339599609375,
                        "y": 3568.69873046875,
                        "z": 371.32147216796875
                    },
                    "rotation": {
                        "roll": 0.0014648998621851206,
                        "pitch": 0.3311412036418915,
                        "yaw": -170.86517333984375
                    }
                },
                "velocity": {
                    "x": -7.8865180015563965,
                    "y": -1.2681692838668823,
                    "z": 0.04484820365905762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101046,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.707946300506592,
                "transform": {
                    "location": {
                        "x": 940.2504272460938,
                        "y": 3526.146484375,
                        "z": 370.8128967285156
                    },
                    "rotation": {
                        "roll": 8.457708463538438e-05,
                        "pitch": 0.10333392769098282,
                        "yaw": 99.12884521484375
                    }
                },
                "velocity": {
                    "x": -1.2241162061691284,
                    "y": 7.6100969314575195,
                    "z": 0.020092781633138657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101045,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.16229248046875,
                "transform": {
                    "location": {
                        "x": 933.5952758789062,
                        "y": 3573.90771484375,
                        "z": 370.8899841308594
                    },
                    "rotation": {
                        "roll": 0.19067080318927765,
                        "pitch": 0.24745774269104004,
                        "yaw": 82.55900573730469
                    }
                },
                "velocity": {
                    "x": 1.520348072052002,
                    "y": 8.0194091796875,
                    "z": 0.025467948988080025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059391975402832,
                "transform": {
                    "location": {
                        "x": 929.2333374023438,
                        "y": 3594.60400390625,
                        "z": 370.90264892578125
                    },
                    "rotation": {
                        "roll": -3.051740350201726e-05,
                        "pitch": -0.008059622719883919,
                        "yaw": 99.15172576904297
                    }
                },
                "velocity": {
                    "x": -1.281777024269104,
                    "y": 7.956811428070068,
                    "z": -0.001949682249687612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.25900593400001526,
        "expert_target_speed": 8.607152078341517,
        "target_point": [
            18.596981231209774,
            0.3368339236092175
        ],
        "target_point_next": [
            18.596981231209774,
            0.3368339236092175
        ]
    },
    "780": {
        "acceleration": [
            0.5474567413330078,
            -3.4786224365234375,
            -0.04561176523566246
        ],
        "angular_velocity": [
            -0.8665520548820496,
            -0.17279353737831116,
            0.500598132610321
        ],
        "forward_vector": [
            -0.1608148217201233,
            0.9869804382324219,
            -0.00286340294405818
        ],
        "right_vector": [
            -0.9869845509529114,
            -0.16081513464450836,
            0.00012303747644182295
        ],
        "location": [
            927.2368774414062,
            3589.434326171875,
            370.8943176269531
        ],
        "rotation": [
            -0.007049557752907276,
            -0.16406112909317017,
            99.25423431396484
        ],
        "velocity": [
            -1.3350491523742676,
            8.182868003845215,
            0.005838355980813503
        ],
        "speed": 8.291060547819502,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.15659236907959,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.8558959960938,
                3601.35546875,
                370.8995361328125
            ],
            "velocity": [
                -1.271132230758667,
                7.90137243270874,
                -0.00565384840592742
            ],
            "speed_kmh": 28.810684490834408,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0545449256896973,
                "transform": {
                    "location": {
                        "x": 927.2547607421875,
                        "y": 3628.0234375,
                        "z": 370.8675842285156
                    },
                    "rotation": {
                        "roll": -0.003570529632270336,
                        "pitch": 0.43261733651161194,
                        "yaw": -80.70374298095703
                    }
                },
                "velocity": {
                    "x": 0.34365665912628174,
                    "y": -2.0253818035125732,
                    "z": 0.02972152642905712
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012283516116440296,
                "transform": {
                    "location": {
                        "x": 929.8696899414062,
                        "y": 3612.300537109375,
                        "z": 370.8917236328125
                    },
                    "rotation": {
                        "roll": 0.000709174491930753,
                        "pitch": 0.14062675833702087,
                        "yaw": -80.73197937011719
                    }
                },
                "velocity": {
                    "x": -0.00012788553431164473,
                    "y": 0.0007864618091844022,
                    "z": 0.0009348640451207757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0018535623094066978,
                "transform": {
                    "location": {
                        "x": 932.8209838867188,
                        "y": 3614.3994140625,
                        "z": 370.8844909667969
                    },
                    "rotation": {
                        "roll": 0.00013612466864287853,
                        "pitch": -0.2349584996700287,
                        "yaw": -80.6081771850586
                    }
                },
                "velocity": {
                    "x": 0.00036747692502103746,
                    "y": -0.0017234573606401682,
                    "z": 0.0005747594404965639
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039875454967841506,
                "transform": {
                    "location": {
                        "x": 935.9332885742188,
                        "y": 3595.114990234375,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0003882643941324204,
                        "pitch": 0.003893207525834441,
                        "yaw": -80.71977996826172
                    }
                },
                "velocity": {
                    "x": -7.162948804761982e-06,
                    "y": 4.572999841911951e-06,
                    "z": 0.0003986639785580337
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004660896665882319,
                "transform": {
                    "location": {
                        "x": 932.9044799804688,
                        "y": 3593.435302734375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": -0.00015258743951562792,
                        "pitch": -0.009493962861597538,
                        "yaw": -81.26567840576172
                    }
                },
                "velocity": {
                    "x": -1.038307982526021e-05,
                    "y": -3.2247230592474807e-06,
                    "z": -0.0004659628320951015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2222580909729004,
                "transform": {
                    "location": {
                        "x": 924.5303955078125,
                        "y": 3624.431884765625,
                        "z": 370.8794860839844
                    },
                    "rotation": {
                        "roll": -0.0021972660906612873,
                        "pitch": 0.13620080053806305,
                        "yaw": 99.20951080322266
                    }
                },
                "velocity": {
                    "x": -0.36885058879852295,
                    "y": 2.1914329528808594,
                    "z": -0.0015600108308717608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.40646505355835,
                "transform": {
                    "location": {
                        "x": 920.9026489257812,
                        "y": 3626.3623046875,
                        "z": 370.8724060058594
                    },
                    "rotation": {
                        "roll": -0.011016845703125,
                        "pitch": 0.5450695753097534,
                        "yaw": 99.68350982666016
                    }
                },
                "velocity": {
                    "x": -0.9188976883888245,
                    "y": 5.327803134918213,
                    "z": -0.0015765952412039042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00021720434597227722,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": -0.0017395024187862873,
                        "pitch": 0.03870667889714241,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": -1.6401055518144858e-06,
                    "y": -1.3012476301810239e-05,
                    "z": -0.00021680801000911742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.469776129350066e-05,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": 7.561234087916091e-05,
                        "pitch": 0.03860422596335411,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -2.051948831649497e-05,
                    "y": -9.895381481328513e-06,
                    "z": -2.617186873976607e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002967834472656,
                "transform": {
                    "location": {
                        "x": 924.8558959960938,
                        "y": 3601.35546875,
                        "z": 370.8995361328125
                    },
                    "rotation": {
                        "roll": -0.0005187976057641208,
                        "pitch": -0.03921211510896683,
                        "yaw": 99.13931274414062
                    }
                },
                "velocity": {
                    "x": -1.271132230758667,
                    "y": 7.90137243270874,
                    "z": -0.00565384840592742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002960205078125,
                "transform": {
                    "location": {
                        "x": 928.9140625,
                        "y": 3596.5859375,
                        "z": 370.9021301269531
                    },
                    "rotation": {
                        "roll": 0.0001031256906571798,
                        "pitch": -0.02618694305419922,
                        "yaw": 99.15145874023438
                    }
                },
                "velocity": {
                    "x": -1.27284574508667,
                    "y": 7.901090621948242,
                    "z": -0.002819805173203349
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2861010432243347,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.276640921831131,
        "expert_target_speed": 8.157295955830305,
        "target_point": [
            16.43334910746285,
            0.32474401830519994
        ],
        "target_point_next": [
            16.43334910746285,
            0.32474401830519994
        ]
    },
    "785": {
        "acceleration": [
            0.594933032989502,
            -3.7427520751953125,
            0.007796287536621094
        ],
        "angular_velocity": [
            -0.38831666111946106,
            -0.07498740404844284,
            -0.3044348657131195
        ],
        "forward_vector": [
            -0.16130833327770233,
            0.9868878722190857,
            -0.005651085637509823
        ],
        "right_vector": [
            -0.986903727054596,
            -0.16131024062633514,
            0.00012037273700116202
        ],
        "location": [
            926.9225463867188,
            3591.357666015625,
            370.8957824707031
        ],
        "rotation": [
            -0.006896960083395243,
            -0.32378509640693665,
            99.28299713134766
        ],
        "velocity": [
            -1.1871330738067627,
            7.249047756195068,
            0.002066059038043022
        ],
        "speed": 7.345609457800125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.215929985046387,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.536865234375,
                3603.33837890625,
                370.8981018066406
            ],
            "velocity": [
                -1.2825669050216675,
                7.95935583114624,
                -0.005672016181051731
            ],
            "speed_kmh": 29.023314154075546,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.276482105255127,
                "transform": {
                    "location": {
                        "x": 927.365234375,
                        "y": 3627.37060546875,
                        "z": 370.8713073730469
                    },
                    "rotation": {
                        "roll": -0.007507295347750187,
                        "pitch": 0.5159114599227905,
                        "yaw": -80.5798568725586
                    }
                },
                "velocity": {
                    "x": 0.5494773983955383,
                    "y": -3.2300658226013184,
                    "z": 0.009140691719949245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023048602452035993,
                "transform": {
                    "location": {
                        "x": 929.8695678710938,
                        "y": 3612.30126953125,
                        "z": 370.8923645019531
                    },
                    "rotation": {
                        "roll": 0.0003518282901495695,
                        "pitch": 0.058179549872875214,
                        "yaw": -80.73197937011719
                    }
                },
                "velocity": {
                    "x": -5.162290563021088e-06,
                    "y": 6.76079944241792e-05,
                    "z": -0.0002202868927270174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0020578657276928425,
                "transform": {
                    "location": {
                        "x": 932.8211669921875,
                        "y": 3614.398681640625,
                        "z": 370.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0002807452401611954,
                        "pitch": -0.10549909621477127,
                        "yaw": -80.60819244384766
                    }
                },
                "velocity": {
                    "x": -0.0005904213176108897,
                    "y": 0.0018856395035982132,
                    "z": 0.0005749582778662443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.10006025433540344,
                "transform": {
                    "location": {
                        "x": 935.934326171875,
                        "y": 3595.108154296875,
                        "z": 370.8994445800781
                    },
                    "rotation": {
                        "roll": 0.0003227297856938094,
                        "pitch": 0.016815925016999245,
                        "yaw": -80.71775817871094
                    }
                },
                "velocity": {
                    "x": 0.015316849574446678,
                    "y": -0.09888030588626862,
                    "z": 0.000365619664080441
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18550781905651093,
                "transform": {
                    "location": {
                        "x": 932.9059448242188,
                        "y": 3593.42236328125,
                        "z": 370.8937683105469
                    },
                    "rotation": {
                        "roll": 0.0009087073267437518,
                        "pitch": -0.006010565906763077,
                        "yaw": -81.29939270019531
                    }
                },
                "velocity": {
                    "x": 0.017801161855459213,
                    "y": -0.18464912474155426,
                    "z": -0.0009862232254818082
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6775810718536377,
                "transform": {
                    "location": {
                        "x": 924.407470703125,
                        "y": 3625.1572265625,
                        "z": 370.8790283203125
                    },
                    "rotation": {
                        "roll": -0.004364017862826586,
                        "pitch": 0.17716826498508453,
                        "yaw": 99.37959289550781
                    }
                },
                "velocity": {
                    "x": -0.615797221660614,
                    "y": 3.625657558441162,
                    "z": -0.0017480563838034868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.701858997344971,
                "transform": {
                    "location": {
                        "x": 920.6749877929688,
                        "y": 3627.686767578125,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": 0.008400130085647106,
                        "pitch": 0.24687033891677856,
                        "yaw": 99.71488952636719
                    }
                },
                "velocity": {
                    "x": -0.9497693181037903,
                    "y": 5.622199535369873,
                    "z": -0.0024637412279844284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.513614112511277e-05,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": -0.001708981697447598,
                        "pitch": 0.03899354860186577,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": 1.0587694305286277e-05,
                    "y": 2.0522506929410156e-06,
                    "z": -4.382876068120822e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000139325755299069,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": 0.03859739750623703,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -6.574811095561017e-07,
                    "y": 2.1835089683008846e-06,
                    "z": -0.00013930709974374622
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062031745910645,
                "transform": {
                    "location": {
                        "x": 924.536865234375,
                        "y": 3603.33837890625,
                        "z": 370.8981018066406
                    },
                    "rotation": {
                        "roll": 5.483995846589096e-05,
                        "pitch": -0.040100038051605225,
                        "yaw": 99.1414566040039
                    }
                },
                "velocity": {
                    "x": -1.2825669050216675,
                    "y": 7.95935583114624,
                    "z": -0.005672016181051731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06171989440918,
                "transform": {
                    "location": {
                        "x": 928.5948486328125,
                        "y": 3598.568603515625,
                        "z": 370.90130615234375
                    },
                    "rotation": {
                        "roll": 0.00019210908794775605,
                        "pitch": -0.024383774027228355,
                        "yaw": 99.14767456054688
                    }
                },
                "velocity": {
                    "x": -1.2816219329833984,
                    "y": 7.959194183349609,
                    "z": -0.0018698310013860464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30856284499168396,
        "expert_target_speed": 7.534533746498606,
        "target_point": [
            14.484653900519707,
            0.316537887654357
        ],
        "target_point_next": [
            14.484653900519707,
            0.316537887654357
        ]
    },
    "790": {
        "acceleration": [
            1.7515897750854492,
            -10.992269515991211,
            -0.026586148887872696
        ],
        "angular_velocity": [
            -2.3020524978637695,
            -0.36094775795936584,
            1.4536981582641602
        ],
        "forward_vector": [
            -0.16310270130634308,
            0.9865844249725342,
            -0.0069726137444376945
        ],
        "right_vector": [
            -0.9866085052490234,
            -0.16310612857341766,
            7.72301500546746e-05
        ],
        "location": [
            926.6412963867188,
            3593.0751953125,
            370.8962707519531
        ],
        "rotation": [
            -0.0044250693172216415,
            -0.39950457215309143,
            99.38726806640625
        ],
        "velocity": [
            -1.0040571689605713,
            6.107053279876709,
            -0.0005266475491225719
        ],
        "speed": 6.1890411665939,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.491057395935059,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.2163696289062,
                3605.32861328125,
                370.8968200683594
            ],
            "velocity": [
                -1.2973065376281738,
                8.056975364685059,
                -0.006327619310468435
            ],
            "speed_kmh": 29.378712297980524,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.65778112411499,
                "transform": {
                    "location": {
                        "x": 927.5335083007812,
                        "y": 3626.379638671875,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": -0.00878909882158041,
                        "pitch": 0.619422972202301,
                        "yaw": -80.45989227294922
                    }
                },
                "velocity": {
                    "x": 0.7829263210296631,
                    "y": -4.5915045738220215,
                    "z": 0.006021337583661079
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030419472022913396,
                "transform": {
                    "location": {
                        "x": 929.8695678710938,
                        "y": 3612.30126953125,
                        "z": 370.8924865722656
                    },
                    "rotation": {
                        "roll": 0.00043880639714188874,
                        "pitch": 0.04161633923649788,
                        "yaw": -80.73194885253906
                    }
                },
                "velocity": {
                    "x": -2.6505042114877142e-05,
                    "y": 3.871376975439489e-05,
                    "z": 0.00030055473325774074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007900954224169254,
                "transform": {
                    "location": {
                        "x": 932.8212280273438,
                        "y": 3614.39794921875,
                        "z": 370.8836975097656
                    },
                    "rotation": {
                        "roll": -0.0018615717999637127,
                        "pitch": -0.026303056627511978,
                        "yaw": -80.60820007324219
                    }
                },
                "velocity": {
                    "x": -9.218546620104462e-05,
                    "y": 0.000784471514634788,
                    "z": -1.8896276742452756e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.867297887802124,
                "transform": {
                    "location": {
                        "x": 935.953125,
                        "y": 3594.9931640625,
                        "z": 370.89947509765625
                    },
                    "rotation": {
                        "roll": 0.0008709444664418697,
                        "pitch": 0.12338735908269882,
                        "yaw": -80.71862030029297
                    }
                },
                "velocity": {
                    "x": 0.13870106637477875,
                    "y": -0.8561347126960754,
                    "z": 0.0009822272695600986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9241652488708496,
                "transform": {
                    "location": {
                        "x": 932.9207763671875,
                        "y": 3593.2802734375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.003740478539839387,
                        "pitch": 0.004986037965863943,
                        "yaw": -81.6137924194336
                    }
                },
                "velocity": {
                    "x": 0.0787840485572815,
                    "y": -0.920799970626831,
                    "z": -0.0013538646744564176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1028008460998535,
                "transform": {
                    "location": {
                        "x": 924.2208251953125,
                        "y": 3626.25,
                        "z": 370.8783264160156
                    },
                    "rotation": {
                        "roll": -0.005126945208758116,
                        "pitch": 0.18876592814922333,
                        "yaw": 99.58039855957031
                    }
                },
                "velocity": {
                    "x": -0.8614431619644165,
                    "y": 5.02955961227417,
                    "z": 0.0046323868446052074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.428341865539551,
                "transform": {
                    "location": {
                        "x": 920.3953857421875,
                        "y": 3629.349853515625,
                        "z": 370.87030029296875
                    },
                    "rotation": {
                        "roll": 0.020056838169693947,
                        "pitch": 0.5494818687438965,
                        "yaw": 99.54289245605469
                    }
                },
                "velocity": {
                    "x": -1.2251787185668945,
                    "y": 7.326606273651123,
                    "z": -0.0059873866848647594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014457892393693328,
                "transform": {
                    "location": {
                        "x": 931.4676513671875,
                        "y": 3602.490478515625,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": 0.03921894356608391,
                        "yaw": -81.89317321777344
                    }
                },
                "velocity": {
                    "x": 1.3605491403723136e-05,
                    "y": 5.71622479128564e-07,
                    "z": -0.00014393619494512677
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.558073199703358e-05,
                "transform": {
                    "location": {
                        "x": 934.4741821289062,
                        "y": 3604.15234375,
                        "z": 370.8984375
                    },
                    "rotation": {
                        "roll": 7.131513120839372e-05,
                        "pitch": 0.03872717171907425,
                        "yaw": -80.68900299072266
                    }
                },
                "velocity": {
                    "x": -1.2438326848496217e-05,
                    "y": 9.305728667641233e-07,
                    "z": 9.33709270611871e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.16075325012207,
                "transform": {
                    "location": {
                        "x": 924.2163696289062,
                        "y": 3605.32861328125,
                        "z": 370.8968200683594
                    },
                    "rotation": {
                        "roll": -0.00030517749837599695,
                        "pitch": -0.0507824532687664,
                        "yaw": 99.14715576171875
                    }
                },
                "velocity": {
                    "x": -1.2973065376281738,
                    "y": 8.056975364685059,
                    "z": -0.006327619310468435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.161720275878906,
                "transform": {
                    "location": {
                        "x": 928.2744140625,
                        "y": 3600.55908203125,
                        "z": 370.9004211425781
                    },
                    "rotation": {
                        "roll": -0.0002746600366663188,
                        "pitch": -0.04376101866364479,
                        "yaw": 99.143798828125
                    }
                },
                "velocity": {
                    "x": -1.296974778175354,
                    "y": 8.058009147644043,
                    "z": -0.005828704684972763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3409820795059204,
        "expert_target_speed": 6.703213665026787,
        "target_point": [
            12.744803244682277,
            0.292837455818995
        ],
        "target_point_next": [
            12.744803244682277,
            0.292837455818995
        ]
    },
    "795": {
        "acceleration": [
            1.0048532485961914,
            -6.192159652709961,
            -0.06108397617936134
        ],
        "angular_velocity": [
            -0.21755822002887726,
            -0.024971242994070053,
            -0.13405433297157288
        ],
        "forward_vector": [
            -0.16527226567268372,
            0.9861912131309509,
            -0.01058224868029356
        ],
        "right_vector": [
            -0.9862468838691711,
            -0.16527816653251648,
            0.00031956189195625484
        ],
        "location": [
            926.422119140625,
            3594.39208984375,
            370.8966979980469
        ],
        "rotation": [
            -0.01831057295203209,
            -0.6063295006752014,
            99.51358795166016
        ],
        "velocity": [
            -0.7772867679595947,
            4.627131462097168,
            -0.004697475116699934
        ],
        "speed": 4.6919633723180905,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.296591758728027,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                923.8759765625,
                3607.442626953125,
                370.89581298828125
            ],
            "velocity": [
                -1.4277368783950806,
                8.866714477539062,
                -0.005659570451825857
            ],
            "speed_kmh": 32.33134531149682,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.330923080444336,
                "transform": {
                    "location": {
                        "x": 927.750732421875,
                        "y": 3625.10546875,
                        "z": 370.87445068359375
                    },
                    "rotation": {
                        "roll": -0.005218528676778078,
                        "pitch": 0.4816785752773285,
                        "yaw": -80.37388610839844
                    }
                },
                "velocity": {
                    "x": 0.8974345922470093,
                    "y": -5.254838943481445,
                    "z": 0.004349298309534788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.37567965593189e-05,
                "transform": {
                    "location": {
                        "x": 929.8695678710938,
                        "y": 3612.30126953125,
                        "z": 370.89251708984375
                    },
                    "rotation": {
                        "roll": 0.0007613844354636967,
                        "pitch": 0.03951264172792435,
                        "yaw": -80.73194122314453
                    }
                },
                "velocity": {
                    "x": 8.02595150162233e-06,
                    "y": -4.0767990867607296e-06,
                    "z": 9.33236296987161e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004204090510029346,
                "transform": {
                    "location": {
                        "x": 932.8212280273438,
                        "y": 3614.3974609375,
                        "z": 370.883544921875
                    },
                    "rotation": {
                        "roll": -0.0008239741437137127,
                        "pitch": 0.016993509605526924,
                        "yaw": -80.60820007324219
                    }
                },
                "velocity": {
                    "x": 2.551646866777446e-05,
                    "y": 0.00034263430279679596,
                    "z": 0.0002422692923573777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0429155826568604,
                "transform": {
                    "location": {
                        "x": 936.0112915039062,
                        "y": 3594.63330078125,
                        "z": 370.8995666503906
                    },
                    "rotation": {
                        "roll": 0.0012078448198735714,
                        "pitch": 0.21638038754463196,
                        "yaw": -80.76692962646484
                    }
                },
                "velocity": {
                    "x": 0.3270532786846161,
                    "y": -2.016566038131714,
                    "z": 0.001456785132177174
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.733453631401062,
                "transform": {
                    "location": {
                        "x": 932.953125,
                        "y": 3592.95361328125,
                        "z": 370.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0029019261710345745,
                        "pitch": 0.009145623072981834,
                        "yaw": -82.20665740966797
                    }
                },
                "velocity": {
                    "x": 0.1417953222990036,
                    "y": -1.7276434898376465,
                    "z": -0.0018788909073919058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.446052551269531,
                "transform": {
                    "location": {
                        "x": 923.9931640625,
                        "y": 3627.573974609375,
                        "z": 370.87750244140625
                    },
                    "rotation": {
                        "roll": -0.003906253259629011,
                        "pitch": 0.05948411300778389,
                        "yaw": 99.71370697021484
                    }
                },
                "velocity": {
                    "x": -0.925090491771698,
                    "y": 5.36690616607666,
                    "z": -0.003782520303502679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.186625480651855,
                "transform": {
                    "location": {
                        "x": 920.0673217773438,
                        "y": 3631.312744140625,
                        "z": 370.8694152832031
                    },
                    "rotation": {
                        "roll": 0.010421051643788815,
                        "pitch": 0.41791877150535583,
                        "yaw": 99.51129150390625
                    }
                },
                "velocity": {
                    "x": -1.347434401512146,
                    "y": 8.07497501373291,
                    "z": -0.005642127711325884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09804584830999374,
                "transform": {
                    "location": {
                        "x": 931.4691772460938,
                        "y": 3602.48046875,
                        "z": 370.89117431640625
                    },
                    "rotation": {
                        "roll": -0.003448487026616931,
                        "pitch": 0.06184053048491478,
                        "yaw": -81.8985595703125
                    }
                },
                "velocity": {
                    "x": 0.014827585779130459,
                    "y": -0.09691807627677917,
                    "z": 0.0001288890780415386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.23094111680984497,
                "transform": {
                    "location": {
                        "x": 934.47607421875,
                        "y": 3604.139404296875,
                        "z": 370.8985595703125
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": 0.024800416082143784,
                        "yaw": -80.66786193847656
                    }
                },
                "velocity": {
                    "x": 0.03392001986503601,
                    "y": -0.22843538224697113,
                    "z": 0.0007121848757378757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.980928421020508,
                "transform": {
                    "location": {
                        "x": 923.8759765625,
                        "y": 3607.442626953125,
                        "z": 370.89581298828125
                    },
                    "rotation": {
                        "roll": -0.0002746587560977787,
                        "pitch": -0.10491853207349777,
                        "yaw": 99.14759063720703
                    }
                },
                "velocity": {
                    "x": -1.4277368783950806,
                    "y": 8.866714477539062,
                    "z": -0.005659570451825857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.98039436340332,
                "transform": {
                    "location": {
                        "x": 927.9342041015625,
                        "y": 3602.673095703125,
                        "z": 370.89947509765625
                    },
                    "rotation": {
                        "roll": 0.0002307793911313638,
                        "pitch": -0.10674218833446503,
                        "yaw": 99.14400482177734
                    }
                },
                "velocity": {
                    "x": -1.427095651626587,
                    "y": 8.866275787353516,
                    "z": -0.0061682602390646935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3035048842430115,
        "expert_target_speed": 5.486839953324273,
        "target_point": [
            11.41040946258527,
            0.26623125836292516
        ],
        "target_point_next": [
            11.41040946258527,
            0.26623125836292516
        ]
    },
    "800": {
        "acceleration": [
            0.16384601593017578,
            -0.8391618728637695,
            -0.010241316631436348
        ],
        "angular_velocity": [
            1.226900577545166,
            0.16038307547569275,
            0.19113963842391968
        ],
        "forward_vector": [
            -0.16432912647724152,
            0.9863613843917847,
            -0.009335381910204887
        ],
        "right_vector": [
            -0.986404299736023,
            -0.16433650255203247,
            -2.2398306100512855e-05
        ],
        "location": [
            926.254638671875,
            3595.400146484375,
            370.89605712890625
        ],
        "rotation": [
            0.0012833843939006329,
            -0.5348857641220093,
            99.45867919921875
        ],
        "velocity": [
            -0.6138325929641724,
            3.7253849506378174,
            -0.0020681952591985464
        ],
        "speed": 3.775616967149058,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.624835014343262,
        "front_vehicle_info": {
            "id": 101048,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                923.5023803710938,
                3609.763671875,
                370.8943786621094
            ],
            "velocity": [
                -1.555212378501892,
                9.677739143371582,
                -0.006317081395536661
            ],
            "speed_kmh": 35.286861442452285,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 101167,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.474187850952148,
                "transform": {
                    "location": {
                        "x": 927.9789428710938,
                        "y": 3623.771240234375,
                        "z": 370.8762512207031
                    },
                    "rotation": {
                        "roll": -0.0021362558472901583,
                        "pitch": 0.25249841809272766,
                        "yaw": -80.37360382080078
                    }
                },
                "velocity": {
                    "x": 0.9242045879364014,
                    "y": -5.395606517791748,
                    "z": 0.0022046470548957586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101159,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012573572166729718,
                "transform": {
                    "location": {
                        "x": 929.8695678710938,
                        "y": 3612.30126953125,
                        "z": 370.89251708984375
                    },
                    "rotation": {
                        "roll": 0.0005057108937762678,
                        "pitch": 0.03901403769850731,
                        "yaw": -80.73194122314453
                    }
                },
                "velocity": {
                    "x": 8.140961654135026e-06,
                    "y": 1.7970463886740617e-05,
                    "z": 0.00012417833204381168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101158,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014170663780532777,
                "transform": {
                    "location": {
                        "x": 932.8212890625,
                        "y": 3614.3974609375,
                        "z": 370.8835144042969
                    },
                    "rotation": {
                        "roll": -0.0014953596983104944,
                        "pitch": 0.02613913267850876,
                        "yaw": -80.60820007324219
                    }
                },
                "velocity": {
                    "x": 2.840253546310123e-05,
                    "y": 0.00012155739386798814,
                    "z": 6.706615386065096e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101147,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.569247245788574,
                "transform": {
                    "location": {
                        "x": 936.12255859375,
                        "y": 3593.9462890625,
                        "z": 370.8996887207031
                    },
                    "rotation": {
                        "roll": 0.001881954027339816,
                        "pitch": 0.28678596019744873,
                        "yaw": -80.78651428222656
                    }
                },
                "velocity": {
                    "x": 0.5700356364250183,
                    "y": -3.523433208465576,
                    "z": 0.0019887827802449465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 101145,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4829468727111816,
                "transform": {
                    "location": {
                        "x": 933.0028076171875,
                        "y": 3592.425537109375,
                        "z": 370.8934631347656
                    },
                    "rotation": {
                        "roll": 0.003121346002444625,
                        "pitch": 0.009712528437376022,
                        "yaw": -83.04388427734375
                    }
                },
                "velocity": {
                    "x": 0.1969992220401764,
                    "y": -2.47511887550354,
                    "z": -0.001510190893895924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 101141,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.284319877624512,
                "transform": {
                    "location": {
                        "x": 923.7340698242188,
                        "y": 3629.096435546875,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": 0.00655360845848918,
                        "pitch": 0.22063559293746948,
                        "yaw": 99.70580291748047
                    }
                },
                "velocity": {
                    "x": -1.2132762670516968,
                    "y": 7.182565689086914,
                    "z": -0.005433530546724796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 101139,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.952017784118652,
                "transform": {
                    "location": {
                        "x": 919.6868286132812,
                        "y": 3633.60107421875,
                        "z": 370.8670349121094
                    },
                    "rotation": {
                        "roll": 0.022896282374858856,
                        "pitch": 0.5791180729866028,
                        "yaw": 99.43035125732422
                    }
                },
                "velocity": {
                    "x": -1.6180975437164307,
                    "y": 9.819591522216797,
                    "z": -0.006516351364552975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101150,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.828837513923645,
                "transform": {
                    "location": {
                        "x": 931.4879760742188,
                        "y": 3602.35888671875,
                        "z": 370.8905334472656
                    },
                    "rotation": {
                        "roll": -0.011199953965842724,
                        "pitch": 0.2395961880683899,
                        "yaw": -81.77671813964844
                    }
                },
                "velocity": {
                    "x": 0.12801434099674225,
                    "y": -0.8188904523849487,
                    "z": 0.0015155791770666838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 101151,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.065163254737854,
                "transform": {
                    "location": {
                        "x": 934.5015258789062,
                        "y": 3603.9814453125,
                        "z": 370.899169921875
                    },
                    "rotation": {
                        "roll": -0.00033569149672985077,
                        "pitch": -0.03667811304330826,
                        "yaw": -80.66254425048828
                    }
                },
                "velocity": {
                    "x": 0.1699148565530777,
                    "y": -1.0515207052230835,
                    "z": 0.002428207313641906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101048,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.801905632019043,
                "transform": {
                    "location": {
                        "x": 923.5023803710938,
                        "y": 3609.763671875,
                        "z": 370.8943786621094
                    },
                    "rotation": {
                        "roll": -0.0006408586632460356,
                        "pitch": -0.12417282909154892,
                        "yaw": 99.1417236328125
                    }
                },
                "velocity": {
                    "x": -1.555212378501892,
                    "y": 9.677739143371582,
                    "z": -0.006317081395536661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 101044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.801382064819336,
                "transform": {
                    "location": {
                        "x": 927.5606689453125,
                        "y": 3604.993896484375,
                        "z": 370.89794921875
                    },
                    "rotation": {
                        "roll": -0.0003356872475706041,
                        "pitch": -0.12435724586248398,
                        "yaw": 99.14192199707031
                    }
                },
                "velocity": {
                    "x": -1.5553319454193115,
                    "y": 9.677188873291016,
                    "z": -0.006237754598259926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31354770064353943,
        "expert_target_speed": 4.727595492612766,
        "target_point": [
            10.388274590896163,
            0.27761903288383283
        ],
        "target_point_next": [
            10.388274590896163,
            0.27761903288383283
        ]
    }
}